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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/sensors/sensors.cpp
+5 -12
View File
@@ -68,14 +68,11 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <DevMgr.hpp>
#include "parameters.h"
#include "voted_sensors_update.h"
#include "vehicle_acceleration/VehicleAcceleration.hpp"
#include "vehicle_angular_velocity/VehicleAngularVelocity.hpp"
using namespace DriverFramework;
using namespace sensors;
using namespace time_literals;
@@ -128,7 +125,7 @@ private:
DataValidator _airspeed_validator; /**< data validator to monitor airspeed */
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
DevHandle _h_adc; /**< ADC driver handle */
int _adc_fd {-1}; /**< ADC driver handle */
hrt_abstime _last_adc{0}; /**< last time we took input from the ADC */
@@ -219,17 +216,13 @@ Sensors::adc_init()
{
if (!_hil_enabled) {
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
_adc_fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
DevMgr::getHandle(ADC0_DEVICE_PATH, _h_adc);
if (!_h_adc.isValid()) {
PX4_ERR("no ADC found: %s (%d)", ADC0_DEVICE_PATH, _h_adc.getError());
if (_adc_fd == -1) {
PX4_ERR("no ADC found: %s", ADC0_DEVICE_PATH);
return PX4_ERROR;
}
#endif // ADC_AIRSPEED_VOLTAGE_CHANNEL
}
@@ -345,7 +338,7 @@ Sensors::adc_poll()
/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS];
/* read all channels available */
int ret = _h_adc.read(&buf_adc, sizeof(buf_adc));
int ret = px4_read(_adc_fd, &buf_adc, sizeof(buf_adc));
if (ret >= (int)sizeof(buf_adc[0])) {
src/modules/sensors/voted_sensors_update.cpp
+74 -122
View File
@@ -49,7 +49,6 @@
#define CAL_ERROR_APPLY_CAL_MSG "FAILED APPLYING %s CAL #%u"
using namespace sensors;
using namespace DriverFramework;
using namespace matrix;
VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_enabled)
@@ -202,26 +201,24 @@ void VotedSensorsUpdate::parametersUpdate()
/* set offset parameters to new values */
bool failed = false;
char str[30] {};
unsigned gyro_count = 0;
unsigned accel_count = 0;
unsigned gyro_cal_found_count = 0;
unsigned accel_cal_found_count = 0;
/* run through all gyro sensors */
unsigned gyro_count = 0;
unsigned gyro_cal_found_count = 0;
for (unsigned driver_index = 0; driver_index < GYRO_COUNT_MAX; driver_index++) {
_gyro.enabled[driver_index] = true;
char str[30] {};
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, driver_index);
DevHandle h;
DevMgr::getHandle(str, h);
int fd = px4_open(str, O_RDWR);
if (!h.isValid()) {
if (fd < 0) {
continue;
}
uint32_t driver_device_id = h.ioctl(DEVIOCGDEVICEID, 0);
uint32_t driver_device_id = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
bool config_ok = false;
/* run through all stored calibrations that are applied at the driver level*/
@@ -231,11 +228,11 @@ void VotedSensorsUpdate::parametersUpdate()
(void)sprintf(str, "CAL_GYRO%u_ID", i);
int32_t device_id = 0;
failed = failed || (OK != param_get(param_find(str), &device_id));
failed = failed || (PX4_OK != param_get(param_find(str), &device_id));
(void)sprintf(str, "CAL_GYRO%u_EN", i);
int32_t device_enabled = 1;
failed = failed || (OK != param_get(param_find(str), &device_enabled));
failed = failed || (PX4_OK != param_get(param_find(str), &device_enabled));
if (failed) {
continue;
@@ -249,28 +246,27 @@ void VotedSensorsUpdate::parametersUpdate()
if ((uint32_t)device_id == driver_device_id) {
_gyro.enabled[driver_index] = (device_enabled == 1);
if (!_gyro.enabled[driver_index]) { _gyro.priority[driver_index] = 0; }
if (!_gyro.enabled[driver_index]) {
_gyro.priority[driver_index] = 0;
}
struct gyro_calibration_s gscale = {};
gyro_calibration_s gscale{};
(void)sprintf(str, "CAL_GYRO%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &gscale.x_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &gscale.x_offset));
