cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

src/drivers/aerofc_adc/CMakeLists.txt

@@ -37,6 +37,4 @@ px4_add_module(
 	SRCS
 		aerofc_adc.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/airspeed/CMakeLists.txt

@@ -1,40 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-	MODULE drivers__airspeed
-	COMPILE_FLAGS
-	SRCS
-		airspeed.cpp
-	DEPENDS
-		platforms__common
-	)

src/drivers/airspeed/airspeed.cpp

@@ -1,280 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file airspeed.cpp
- * @author Simon Wilks <simon@px4.io>
- * @author Lorenz Meier <lorenz@px4.io>
- *
- */
-
-#include <px4_config.h>
-#include <drivers/device/device.h>
-
-#include <drivers/device/i2c.h>
-
-#include <systemlib/airspeed.h>
-#include <systemlib/err.h>
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
-
-#include <drivers/drv_airspeed.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/device/ringbuffer.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/differential_pressure.h>
-#include <uORB/topics/subsystem_info.h>
-
-#include <drivers/airspeed/airspeed.h>
-
-Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
-	I2C("Airspeed", path, bus, address, 100000),
-	_sensor_ok(false),
-	_last_published_sensor_ok(true), /* initialize differently to force publication */
-	_measure_ticks(0),
-	_collect_phase(false),
-	_diff_pres_offset(0.0f),
-	_airspeed_pub(nullptr),
-	_airspeed_orb_class_instance(-1),
-	_subsys_pub(nullptr),
-	_class_instance(-1),
-	_conversion_interval(conversion_interval),
-	_sample_perf(perf_alloc(PC_ELAPSED, "aspd_read")),
-	_comms_errors(perf_alloc(PC_COUNT, "aspd_com_err"))
-{
-	// enable debug() calls
-	_debug_enabled = false;
-
-	// work_cancel in the dtor will explode if we don't do this...
-	memset(&_work, 0, sizeof(_work));
-}
-
-Airspeed::~Airspeed()
-{
-	/* make sure we are truly inactive */
-	stop();
-
-	if (_class_instance != -1) {
-		unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
-	}
-
-	orb_unadvertise(_airspeed_pub);
-
-	// free perf counters
-	perf_free(_sample_perf);
-	perf_free(_comms_errors);
-}
-
-int
-Airspeed::init()
-{
-	/* do I2C init (and probe) first */
-	if (I2C::init() != PX4_OK) {
-		return PX4_ERROR;
-	}
-
-	/* register alternate interfaces if we have to */
-	_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
-
-	/* advertise sensor topic, measure manually to initialize valid report */
-	measure();
-	differential_pressure_s arp = {};
-
-	/* measurement will have generated a report, publish */
-	_airspeed_pub = orb_advertise_multi(ORB_ID(differential_pressure), &arp, &_airspeed_orb_class_instance,
-					    ORB_PRIO_HIGH - _class_instance);
-
-	if (_airspeed_pub == nullptr) {
-		PX4_WARN("uORB started?");
-	}
-
-	return PX4_OK;
-}
-
-int
-Airspeed::probe()
-{
-	/* on initial power up the device may need more than one retry
-	   for detection. Once it is running the number of retries can
-	   be reduced
-	*/
-	_retries = 4;
-	int ret = measure();
-
-	// drop back to 2 retries once initialised
-	_retries = 2;
-	return ret;
-}
-
-int
-Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
-
-	case SENSORIOCSPOLLRATE: {
-			switch (arg) {
-
-			/* switching to manual polling */
-			case SENSOR_POLLRATE_MANUAL:
-				stop();
-				_measure_ticks = 0;
-				return OK;
-
-			/* external signaling (DRDY) not supported */
-			case SENSOR_POLLRATE_EXTERNAL:
-
-			/* zero would be bad */
-			case 0:
-				return -EINVAL;
-
-			/* set default/max polling rate */
-			case SENSOR_POLLRATE_MAX:
-			case SENSOR_POLLRATE_DEFAULT: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
-
-					/* set interval for next measurement to minimum legal value */
-					_measure_ticks = USEC2TICK(_conversion_interval);
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start) {
-						start();
-					}
-
-					return OK;
-				}
-
-			/* adjust to a legal polling interval in Hz */
-			default: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
-
-					/* convert hz to tick interval via microseconds */
-					unsigned ticks = USEC2TICK(1000000 / arg);
-
-					/* check against maximum rate */
-					if (ticks < USEC2TICK(_conversion_interval)) {
-						return -EINVAL;
-					}
-
-					/* update interval for next measurement */
-					_measure_ticks = ticks;
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start) {
-						start();
-					}
-
-					return OK;
-				}
-			}
-		}
-		break;
-
-	case SENSORIOCGPOLLRATE:
-		if (_measure_ticks == 0) {
-			return SENSOR_POLLRATE_MANUAL;
-		}
-
-		return (1000 / _measure_ticks);
-
-	case SENSORIOCRESET:
-		/* XXX implement this */
-		return -EINVAL;
-
-	case AIRSPEEDIOCSSCALE: {
-			struct airspeed_scale *s = (struct airspeed_scale *)arg;
-			_diff_pres_offset = s->offset_pa;
-			return OK;
-		}
-
-	case AIRSPEEDIOCGSCALE: {
-			struct airspeed_scale *s = (struct airspeed_scale *)arg;
-			s->offset_pa = _diff_pres_offset;
-			s->scale = 1.0f;
-			return OK;
-		}
-
-	default:
-		/* give it to the superclass */
-		return I2C::ioctl(filp, cmd, arg);
-	}
-}
-
-void
-Airspeed::start()
-{
-	/* reset the report ring and state machine */
-	_collect_phase = false;
-
-	/* schedule a cycle to start things */
-	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
-}
-
-void
-Airspeed::stop()
-{
-	work_cancel(HPWORK, &_work);
-}
-
-void
-Airspeed::update_status()
-{
-	if (_sensor_ok != _last_published_sensor_ok) {
-		/* notify about state change */
-		struct subsystem_info_s info = {};
-		info.present = true;
-		info.enabled = true;
-		info.ok = _sensor_ok;
-		info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE;
-
-		if (_subsys_pub != nullptr) {
-			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
-
-		} else {
-			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
-		}
-
-		_last_published_sensor_ok = _sensor_ok;
-	}
-}
-
-void
-Airspeed::cycle_trampoline(void *arg)
-{
-	Airspeed *dev = (Airspeed *)arg;
-	dev->cycle();
-
-	dev->update_status();
-}

