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DriverFramework purge

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The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.

 - DriverFramework (src/lib/DriverFramework submodule) completely removed
 - added dspal submodule in qurt platform (was brought in via DriverFramework)
 - all df wrapper drivers removed
 - all boards using df wrapper drivers updated to use in tree equivalents
 - unused empty arch/board.h on posix and qurt removed
 - unused IOCTLs removed (pub block, priv, etc)
 - Integrator delete methods only used from df wrapper drivers
 - commander: sensor calibration use "NuttX version" everywhere for now
 - sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
 - load_mon and top remove from linux boards (unused)
 - delete unused PX4_MAIN_FUNCTION
 - delete unused getreg32 macro
 - delete unused SIOCDEVPRIVATE define
 - named each platform tasks consistently
 - posix list_devices and list_topics removed (list_files now shows all virtual files)
This commit is contained in:
Daniel Agar
2020-01-13 14:07:03 -05:00
parent 04ba05f5a0
commit de4f594937
165 changed files with 285 additions and 8108 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/CMakeLists.txt
-1
View File
@@ -52,7 +52,6 @@ px4_add_module(
state_machine_helper.cpp
DEPENDS
circuit_breaker
df_driver_framework
failure_detector
git_ecl
ecl_geo
src/modules/commander/accelerometer_calibration.cpp
+4 -6
View File
@@ -132,10 +132,8 @@
#include <px4_platform_common/time.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <float.h>
#include <mathlib/mathlib.h>
#include <string.h>
@@ -180,7 +178,7 @@ typedef struct {
int do_accel_calibration(orb_advert_t *mavlink_log_pub)
{
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
int fd;
#endif
@@ -200,7 +198,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
/* reset all sensors */
for (unsigned s = 0; s < max_accel_sens; s++) {
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */
fd = px4_open(str, 0);
@@ -422,7 +420,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
return PX4_ERROR;
}
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, uorb_index);
fd = px4_open(str, 0);
@@ -525,7 +523,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
sensor_accel_s report = {};
orb_copy(ORB_ID(sensor_accel), worker_data.subs[cur_accel], &report);
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
// and match it up with the one from the uORB subscription, because the
src/modules/commander/airspeed_calibration.cpp
-1
View File
@@ -47,7 +47,6 @@
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_airspeed.h>
src/modules/commander/baro_calibration.cpp
-1
View File
@@ -38,7 +38,6 @@
#include "baro_calibration.h"
#include <poll.h>
#include <math.h>
#include <fcntl.h>
#include <px4_platform_common/defines.h>
src/modules/commander/calibration_routines.cpp
-1
View File
@@ -45,7 +45,6 @@
#include <unistd.h>
#include <math.h>
#include <float.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <systemlib/mavlink_log.h>
#include <lib/ecl/geo/geo.h>
src/modules/commander/esc_calibration.cpp
+1 -29
View File
@@ -57,35 +57,8 @@ using namespace time_literals;
int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s *armed)
{
int return_code = PX4_OK;
#if defined(__PX4_POSIX_OCPOC) || defined(__PX4_POSIX_BBBLUE)
hrt_abstime timeout_start = 0;
hrt_abstime timeout_wait = 60_s;
armed->in_esc_calibration_mode = true;
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "begin esc");
timeout_start = hrt_absolute_time();
while (true) {
if (hrt_absolute_time() - timeout_start > timeout_wait) {
break;
} else {
px4_usleep(50000);
}
}
armed->in_esc_calibration_mode = false;
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "end esc");
if (return_code == OK) {
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc");
}
return return_code;
#else
int fd = -1;
bool batt_connected = true; // for safety resons assume battery is connected, will be cleared below if not the case
bool batt_connected = true; // for safety reasons assume battery is connected, will be cleared below if not the case
hrt_abstime timeout_start = 0;
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc");
@@ -207,5 +180,4 @@ Out:
}
return return_code;
#endif
}
src/modules/commander/gyro_calibration.cpp
+3 -4
View File
@@ -49,7 +49,6 @@
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <math.h>
#include <mathlib/mathlib.h>
#include <string.h>
@@ -240,7 +239,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
// Reset all offsets to 0
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
@@ -301,7 +300,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
sensor_gyro_s report{};
orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[cur_gyro], &report);
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
// and match it up with the one from the uORB subscription, because the
@@ -473,7 +472,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
(void)sprintf(str, "CAL_GYRO%u_ID", uorb_index);
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.device_id[uorb_index])));
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
/* apply new scaling and offsets */
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, uorb_index);
int fd = px4_open(str, 0);
src/modules/commander/mag_calibration.cpp
+8 -12
View File
@@ -49,7 +49,6 @@
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <poll.h>
#include <math.h>
#include <fcntl.h>
#include <drivers/drv_hrt.h>
@@ -153,7 +152,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
(void)append_to_existing_calibration;
for (unsigned cur_mag = 0; cur_mag < max_mags; cur_mag++) {
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
// Reset mag id to mag not available
(void)sprintf(str, "CAL_MAG%u_ID", cur_mag);
result = param_set_no_notification(param_find(str), &(device_ids[cur_mag]));
@@ -210,7 +209,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
param_notify_changes();
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
// Attempt to open mag
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, cur_mag);
int fd = px4_open(str, O_RDONLY);
@@ -609,7 +608,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
sensor_mag_s report{};
orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &report);
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
// and match it up with the one from the uORB subscription, because the
@@ -804,7 +803,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
if (device_ids[cur_mag] != 0) {
mag_calibration_s mscale;
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
int fd_mag = -1;
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, cur_mag);
@@ -819,7 +818,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
if (result == calibrate_return_ok) {
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
// Read existing calibration
if (px4_ioctl(fd_mag, MAGIOCGSCALE, (long unsigned int)&mscale) != PX4_OK) {
@@ -852,7 +851,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
#endif
}
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
// Mag device no longer needed
if (fd_mag >= 0) {
@@ -875,15 +874,12 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
(void)sprintf(str, "CAL_MAG%u_ZOFF", cur_mag);
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.z_offset)));
// FIXME: scaling is not used right now on QURT
#ifndef __PX4_QURT
(void)sprintf(str, "CAL_MAG%u_XSCALE", cur_mag);
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.x_scale)));
(void)sprintf(str, "CAL_MAG%u_YSCALE", cur_mag);
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.y_scale)));
(void)sprintf(str, "CAL_MAG%u_ZSCALE", cur_mag);
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.z_scale)));
#endif
if (failed) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG);
@@ -892,10 +888,10 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
} else {
calibration_log_info(mavlink_log_pub, "[cal] mag #%u off: x:%.2f y:%.2f z:%.2f Ga",
cur_mag, (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset);
#ifndef __PX4_QURT
calibration_log_info(mavlink_log_pub, "[cal] mag #%u scale: x:%.2f y:%.2f z:%.2f",
cur_mag, (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale);
#endif
px4_usleep(200000);
}
}