(void)sprintf(str, "CAL_GYRO%u_YOFF", i);
failed = failed || (OK != param_get(param_find(str), &gscale.y_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &gscale.y_offset));
(void)sprintf(str, "CAL_GYRO%u_ZOFF", i);
failed = failed || (OK != param_get(param_find(str), &gscale.z_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &gscale.z_offset));
if (failed) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "gyro", i);
} else {
/* apply new scaling and offsets */
config_ok = applyGyroCalibration(h, &gscale, device_id);
config_ok = (px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale) == 0);
if (!config_ok) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "gyro ", i);
@@ -284,35 +280,41 @@ void VotedSensorsUpdate::parametersUpdate()
if (config_ok) {
gyro_count++;
}
px4_close(fd);
}
// There are less gyros than calibrations
// There are fewer gyros than calibrations
// reset the board calibration and fail the initial load
if (gyro_count < gyro_cal_found_count) {
PX4_ERR("fewer accels than calibrations, resetting all CAL_GYROx_ID");
// run through all stored calibrations and reset them
for (unsigned i = 0; i < GYRO_COUNT_MAX; i++) {
int32_t device_id = 0;
char str[30] {};
(void)sprintf(str, "CAL_GYRO%u_ID", i);
int32_t device_id = 0;
(void)param_set(param_find(str), &device_id);
}
}
/* run through all accel sensors */
unsigned accel_count = 0;
unsigned accel_cal_found_count = 0;
for (unsigned driver_index = 0; driver_index < ACCEL_COUNT_MAX; driver_index++) {
_accel.enabled[driver_index] = true;
char str[30] {};
(void)sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, driver_index);
DevHandle h;
DevMgr::getHandle(str, h);
int fd = px4_open(str, O_RDWR);
if (!h.isValid()) {
if (fd < 0) {
continue;
}
uint32_t driver_device_id = h.ioctl(DEVIOCGDEVICEID, 0);
uint32_t driver_device_id = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
bool config_ok = false;
/* run through all stored calibrations */
@@ -322,11 +324,11 @@ void VotedSensorsUpdate::parametersUpdate()
(void)sprintf(str, "CAL_ACC%u_ID", i);
int32_t device_id = 0;
failed = failed || (OK != param_get(param_find(str), &device_id));
failed = failed || (PX4_OK != param_get(param_find(str), &device_id));
(void)sprintf(str, "CAL_ACC%u_EN", i);
int32_t device_enabled = 1;
failed = failed || (OK != param_get(param_find(str), &device_enabled));
failed = failed || (PX4_OK != param_get(param_find(str), &device_enabled));
if (failed) {
continue;
@@ -340,40 +342,36 @@ void VotedSensorsUpdate::parametersUpdate()
if ((uint32_t)device_id == driver_device_id) {
_accel.enabled[driver_index] = (device_enabled == 1);
if (!_accel.enabled[driver_index]) { _accel.priority[driver_index] = 0; }
if (!_accel.enabled[driver_index]) {
_accel.priority[driver_index] = 0;
}
struct accel_calibration_s ascale = {};
accel_calibration_s ascale{};
(void)sprintf(str, "CAL_ACC%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &ascale.x_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &ascale.x_offset));
(void)sprintf(str, "CAL_ACC%u_YOFF", i);
failed = failed || (OK != param_get(param_find(str), &ascale.y_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &ascale.y_offset));
(void)sprintf(str, "CAL_ACC%u_ZOFF", i);
failed = failed || (OK != param_get(param_find(str), &ascale.z_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &ascale.z_offset));
(void)sprintf(str, "CAL_ACC%u_XSCALE", i);
failed = failed || (OK != param_get(param_find(str), &ascale.x_scale));
failed = failed || (PX4_OK != param_get(param_find(str), &ascale.x_scale));
(void)sprintf(str, "CAL_ACC%u_YSCALE", i);
failed = failed || (OK != param_get(param_find(str), &ascale.y_scale));
failed = failed || (PX4_OK != param_get(param_find(str), &ascale.y_scale));