src/drivers/airspeed/airspeed.h

@@ -1,131 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <string.h>
-#include <drivers/device/i2c.h>
-#include <drivers/drv_airspeed.h>
-#include <drivers/drv_hrt.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_workqueue.h>
-#include <systemlib/airspeed.h>
-#include <systemlib/perf_counter.h>
-#include <uORB/topics/differential_pressure.h>
-#include <uORB/topics/subsystem_info.h>
-#include <uORB/uORB.h>
-
-/* Default I2C bus */
-static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;
-
-class __EXPORT Airspeed : public device::I2C
-{
-public:
-	Airspeed(int bus, int address, unsigned conversion_interval, const char *path);
-	virtual ~Airspeed();
-
-	virtual int	init();
-
-	virtual int	ioctl(device::file_t *filp, int cmd, unsigned long arg);
-
-private:
-	/* this class has pointer data members and should not be copied */
-	Airspeed(const Airspeed &);
-	Airspeed &operator=(const Airspeed &);
-
-protected:
-	virtual int	probe();
-
-	/**
-	* Perform a poll cycle; collect from the previous measurement
-	* and start a new one.
-	*/
-	virtual void	cycle() = 0;
-	virtual int	measure() = 0;
-	virtual int	collect() = 0;
-
-	/**
-	 * Update the subsystem status
-	 */
-	void update_status();
-
-	work_s			_work;
-	bool			_sensor_ok;
-	bool			_last_published_sensor_ok;
-	uint32_t		_measure_ticks;
-	bool			_collect_phase;
-	float			_diff_pres_offset;
-
-	orb_advert_t		_airspeed_pub;
-	int			_airspeed_orb_class_instance;
-
-	orb_advert_t		_subsys_pub;
-
-	int			_class_instance;
-
-	unsigned		_conversion_interval;
-
-	perf_counter_t		_sample_perf;
-	perf_counter_t		_comms_errors;
-
-	/**
-	* Initialise the automatic measurement state machine and start it.
-	*
-	* @note This function is called at open and error time.  It might make sense
-	*       to make it more aggressive about resetting the bus in case of errors.
-	*/
-	void	start();
-
-	/**
-	* Stop the automatic measurement state machine.
-	*/
-	void	stop();
-
-	/**
-	* Static trampoline from the workq context; because we don't have a
-	* generic workq wrapper yet.
-	*
-	* @param arg		Instance pointer for the driver that is polling.
-	*/
-	static void	cycle_trampoline(void *arg);
-
-	/**
-	* add a new report to the reports queue
-	*
-	* @param report		differential_pressure_s report
-	*/
-	void	new_report(const differential_pressure_s &report);
-};
-
-

src/drivers/barometer/bmp280/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		bmp280_i2c.cpp
 		bmp280.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/barometer/bmp280/bmp280.cpp

@@ -66,7 +66,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/device/ringbuffer.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 

src/drivers/barometer/lps25h/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		lps25h_spi.cpp
 
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/barometer/lps25h/lps25h.cpp

@@ -60,7 +60,7 @@
 
 #include <board_config.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <drivers/drv_baro.h>

src/drivers/barometer/mpl3115a2/CMakeLists.txt

@@ -42,6 +42,5 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS ${srcs}
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/barometer/mpl3115a2/mpl3115a2.cpp

@@ -70,7 +70,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/device/ringbuffer.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <platforms/px4_getopt.h>
 

src/drivers/barometer/ms5611/CMakeLists.txt

@@ -43,6 +43,5 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS ${srcs}
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/barometer/ms5611/ms5611.cpp

@@ -64,7 +64,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/device/ringbuffer.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <platforms/px4_getopt.h>
 

src/drivers/batt_smbus/CMakeLists.txt

@@ -37,5 +37,4 @@ px4_add_module(
 	SRCS
 		batt_smbus.cpp
 	DEPENDS
-		platforms__common
 	)

src/drivers/batt_smbus/batt_smbus.cpp

@@ -51,7 +51,7 @@
 #include <drivers/drv_hrt.h>
 #include <px4_config.h>
 #include <px4_workqueue.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/uORB.h>

src/drivers/blinkm/CMakeLists.txt

@@ -37,6 +37,5 @@ px4_add_module(
 	SRCS
 		blinkm.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/blinkm/blinkm.cpp

@@ -110,7 +110,7 @@
 
 #include <px4_workqueue.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 

src/drivers/boards/aerocore2/CMakeLists.txt

@@ -39,3 +39,11 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/aerocore2/init.c

@@ -69,10 +69,10 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/aerofc-v1/CMakeLists.txt

@@ -38,3 +38,10 @@ px4_add_library(drivers_board
 	spi.c
 	timer_config.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		parameters # param_init
+		modules__dataman # dm_flash_sector_description_set
+)

src/drivers/boards/aerofc-v1/init.c

@@ -74,10 +74,10 @@
 #include <systemlib/err.h>
 #include <systemlib/hardfault_log.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 # if defined(FLASH_BASED_PARAMS)
-#  include <systemlib/flashparams/flashfs.h>
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 /****************************************************************************

src/drivers/boards/auav-x21/CMakeLists.txt

@@ -39,3 +39,11 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/auav-x21/init.c

@@ -73,13 +73,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/common/CMakeLists.txt

@@ -31,13 +31,14 @@
 #
 ############################################################################
 
-if (${OS} MATCHES "nuttx")
-	px4_add_library(boards_common
+# common board drivers (currently only for nuttx fmu boards)
+if (${OS} MATCHES "nuttx" AND NOT ${BOARD} MATCHES "io")
+
+	px4_add_library(drivers_boards_common
 		board_crashdump.c
 		board_dma_alloc.c
 		board_gpio_init.c
 		)
-	add_dependencies(boards_common nuttx_build)
 
 	if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
 		add_subdirectory(kinetis)
@@ -46,4 +47,16 @@ if (${OS} MATCHES "nuttx")
 	elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
 		add_subdirectory(stm32)
 	endif()
-endif()
+
+	target_link_libraries(drivers_boards_common
+		PRIVATE
+			drivers_boards_common_arch
+			nuttx_arch # bbsram
+			nuttx_mm # dma gran alloc
+			systemlib
+		)
+
+else()
+	add_library(drivers_boards_common INTERFACE)
+	add_library(drivers_boards_common_arch INTERFACE)
+endif()

src/drivers/boards/common/board_dma_alloc.c

@@ -48,7 +48,7 @@
 #include <errno.h>
 #include <nuttx/mm/gran.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 /************************************************************************************
  * Definitions

src/drivers/boards/common/kinetis/CMakeLists.txt

@@ -31,9 +31,10 @@
 #
 ############################################################################
 
-px4_add_library(board_kinetis
+add_library(drivers_boards_common_arch
 	board_identity.c
 	board_mcu_version.c
 	board_reset.c
 	)
-add_dependencies(board_kinetis nuttx_build)
+add_dependencies(drivers_boards_common_arch prebuild_targets)
+target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)

src/drivers/boards/common/samv7/CMakeLists.txt

@@ -31,9 +31,10 @@
 #
 ############################################################################
 
-px4_add_library(board_samv7
+add_library(drivers_boards_common_arch
 	board_identity.c
 	board_mcu_version.c
 	board_reset.c
-	)
-add_dependencies(board_samv7 nuttx_build)
+)
+add_dependencies(drivers_boards_common_arch prebuild_targets)
+target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)

src/drivers/boards/common/stm32/CMakeLists.txt

@@ -43,5 +43,6 @@ if (NOT ${LABEL} STREQUAL "bootloader")
 		)
 endif()
 
-px4_add_library(board_stm32 ${SRCS})
-add_dependencies(board_stm32 nuttx_build)
+add_library(drivers_boards_common_arch ${SRCS})
+add_dependencies(drivers_boards_common_arch prebuild_targets)
+target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)

src/drivers/boards/common/stm32/board_reset.c

@@ -79,7 +79,10 @@ void board_system_reset(int status)
 #if defined(BOARD_HAS_ON_RESET)
 	board_on_reset(status);
 #endif
+
+#ifdef CONFIG_BOARDCTL_RESET
 	board_reset(status);
+#endif
 
 	while (1);
 }

src/drivers/boards/crazyflie/CMakeLists.txt

@@ -37,3 +37,9 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		parameters # param_init
+)

src/drivers/boards/crazyflie/init.c

@@ -71,7 +71,7 @@
 #include <systemlib/err.h>
 #include <systemlib/hardfault_log.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/eagle/CMakeLists.txt

@@ -30,12 +30,5 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
-	MODULE drivers__boards__sitl
-	COMPILE_FLAGS
-	SRCS
-		sitl_led.c
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+
+px4_add_library(drivers_board sitl_led.c)

src/drivers/boards/esc35-v1/CMakeLists.txt

@@ -40,3 +40,8 @@ px4_add_library(drivers_board
 	led.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		parameters # param_init
+)

src/drivers/boards/esc35-v1/init.c

@@ -69,14 +69,14 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #include <systemlib/systemlib.h>
 #endif
 
-#if defined(FLASH_BASED_PARAMS)
-# include <systemlib/flashparams/flashfs.h>
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 #include "board_config.h"

src/drivers/boards/mindpx-v2/CMakeLists.txt

@@ -39,3 +39,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/mindpx-v2/init.c

@@ -74,12 +74,12 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/nxphlite-v3/CMakeLists.txt

@@ -42,3 +42,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/nxphlite-v3/init.c

@@ -73,7 +73,7 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #if defined(CONFIG_KINETIS_BBSRAM) //fixme:Need BBSRAM

src/drivers/boards/px4-same70xplained-v1/CMakeLists.txt

@@ -40,3 +40,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/px4-same70xplained-v1/init.c

@@ -75,13 +75,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/px4-stm32f4discovery/CMakeLists.txt

@@ -36,3 +36,12 @@ px4_add_library(drivers_board
 	led.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/px4-stm32f4discovery/init.c

@@ -71,8 +71,8 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/param/param.h>
+#include <perf/perf_counter.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/px4cannode-v1/CMakeLists.txt

@@ -38,3 +38,12 @@ px4_add_library(drivers_board
 	led.c
 	spi.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/px4cannode-v1/init.c

@@ -69,7 +69,7 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #include <systemlib/systemlib.h>

src/drivers/boards/px4esc-v1/CMakeLists.txt

@@ -36,3 +36,10 @@ px4_add_library(drivers_board
 	led.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/px4esc-v1/init.c

@@ -69,14 +69,14 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #include <systemlib/systemlib.h>
 #endif
 
-#if defined(FLASH_BASED_PARAMS)
-# include <systemlib/flashparams/flashfs.h>
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 #include "board_config.h"

src/drivers/boards/px4fmu-v2/CMakeLists.txt

@@ -40,3 +40,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/px4fmu-v2/init.c

@@ -73,13 +73,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/px4fmu-v4/CMakeLists.txt

@@ -39,3 +39,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/px4fmu-v4/init.c

@@ -74,13 +74,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/px4fmu-v4pro/CMakeLists.txt

@@ -39,3 +39,11 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/px4fmu-v4pro/init.c

@@ -74,13 +74,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/px4fmu-v5/CMakeLists.txt

@@ -40,3 +40,11 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/px4fmu-v5/init.c

@@ -76,13 +76,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #include "up_internal.h"
 /****************************************************************************

src/drivers/boards/px4nucleoF767ZI-v1/CMakeLists.txt

@@ -40,3 +40,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/px4nucleoF767ZI-v1/init.c

@@ -74,13 +74,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #include "up_internal.h"
 /****************************************************************************

src/drivers/boards/s2740vc-v1/CMakeLists.txt

@@ -39,3 +39,9 @@ px4_add_library(drivers_board
 	can.c
 	init.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		drivers_arch
+)

src/drivers/boards/s2740vc-v1/init.c

@@ -69,7 +69,7 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #include <systemlib/systemlib.h>

src/drivers/boards/sitl/CMakeLists.txt

@@ -30,12 +30,5 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
-	MODULE drivers__boards__sitl
-	COMPILE_FLAGS
-	SRCS
-		sitl_led.c
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+
+px4_add_library(drivers_board sitl_led.c)

src/drivers/boards/tap-v1/CMakeLists.txt

@@ -41,3 +41,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/tap-v1/init.c

@@ -72,13 +72,12 @@
 #include <systemlib/err.h>
 #include <systemlib/hardfault_log.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 # if defined(FLASH_BASED_PARAMS)
-#  include <systemlib/flashparams/flashfs.h>
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
-
 /****************************************************************************
  * Pre-Processor Definitions
  ****************************************************************************/

src/drivers/bootloaders/CMakeLists.txt

@@ -31,10 +31,9 @@
 #
 ############################################################################
 
-px4_add_library(drivers_bootloaders
-		boot_app_shared.c
-	)
-add_dependencies(drivers_bootloaders platforms__common)
+add_library(drivers_bootloaders boot_app_shared.c)
+add_dependencies(drivers_bootloaders prebuild_targets)
 
 include_directories(include)
-target_include_directories(drivers_bootloaders INTERFACE include)
+target_include_directories(drivers_bootloaders INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(drivers_bootloaders PRIVATE systemlib)

src/drivers/camera_trigger/CMakeLists.txt

@@ -42,6 +42,5 @@ px4_add_module(
                 interfaces/src/seagull_map2.cpp
                 interfaces/src/gpio.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/camera_trigger/camera_trigger.cpp

@@ -52,7 +52,7 @@
 #include <px4_workqueue.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/mavlink_log.h>
 
 #include <uORB/uORB.h>

src/drivers/camera_trigger/interfaces/src/camera_interface.h

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <px4_log.h>
 
 #define arraySize(a) (sizeof((a))/sizeof(((a)[0])))

src/drivers/camera_trigger/interfaces/src/pwm.h

@@ -9,7 +9,7 @@
 #ifdef __PX4_NUTTX
 
 #include <drivers/drv_hrt.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <px4_log.h>
 