(void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
failed = failed || (OK != param_get(param_find(str), &ascale.z_scale));
failed = failed || (PX4_OK != param_get(param_find(str), &ascale.z_scale));
if (failed) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "accel", i);
} else {
/* apply new scaling and offsets */
config_ok = applyAccelCalibration(h, &ascale, device_id);
config_ok = (px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale) == 0);
if (!config_ok) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "accel ", i);
@@ -387,17 +385,20 @@ void VotedSensorsUpdate::parametersUpdate()
if (config_ok) {
accel_count++;
}
px4_close(fd);
}
// There are less accels than calibrations
// There are fewer accels than calibrations
// reset the board calibration and fail the initial load
if (accel_count < accel_cal_found_count) {
PX4_ERR("fewer accels than calibrations, resetting all CAL_ACCx_ID");
// run through all stored calibrations and reset them
for (unsigned i = 0; i < ACCEL_COUNT_MAX; i++) {
int32_t device_id = 0;
char str[30] {};
(void)sprintf(str, "CAL_ACC%u_ID", i);
int32_t device_id = 0;
(void)param_set(param_find(str), &device_id);
}
}
@@ -417,37 +418,38 @@ void VotedSensorsUpdate::parametersUpdate()
for (int topic_instance = 0; topic_instance < MAG_COUNT_MAX
&& topic_instance < _mag.subscription_count; ++topic_instance) {
sensor_mag_s report;
sensor_mag_s report{};
if (orb_copy(ORB_ID(sensor_mag), _mag.subscription[topic_instance], &report) != 0) {
continue;
}
int topic_device_id = report.device_id;
uint32_t topic_device_id = report.device_id;
bool is_external = report.is_external;
_mag_device_id[topic_instance] = topic_device_id;
// find the driver handle that matches the topic_device_id
DevHandle h;
int fd = -1;
char str[30] {};
for (unsigned driver_index = 0; driver_index < MAG_COUNT_MAX; ++driver_index) {
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, driver_index);
DevMgr::getHandle(str, h);
fd = px4_open(str, O_RDWR);
if (!h.isValid()) {
if (fd < 0) {
/* the driver is not running, continue with the next */
continue;
}
int driver_device_id = h.ioctl(DEVIOCGDEVICEID, 0);
uint32_t driver_device_id = (uint32_t)px4_ioctl(fd, DEVIOCGDEVICEID, 0);
if (driver_device_id == topic_device_id) {
break; // we found the matching driver
} else {
DevMgr::releaseHandle(h);
px4_close(fd);
}
}
@@ -460,11 +462,11 @@ void VotedSensorsUpdate::parametersUpdate()
(void)sprintf(str, "CAL_MAG%u_ID", i);
int32_t device_id = 0;
failed = failed || (OK != param_get(param_find(str), &device_id));
failed = failed || (PX4_OK != param_get(param_find(str), &device_id));
(void)sprintf(str, "CAL_MAG%u_EN", i);
int32_t device_enabled = 1;
failed = failed || (OK != param_get(param_find(str), &device_enabled));
failed = failed || (PX4_OK != param_get(param_find(str), &device_enabled));
if (failed) {
continue;
@@ -476,38 +478,32 @@ void VotedSensorsUpdate::parametersUpdate()
// the mags that were published after the initial parameterUpdate
// would be given the priority even if disabled. Reset it to 0 in this case
if (!_mag.enabled[topic_instance]) { _mag.priority[topic_instance] = 0; }
if (!_mag.enabled[topic_instance]) {
_mag.priority[topic_instance] = 0;
}
struct mag_calibration_s mscale = {};
mag_calibration_s mscale{};
(void)sprintf(str, "CAL_MAG%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &mscale.x_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &mscale.x_offset));
(void)sprintf(str, "CAL_MAG%u_YOFF", i);
failed = failed || (OK != param_get(param_find(str), &mscale.y_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &mscale.y_offset));
(void)sprintf(str, "CAL_MAG%u_ZOFF", i);
failed = failed || (OK != param_get(param_find(str), &mscale.z_offset));
failed = failed || (PX4_OK != param_get(param_find(str), &mscale.z_offset));