 #include "camera_interface.h"

src/drivers/device/CDev.cpp

@@ -1,431 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file CDev.cpp
- *
- * Character device base class.
- */
-
-#include "CDev.hpp"
-
-#include <cstring>
-
-#include "px4_posix.h"
-#include "drivers/drv_device.h"
-
-namespace device
-{
-
-CDev::CDev(const char *name, const char *devname) :
-	Device(name),
-	_devname(devname)
-{
-	DEVICE_DEBUG("CDev::CDev");
-
-	int ret = px4_sem_init(&_lock, 0, 1);
-
-	if (ret != 0) {
-		PX4_WARN("SEM INIT FAIL: ret %d", ret);
-	}
-}
-
-CDev::~CDev()
-{
-	DEVICE_DEBUG("CDev::~CDev");
-
-	if (_registered) {
-		unregister_driver(_devname);
-	}
-
-	if (_pollset) {
-		delete[](_pollset);
-	}
-
-	px4_sem_destroy(&_lock);
-}
-
-int
-CDev::register_class_devname(const char *class_devname)
-{
-	DEVICE_DEBUG("CDev::register_class_devname %s", class_devname);
-
-	if (class_devname == nullptr) {
-		return -EINVAL;
-	}
-
-	int class_instance = 0;
-	int ret = -ENOSPC;
-
-	while (class_instance < 4) {
-		char name[32];
-		snprintf(name, sizeof(name), "%s%d", class_devname, class_instance);
-		ret = register_driver(name, &fops, 0666, (void *)this);
-
-		if (ret == OK) {
-			break;
-		}
-
-		class_instance++;
-	}
-
-	if (class_instance == 4) {
-		return ret;
-	}
-
-	return class_instance;
-}
-
-int
-CDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
-{
-	DEVICE_DEBUG("CDev::unregister_class_devname");
-	char name[32];
-	snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
-	return unregister_driver(name);
-}
-
-int
-CDev::init()
-{
-	DEVICE_DEBUG("CDev::init");
-
-	// base class init first
-	int ret = Device::init();
-
-	if (ret != PX4_OK) {
-		goto out;
-	}
-
-	// now register the driver
-	if (_devname != nullptr) {
-		ret = register_driver(_devname, &fops, 0666, (void *)this);
-
-		if (ret != PX4_OK) {
-			goto out;
-		}
-
-		_registered = true;
-	}
-
-out:
-	return ret;
-}
-
-/*
- * Default implementations of the character device interface
- */
-int
-CDev::open(file_t *filep)
-{
-	DEVICE_DEBUG("CDev::open");
-	int ret = PX4_OK;
-
-	lock();
-	/* increment the open count */
-	_open_count++;
-
-	if (_open_count == 1) {
-
-		/* first-open callback may decline the open */
-		ret = open_first(filep);
-
-		if (ret != PX4_OK) {
-			_open_count--;
-		}
-	}
-
-	unlock();
-
-	return ret;
-}
-
-int
-CDev::open_first(file_t *filep)
-{
-	DEVICE_DEBUG("CDev::open_first");
-	return PX4_OK;
-}
-
-int
-CDev::close(file_t *filep)
-{
-	DEVICE_DEBUG("CDev::close");
-	int ret = PX4_OK;
-
-	lock();
-
-	if (_open_count > 0) {
-		/* decrement the open count */
-		_open_count--;
-
-		/* callback cannot decline the close */
-		if (_open_count == 0) {
-			ret = close_last(filep);
-		}
-
-	} else {
-		ret = -EBADF;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-int
-CDev::close_last(file_t *filep)
-{
-	DEVICE_DEBUG("CDev::close_last");
-	return PX4_OK;
-}
-
-ssize_t
-CDev::read(file_t *filep, char *buffer, size_t buflen)
-{
-	DEVICE_DEBUG("CDev::read");
-	return -ENOSYS;
-}
-
-ssize_t
-CDev::write(file_t *filep, const char *buffer, size_t buflen)
-{
-	DEVICE_DEBUG("CDev::write");
-	return -ENOSYS;
-}
-
-off_t
-CDev::seek(file_t *filep, off_t offset, int whence)
-{
-	DEVICE_DEBUG("CDev::seek");
-	return -ENOSYS;
-}
-
-int
-CDev::ioctl(file_t *filep, int cmd, unsigned long arg)
-{
-	DEVICE_DEBUG("CDev::ioctl");
-	int ret = -ENOTTY;
-
-	switch (cmd) {
-
-	/* fetch a pointer to the driver's private data */
-	case DIOC_GETPRIV:
-		*(void **)(uintptr_t)arg = (void *)this;
-		ret = PX4_OK;
-		break;
-
-	case DEVIOCSPUBBLOCK:
-		_pub_blocked = (arg != 0);
-		ret = PX4_OK;
-		break;
-
-	case DEVIOCGPUBBLOCK:
-		ret = _pub_blocked;
-		break;
-
-	case DEVIOCGDEVICEID:
-		ret = (int)_device_id.devid;
-		break;
-
-	default:
-		break;
-	}
-
-	return ret;
-}
-
-int
-CDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
-{
-	DEVICE_DEBUG("CDev::Poll %s", setup ? "setup" : "teardown");
-	int ret = PX4_OK;
-
-	/*
-	 * Lock against pollnotify() (and possibly other callers)
-	 */
-	lock();
-
-	if (setup) {
-		/*
-		 * Save the file pointer in the pollfd for the subclass'
-		 * benefit.
-		 */
-		fds->priv = (void *)filep;
-		DEVICE_DEBUG("CDev::poll: fds->priv = %p", filep);
-
-		/*
-		 * Handle setup requests.
-		 */
-		ret = store_poll_waiter(fds);
-
-		if (ret == PX4_OK) {
-
-			/*
-			 * Check to see whether we should send a poll notification
-			 * immediately.
-			 */
-			fds->revents |= fds->events & poll_state(filep);
-
-			/* yes? post the notification */
-			if (fds->revents != 0) {
-				px4_sem_post(fds->sem);
-			}
-
-		} else {
-			PX4_WARN("Store Poll Waiter error.");
-		}
-
-	} else {
-		/*
-		 * Handle a teardown request.
-		 */
-		ret = remove_poll_waiter(fds);
-	}
-
-	unlock();
-
-	return ret;
-}
-
-void
-CDev::poll_notify(pollevent_t events)
-{
-	DEVICE_DEBUG("CDev::poll_notify events = %0x", events);
-
-	/* lock against poll() as well as other wakeups */
-	ATOMIC_ENTER;
-
-	for (unsigned i = 0; i < _max_pollwaiters; i++) {
-		if (nullptr != _pollset[i]) {
-			poll_notify_one(_pollset[i], events);
-		}
-	}
-
-	ATOMIC_LEAVE;
-}
-
-void
-CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
-{
-	DEVICE_DEBUG("CDev::poll_notify_one");
-
-#ifdef __PX4_NUTTX
-	int value = fds->sem->semcount;
-#else
-	int value = -1;
-	px4_sem_getvalue(fds->sem, &value);
-#endif
-
-	/* update the reported event set */
-	fds->revents |= fds->events & events;
-
-	DEVICE_DEBUG(" Events fds=%p %0x %0x %0x %d", fds, fds->revents, fds->events, events, value);
-
-	/* if the state is now interesting, wake the waiter if it's still asleep */
-	/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
-	if ((fds->revents != 0) && (value <= 0)) {
-		px4_sem_post(fds->sem);
-	}
-}
-
-pollevent_t
-CDev::poll_state(file_t *filep)
-{
-	DEVICE_DEBUG("CDev::poll_notify");
-	/* by default, no poll events to report */
-	return 0;
-}
-
-int
-CDev::store_poll_waiter(px4_pollfd_struct_t *fds)
-{
-	/*
-	 * Look for a free slot.
-	 */
-	DEVICE_DEBUG("CDev::store_poll_waiter");
-
-	for (unsigned i = 0; i < _max_pollwaiters; i++) {
-		if (nullptr == _pollset[i]) {
-
-			/* save the pollfd */
-			_pollset[i] = fds;
-
-			return PX4_OK;
-		}
-	}
-
-	/* No free slot found. Resize the pollset */
-
-	if (_max_pollwaiters >= 256 / 2) { //_max_pollwaiters is uint8_t
-		return -ENOMEM;
-	}
-
-	const uint8_t new_count = _max_pollwaiters > 0 ? _max_pollwaiters * 2 : 1;
-	px4_pollfd_struct_t **new_pollset = new px4_pollfd_struct_t *[new_count];
-
-	if (!new_pollset) {
-		return -ENOMEM;
-	}
-
-	if (_max_pollwaiters > 0) {
-		memset(new_pollset + _max_pollwaiters, 0, sizeof(px4_pollfd_struct_t *) * (new_count - _max_pollwaiters));
-		memcpy(new_pollset, _pollset, sizeof(px4_pollfd_struct_t *) * _max_pollwaiters);
-		delete[](_pollset);
-	}
-
-	_pollset = new_pollset;
-	_pollset[_max_pollwaiters] = fds;
-	_max_pollwaiters = new_count;
-	return PX4_OK;
-}
-
-int
-CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
-{
-	DEVICE_DEBUG("CDev::remove_poll_waiter");
-
-	for (unsigned i = 0; i < _max_pollwaiters; i++) {
-		if (fds == _pollset[i]) {
-
-			_pollset[i] = nullptr;
-			return PX4_OK;
-
-		}
-	}
-
-	PX4_WARN("poll: bad fd state");
-	return -EINVAL;
-}
-
-} // namespace device

src/drivers/device/CDev.hpp

@@ -1,319 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file CDev.hpp
- *
- * Definitions for the generic base classes in the device framework.
- */
-
-#ifndef _DEVICE_CDEV_HPP
-#define _DEVICE_CDEV_HPP
-
-#include "Device.hpp"
-
-#include <px4_config.h>
-#include <px4_posix.h>
-
-#ifdef __PX4_NUTTX
-#include "nuttx/cdev_platform.hpp"
-#else
-#include "posix/cdev_platform.hpp"
-#endif
-
-/**
- * Namespace encapsulating all device framework classes, functions and data.
- */
-namespace device
-{
-
-/**
- * Abstract class for any character device
- */
-class __EXPORT CDev : public Device
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 */
-	CDev(const char *name, const char *devname); // TODO: dagar remove name and Device inheritance
-
-	virtual ~CDev();
-
-	virtual int	init();
-
-	/**
-	 * Handle an open of the device.
-	 *
-	 * This function is called for every open of the device. The default
-	 * implementation maintains _open_count and always returns OK.
-	 *
-	 * @param filep		Pointer to the NuttX file structure.
-	 * @return		OK if the open is allowed, -errno otherwise.
-	 */
-	virtual int	open(file_t *filep);
-
-	/**
-	 * Handle a close of the device.
-	 *
-	 * This function is called for every close of the device. The default
-	 * implementation maintains _open_count and returns OK as long as it is not zero.
-	 *
-	 * @param filep		Pointer to the NuttX file structure.
-	 * @return		OK if the close was successful, -errno otherwise.
-	 */
-	virtual int	close(file_t *filep);
-
-	/**
-	 * Perform a read from the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filep		Pointer to the NuttX file structure.
-	 * @param buffer	Pointer to the buffer into which data should be placed.
-	 * @param buflen	The number of bytes to be read.
-	 * @return		The number of bytes read or -errno otherwise.
-	 */
-	virtual ssize_t	read(file_t *filep, char *buffer, size_t buflen);
-
-	/**
-	 * Perform a write to the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filep		Pointer to the NuttX file structure.
-	 * @param buffer	Pointer to the buffer from which data should be read.
-	 * @param buflen	The number of bytes to be written.
-	 * @return		The number of bytes written or -errno otherwise.
-	 */
-	virtual ssize_t	write(file_t *filep, const char *buffer, size_t buflen);
-
-	/**
-	 * Perform a logical seek operation on the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filep		Pointer to the NuttX file structure.
-	 * @param offset	The new file position relative to whence.
-	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
-	 * @return		The previous offset, or -errno otherwise.
-	 */
-	virtual off_t	seek(file_t *filep, off_t offset, int whence);
-
-	/**
-	 * Perform an ioctl operation on the device.
-	 *
-	 * The default implementation handles DIOC_GETPRIV, and otherwise
-	 * returns -ENOTTY. Subclasses should call the default implementation
-	 * for any command they do not handle themselves.
-	 *
-	 * @param filep		Pointer to the NuttX file structure.
-	 * @param cmd		The ioctl command value.
-	 * @param arg		The ioctl argument value.
-	 * @return		OK on success, or -errno otherwise.
-	 */
-	virtual int	ioctl(file_t *filep, int cmd, unsigned long arg);
-
-	/**
-	 * Perform a poll setup/teardown operation.
-	 *
-	 * This is handled internally and should not normally be overridden.
-	 *
-	 * @param filep		Pointer to the internal file structure.
-	 * @param fds		Poll descriptor being waited on.
-	 * @param setup		True if this is establishing a request, false if
-	 *			it is being torn down.
-	 * @return		OK on success, or -errno otherwise.
-	 */
-	virtual int	poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup);
-
-protected:
-	/**
-	 * Pointer to the default cdev file operations table; useful for
-	 * registering clone devices etc.
-	 */
-	static const px4_file_operations_t	fops;
-
-	/**
-	 * Check the current state of the device for poll events from the
-	 * perspective of the file.
-	 *
-	 * This function is called by the default poll() implementation when
-	 * a poll is set up to determine whether the poll should return immediately.
-	 *
-	 * The default implementation returns no events.
-	 *
-	 * @param filep		The file that's interested.
-	 * @return		The current set of poll events.
-	 */
-	virtual pollevent_t poll_state(file_t *filep);
-
-	/**
-	 * Report new poll events.
-	 *
-	 * This function should be called anytime the state of the device changes
-	 * in a fashion that might be interesting to a poll waiter.
-	 *
-	 * @param events	The new event(s) being announced.
-	 */
-	virtual void	poll_notify(pollevent_t events);
-
-	/**
-	 * Internal implementation of poll_notify.
-	 *
-	 * @param fds		A poll waiter to notify.
-	 * @param events	The event(s) to send to the waiter.
-	 */
-	virtual void	poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
-
-	/**
-	 * Notification of the first open.
-	 *
-	 * This function is called when the device open count transitions from zero
-	 * to one.  The driver lock is held for the duration of the call.
-	 *
-	 * The default implementation returns OK.
-	 *
-	 * @param filep		Pointer to the NuttX file structure.
-	 * @return		OK if the open should proceed, -errno otherwise.
-	 */
-	virtual int	open_first(file_t *filep);
-
-	/**
-	 * Notification of the last close.
-	 *
-	 * This function is called when the device open count transitions from
-	 * one to zero.  The driver lock is held for the duration of the call.
-	 *
-	 * The default implementation returns OK.
-	 *
-	 * @param filep		Pointer to the NuttX file structure.
-	 * @return		OK if the open should return OK, -errno otherwise.
-	 */
-	virtual int	close_last(file_t *filep);
-
-	/**
-	 * Register a class device name, automatically adding device
-	 * class instance suffix if need be.
-	 *
-	 * @param class_devname   Device class name
-	 * @return class_instamce Class instance created, or -errno on failure
-	 */
-	virtual int register_class_devname(const char *class_devname);
-
-	/**
-	 * Register a class device name, automatically adding device
-	 * class instance suffix if need be.
-	 *
-	 * @param class_devname   Device class name
-	 * @param class_instance  Device class instance from register_class_devname()
-	 * @return		  OK on success, -errno otherwise
-	 */
-	virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
-
-	/**
-	 * Get the device name.
-	 *
-	 * @return the file system string of the device handle
-	 */
-	const char	*get_devname() { return _devname; }
-
-	/**
-	 * Take the driver lock.
-	 *
-	 * Each driver instance has its own lock/semaphore.
-	 *
-	 * Note that we must loop as the wait may be interrupted by a signal.
-	 *
-	 * Careful: lock() calls cannot be nested!
-	 */
-	void		lock()
-	{
-		do {} while (px4_sem_wait(&_lock) != 0);
-	}
-
-	/**
-	 * Release the driver lock.
-	 */
-	void		unlock()
-	{
-		px4_sem_post(&_lock);
-	}
-
-	px4_sem_t	_lock; /**< lock to protect access to all class members (also for derived classes) */
-
-	bool		_pub_blocked{false};		/**< true if publishing should be blocked */
-
-private:
-	const char	*_devname;		/**< device node name */
-	bool		_registered{false};		/**< true if device name was registered */
-
-	uint8_t		_max_pollwaiters{0}; /**< size of the _pollset array */
-	uint16_t	_open_count{0};		/**< number of successful opens */
-
-	px4_pollfd_struct_t	**_pollset{nullptr};
-
-	/**
-	 * Store a pollwaiter in a slot where we can find it later.
-	 *
-	 * Expands the pollset as required.  Must be called with the driver locked.
-	 *
-	 * @return		OK, or -errno on error.
-	 */
-	int		store_poll_waiter(px4_pollfd_struct_t *fds);
-
-	/**
-	 * Remove a poll waiter.
-	 *
-	 * @return		OK, or -errno on error.
-	 */
-	int		remove_poll_waiter(px4_pollfd_struct_t *fds);
-
-	/* do not allow copying this class */
-	CDev(const CDev &);
-	CDev operator=(const CDev &);
-};
-
-} // namespace device
-
-// class instance for primary driver of each class
-enum CLASS_DEVICE {
-	CLASS_DEVICE_PRIMARY = 0,
-	CLASS_DEVICE_SECONDARY = 1,
-	CLASS_DEVICE_TERTIARY = 2
-};
-
-#endif /* _DEVICE_CDEV_HPP */