(void)sprintf(str, "CAL_MAG%u_XSCALE", i);
failed = failed || (OK != param_get(param_find(str), &mscale.x_scale));
failed = failed || (PX4_OK != param_get(param_find(str), &mscale.x_scale));
(void)sprintf(str, "CAL_MAG%u_YSCALE", i);
failed = failed || (OK != param_get(param_find(str), &mscale.y_scale));
failed = failed || (PX4_OK != param_get(param_find(str), &mscale.y_scale));
(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
failed = failed || (OK != param_get(param_find(str), &mscale.z_scale));
failed = failed || (PX4_OK != param_get(param_find(str), &mscale.z_scale));
(void)sprintf(str, "CAL_MAG%u_ROT", i);
int32_t mag_rot;
int32_t mag_rot = 0;
param_get(param_find(str), &mag_rot);
if (is_external) {
@@ -543,7 +539,7 @@ void VotedSensorsUpdate::parametersUpdate()
} else {
/* apply new scaling and offsets */
config_ok = applyMagCalibration(h, &mscale, device_id);
config_ok = (px4_ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale) == 0);
if (!config_ok) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "mag ", i);
@@ -553,6 +549,8 @@ void VotedSensorsUpdate::parametersUpdate()
break;
}
}
px4_close(fd);
}
}
@@ -848,7 +846,7 @@ void VotedSensorsUpdate::baroPoll(vehicle_air_data_s &airdata)
orb_check(_baro.subscription[uorb_index], &baro_updated);
if (baro_updated) {
sensor_baro_s baro_report;
sensor_baro_s baro_report{};
int ret = orb_copy(ORB_ID(sensor_baro), _baro.subscription[uorb_index], &baro_report);
@@ -1050,52 +1048,6 @@ void VotedSensorsUpdate::printStatus()
_temperature_compensation.print_status();
}
bool
VotedSensorsUpdate::applyGyroCalibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
{
#if defined(__PX4_NUTTX)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
#else
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
bool
VotedSensorsUpdate::applyAccelCalibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
{
#if defined(__PX4_NUTTX)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
#else
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
bool
VotedSensorsUpdate::applyMagCalibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
{
#if defined(__PX4_NUTTX)
if (!h.isValid()) {
return false;
}
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(MAGIOCSSCALE, (long unsigned int)mcal);
#else
/* On QURT & POSIX, the params are read directly in the respective wrappers. */
return true;
#endif
}
void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw, vehicle_air_data_s &airdata,
vehicle_magnetometer_s &magnetometer)
{
src/modules/sensors/voted_sensors_update.h
-33
View File
@@ -62,8 +62,6 @@
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/subsystem_info.h>
#include <DevMgr.hpp>
#include "temperature_compensation.h"
#include "common.h"
@@ -211,37 +209,6 @@ private:
*/
bool checkFailover(SensorData &sensor, const char *sensor_name, const uint64_t type);
/**
* Apply a gyro calibration.
*
* @param h: reference to the DevHandle in use
* @param gscale: the calibration data.
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool applyGyroCalibration(DriverFramework::DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id);
/**
* Apply a accel calibration.
*
* @param h: reference to the DevHandle in use
* @param ascale: the calibration data.
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool applyAccelCalibration(DriverFramework::DevHandle &h, const struct accel_calibration_s *acal,
const int device_id);
/**
* Apply a mag calibration.
*
* @param h: reference to the DevHandle in use
* @param gscale: the calibration data.
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool applyMagCalibration(DriverFramework::DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);
SensorData _accel {};
SensorData _gyro {};
SensorData _mag {};