src/drivers/device/CMakeLists.txt

@@ -1,63 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-set(SRCS_PLATFORM)
-if (${OS} STREQUAL "nuttx")
-	list(APPEND SRCS_PLATFORM
-		nuttx/cdev_platform.cpp
-	)
-	if ("${CONFIG_I2C}" STREQUAL "y")
-		list(APPEND SRCS_PLATFORM nuttx/I2C.cpp)
-	endif()
-
-	if ("${CONFIG_SPI}" STREQUAL "y")
-		list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
-	endif()
-else()
-	list(APPEND SRCS_PLATFORM
-		posix/I2C.cpp
-		posix/cdev_platform.cpp
-		posix/vfile.cpp
-	)
-endif()
-
-px4_add_module(
-	MODULE drivers__device
-	SRCS
-		CDev.cpp
-		ringbuffer.cpp
-		integrator.cpp
-		${SRCS_PLATFORM}
-	DEPENDS
-		platforms__common
-	)

src/drivers/device/Device.hpp

@@ -1,221 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Device.hpp
- *
- * Definitions for the generic base classes in the device framework.
- */
-
-#ifndef _DEVICE_DEVICE_HPP
-#define _DEVICE_DEVICE_HPP
-
-/*
- * Includes here should only cover the needs of the framework definitions.
- */
-#include <px4_config.h>
-#include <px4_posix.h>
-
-#include <drivers/drv_device.h>
-
-#define DEVICE_LOG(FMT, ...) PX4_LOG_NAMED(_name, FMT, ##__VA_ARGS__)
-#define DEVICE_DEBUG(FMT, ...) PX4_LOG_NAMED_COND(_name, _debug_enabled, FMT, ##__VA_ARGS__)
-
-/**
- * Namespace encapsulating all device framework classes, functions and data.
- */
-namespace device
-{
-
-/**
- * Fundamental base class for all physical drivers (I2C, SPI).
- *
- * This class provides the basic driver template for I2C and SPI devices
- */
-class __EXPORT Device
-{
-public:
-	/**
-	 * Destructor.
-	 *
-	 * Public so that anonymous devices can be destroyed.
-	 */
-	virtual ~Device() = default;
-
-	/*
-	 * Direct access methods.
-	 */
-
-	/**
-	 * Initialise the driver and make it ready for use.
-	 *
-	 * @return	OK if the driver initialized OK, negative errno otherwise;
-	 */
-	virtual int	init() { return PX4_OK; }
-
-	/**
-	 * Read directly from the device.
-	 *
-	 * The actual size of each unit quantity is device-specific.
-	 *
-	 * @param offset	The device address at which to start reading
-	 * @param data		The buffer into which the read values should be placed.
-	 * @param count		The number of items to read.
-	 * @return		The number of items read on success, negative errno otherwise.
-	 */
-	virtual int	read(unsigned address, void *data, unsigned count) { return -ENODEV; }
-
-	/**
-	 * Write directly to the device.
-	 *
-	 * The actual size of each unit quantity is device-specific.
-	 *
-	 * @param address	The device address at which to start writing.
-	 * @param data		The buffer from which values should be read.
-	 * @param count		The number of items to write.
-	 * @return		The number of items written on success, negative errno otherwise.
-	 */
-	virtual int	write(unsigned address, void *data, unsigned count) { return -ENODEV; }
-
-	/**
-	 * Perform a device-specific operation.
-	 *
-	 * @param operation	The operation to perform.
-	 * @param arg		An argument to the operation.
-	 * @return		Negative errno on error, OK or positive value on success.
-	 */
-	virtual int	ioctl(unsigned operation, unsigned &arg)
-	{
-		switch (operation) {
-		case DEVIOCGDEVICEID:
-			return (int)_device_id.devid;
-		}
-
-		return -ENODEV;
-	}
-
-	/** Device bus types for DEVID */
-	enum DeviceBusType {
-		DeviceBusType_UNKNOWN = 0,
-		DeviceBusType_I2C     = 1,
-		DeviceBusType_SPI     = 2,
-		DeviceBusType_UAVCAN  = 3,
-	};
-
-	/**
-	 * Return the bus ID the device is connected to.
-	 *
-	 * @return The bus ID
-	 */
-	uint8_t get_device_bus() { return _device_id.devid_s.bus; }
-
-	/**
-	 * Return the bus type the device is connected to.
-	 *
-	 * @return The bus type
-	 */
-	DeviceBusType get_device_bus_type() { return _device_id.devid_s.bus_type; }
-
-	/**
-	 * Return the bus address of the device.
-	 *
-	 * @return The bus address
-	 */
-	uint8_t get_device_address() { return _device_id.devid_s.address; }
-
-	void set_device_address(int address) { _device_id.devid_s.address = address; }
-
-	/**
-	 * Set the device type
-	 *
-	 * @return The device type
-	 */
-	void set_device_type(uint8_t devtype) { _device_id.devid_s.devtype = devtype; }
-
-	virtual bool external() { return false; }
-
-	/*
-	  broken out device elements. The bitfields are used to keep
-	  the overall value small enough to fit in a float accurately,
-	  which makes it possible to transport over the MAVLink
-	  parameter protocol without loss of information.
-	 */
-	struct DeviceStructure {
-		enum DeviceBusType bus_type : 3;
-		uint8_t bus: 5;    // which instance of the bus type
-		uint8_t address;   // address on the bus (eg. I2C address)
-		uint8_t devtype;   // device class specific device type
-	};
-
-	union DeviceId {
-		struct DeviceStructure devid_s;
-		uint32_t devid;
-	};
-
-protected:
-	union DeviceId	_device_id;             /**< device identifier information */
-
-	const char	*_name;			/**< driver name */
-	bool		_debug_enabled{false};		/**< if true, debug messages are printed */
-
-	Device(const char *name) : _name(name)
-	{
-		/* setup a default device ID. When bus_type is UNKNOWN the
-		   other fields are invalid */
-		_device_id.devid = 0;
-		_device_id.devid_s.bus_type = DeviceBusType_UNKNOWN;
-		_device_id.devid_s.bus = 0;
-		_device_id.devid_s.address = 0;
-		_device_id.devid_s.devtype = 0;
-	}
-
-	Device(DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype = 0)
-	{
-		_device_id.devid = 0;
-		_device_id.devid_s.bus_type = bus_type;
-		_device_id.devid_s.bus = bus;
-		_device_id.devid_s.address = address;
-		_device_id.devid_s.devtype = devtype;
-	}
-
-	// no copy, assignment, move, move assignment
-	Device(const Device &) = delete;
-	Device &operator=(const Device &) = delete;
-	Device(Device &&) = delete;
-	Device &operator=(Device &&) = delete;
-
-};
-
-} // namespace device
-
-#endif /* _DEVICE_DEVICE_HPP */

src/drivers/device/device.h

@@ -1,37 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include "Device.hpp"
-#include "CDev.hpp"

src/drivers/device/i2c.h

@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-#pragma once
-
-#ifdef __PX4_NUTTX
-#include "nuttx/I2C.hpp"
-#else
-#include "posix/I2C.hpp"
-#endif

src/drivers/device/integrator.cpp

@@ -1,189 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file integrator.cpp
- *
- * A resettable integrator
- *
- * @author Lorenz Meier <lorenz@px4.io>
- * @author Julian Oes <julian@oes.ch>
- */
-
-#include "integrator.h"
-#include <drivers/drv_hrt.h>
-
-Integrator::Integrator(uint64_t auto_reset_interval, bool coning_compensation) :
-	_auto_reset_interval(auto_reset_interval),
-	_last_integration_time(0),
-	_last_reset_time(0),
-	_alpha(0.0f, 0.0f, 0.0f),
-	_last_alpha(0.0f, 0.0f, 0.0f),
-	_beta(0.0f, 0.0f, 0.0f),
-	_last_val(0.0f, 0.0f, 0.0f),
-	_last_delta_alpha(0.0f, 0.0f, 0.0f),
-	_coning_comp_on(coning_compensation)
-{
-
-}
-
-Integrator::~Integrator()
-{
-
-}
-
-bool
-Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt)
-{
-	if (_last_integration_time == 0) {
-		/* this is the first item in the integrator */
-		_last_integration_time = timestamp;
-		_last_reset_time = timestamp;
-		_last_val = val;
-
-		return false;
-	}
-
-	double dt = 0.0;
-
-	// Integrate:
-	// Leave dt at 0 if the integration time does not make sense.
-	// Without this check the integral is likely to explode.
-	if (timestamp >= _last_integration_time) {
-		dt = (double)(timestamp - _last_integration_time) / 1000000.0;
-	}
-
-	// Use trapezoidal integration to calculate the delta integral
-	matrix::Vector3f delta_alpha = (val + _last_val) * dt * 0.5f;
-	_last_val = val;
-
-	// Calculate coning corrections if required
-	if (_coning_comp_on) {
-		// Coning compensation derived by Paul Riseborough and Jonathan Challinger,
-		// following:
-		// Tian et al (2010) Three-loop Integration of GPS and Strapdown INS with Coning and Sculling Compensation
-		// Sourced: http://www.sage.unsw.edu.au/snap/publications/tian_etal2010b.pdf
-		// Simulated: https://github.com/priseborough/InertialNav/blob/master/models/imu_error_modelling.m
-		_beta += ((_last_alpha + _last_delta_alpha * (1.0f / 6.0f)) % delta_alpha) * 0.5f;
-		_last_delta_alpha = delta_alpha;
-		_last_alpha = _alpha;
-	}
-
-	// accumulate delta integrals
-	_alpha += delta_alpha;
-
-	_last_integration_time = timestamp;
-
-	// Only do auto reset if auto reset interval is not 0.
-	if (_auto_reset_interval > 0 && (timestamp - _last_reset_time) >= _auto_reset_interval) {
-
-		// apply coning corrections if required
-		if (_coning_comp_on) {
-			integral = _alpha + _beta;
-
-		} else {
-			integral = _alpha;
-		}
-
-		// reset the integrals and coning corrections
-		_reset(integral_dt);
-
-		return true;
-
-	} else {
-		return false;
-	}
-}
-
-bool
-Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral,
-			      uint64_t &integral_dt)
-{
-	if (_last_integration_time == 0) {
-		/* this is the first item in the integrator */
-		uint64_t now = hrt_absolute_time();
-		_last_integration_time = now;
-		_last_reset_time = now;
-		_last_val = val;
-
-		return false;
-	}
-
-	// Create the timestamp artifically.
-	uint64_t timestamp = _last_integration_time + interval_us;
-
-	return put(timestamp, val, integral, integral_dt);
-}
-
-matrix::Vector3f
-Integrator::get(bool reset, uint64_t &integral_dt)
-{
-	matrix::Vector3f val = _alpha;
-
-	if (reset) {
-		_reset(integral_dt);
-	}
-
-	return val;
-}
-
-matrix::Vector3f
-Integrator::get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val)
-{
-	// Do the usual get with reset first but don't return yet.
-	matrix::Vector3f ret_integral = get(reset, integral_dt);
-
-	// Because we need both the integral and the integral_dt.
-	filtered_val(0) = ret_integral(0) * 1000000 / integral_dt;
-	filtered_val(1) = ret_integral(1) * 1000000 / integral_dt;
-	filtered_val(2) = ret_integral(2) * 1000000 / integral_dt;
-
-	return ret_integral;
-}
-
-void
-Integrator::_reset(uint64_t &integral_dt)
-{
-	_alpha(0) = 0.0f;
-	_alpha(1) = 0.0f;
-	_alpha(2) = 0.0f;
-	_last_alpha(0) = 0.0f;
-	_last_alpha(1) = 0.0f;
-	_last_alpha(2) = 0.0f;
-	_beta(0) = 0.0f;
-	_beta(1) = 0.0f;
-	_beta(2) = 0.0f;
-
-	integral_dt = (_last_integration_time - _last_reset_time);
-	_last_reset_time = _last_integration_time;
-}

src/drivers/device/integrator.h

@@ -1,121 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file integrator.h
- *
- * A resettable integrator
- *
- * @author Lorenz Meier <lorenz@px4.io>
- * @author Julian Oes <julian@oes.ch>
- */
-
-#pragma once
-
-#include <mathlib/mathlib.h>
-
-class Integrator
-{
-public:
-	Integrator(uint64_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
-	virtual ~Integrator();
-
-	/**
-	 * Put an item into the integral.
-	 *
-	 * @param timestamp	Timestamp of the current value.
-	 * @param val		Item to put.
-	 * @param integral	Current integral in case the integrator did reset, else the value will not be modified
-	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
-	 * @return		true if putting the item triggered an integral reset and the integral should be
-	 *			published.
-	 */
-	bool put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt);
-
-	/**
-	 * Put an item into the integral but provide an interval instead of a timestamp.
-	 *
-	 * @param interval_us	Interval in us since last integration.
-	 * @param val		Item to put.
-	 * @param integral	Current integral in case the integrator did reset, else the value will not be modified
-	 * @param integral_dt	Get the dt in us of the current integration (only if reset). Note that this
-	 *			values might not be accurate vs. hrt_absolute_time because it is just the sum of the
-	 *			supplied intervals.
-	 * @return		true if putting the item triggered an integral reset and the integral should be
-	 *			published.
-	 */
-	bool put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral,
-			       uint64_t &integral_dt);
-
-	/**
-	 * Get the current integral and reset the integrator if needed.
-	 *
-	 * @param reset	    	Reset the integral to zero.
-	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
-	 * @return		the integral since the last read-reset
-	 */
-	matrix::Vector3f	get(bool reset, uint64_t &integral_dt);
-
-	/**
-	 * Get the current integral and reset the integrator if needed. Additionally give the
-	 * integral over the samples differentiated by the integration time (mean filtered values).
-	 *
-	 * @param reset	    	Reset the integral to zero.
-	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
-	 * @param filtered_val	The integral differentiated by the integration time.
-	 * @return		the integral since the last read-reset
-	 */
-	matrix::Vector3f	get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val);
-
-private:
-	uint64_t _auto_reset_interval;			/**< the interval after which the content will be published
-							     and the integrator reset, 0 if no auto-reset */
-	uint64_t _last_integration_time;		/**< timestamp of the last integration step */
-	uint64_t _last_reset_time;			/**< last auto-announcement of integral value */
-	matrix::Vector3f _alpha;			/**< integrated value before coning corrections are applied */
-	matrix::Vector3f _last_alpha;			/**< previous value of _alpha */
-	matrix::Vector3f _beta;				/**< accumulated coning corrections */
-	matrix::Vector3f _last_val;			/**< previous input */
-	matrix::Vector3f _last_delta_alpha;		/**< integral from previous previous sampling interval */
-	bool _coning_comp_on;				/**< true to turn on coning corrections */
-
-	/* we don't want this class to be copied */
-	Integrator(const Integrator &);
-	Integrator operator=(const Integrator &);
-
-	/* Do a reset.
-	 *
-	 * @param integral_dt	Get the dt in us of the current integration.
-	 */
-	void _reset(uint64_t &integral_dt);
-};

src/drivers/device/nuttx/I2C.cpp

@@ -1,225 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file i2c.cpp
- *
- * Base class for devices attached via the I2C bus.
- *
- * @todo Bus frequency changes; currently we do nothing with the value
- *       that is supplied.  Should we just depend on the bus knowing?
- */
-
-#include "I2C.hpp"
-
-namespace device
-{
-/*
- *  N.B. By defaulting the value of _bus_clocks to non Zero
- *  All calls to init() will NOT set the buss frequency
- */
-
-unsigned int I2C::_bus_clocks[BOARD_NUMBER_I2C_BUSES] = BOARD_I2C_BUS_CLOCK_INIT;
-
-I2C::I2C(const char *name, const char *devname, int bus, uint16_t address, uint32_t frequency) :
-	CDev(name, devname),
-	_frequency(frequency)
-{
-	DEVICE_DEBUG("I2C::I2C name = %s devname = %s", name, devname);
-	// fill in _device_id fields for a I2C device
-	_device_id.devid_s.bus_type = DeviceBusType_I2C;
-	_device_id.devid_s.bus = bus;
-	_device_id.devid_s.address = address;
-	// devtype needs to be filled in by the driver
-	_device_id.devid_s.devtype = 0;
-}
-
-I2C::~I2C()
-{
-	if (_dev) {
-		px4_i2cbus_uninitialize(_dev);
-		_dev = nullptr;
-	}
-}
-
-int
-I2C::set_bus_clock(unsigned bus, unsigned clock_hz)
-{
-	int index = bus - 1;
-
-	if (index < 0 || index >= static_cast<int>(sizeof(_bus_clocks) / sizeof(_bus_clocks[0]))) {
-		return -EINVAL;
-	}
-
-	if (_bus_clocks[index] > 0) {
-		// DEVICE_DEBUG("overriding clock of %u with %u Hz\n", _bus_clocks[index], clock_hz);
-	}
-
-	_bus_clocks[index] = clock_hz;
-
-	return OK;
-}
-
-int
-I2C::init()
-{
-	int ret = PX4_ERROR;
-	unsigned bus_index;
-
-	// attach to the i2c bus
-	_dev = px4_i2cbus_initialize(get_device_bus());
-
-	if (_dev == nullptr) {
-		DEVICE_DEBUG("failed to init I2C");
-		ret = -ENOENT;
-		goto out;
-	}
-
-	// the above call fails for a non-existing bus index,
-	// so the index math here is safe.
-	bus_index = get_device_bus() - 1;
-
-	// abort if the max frequency we allow (the frequency we ask)
-	// is smaller than the bus frequency
-	if (_bus_clocks[bus_index] > _frequency) {
-		(void)px4_i2cbus_uninitialize(_dev);
-		_dev = nullptr;
-		DEVICE_LOG("FAIL: too slow for bus #%u: %u KHz, device max: %u KHz)",
-			   get_device_bus(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
-		ret = -EINVAL;
-		goto out;
-	}
-
-	// set frequency for this instance once to the bus speed
-	// the bus speed is the maximum supported by all devices on the bus,
-	// as we have to prioritize performance over compatibility.
-	// If a new device requires a lower clock speed, this has to be
-	// manually set via "fmu i2c <bus> <clock>" before starting any
-	// drivers.
-	// This is necessary as automatically lowering the bus speed
-	// for maximum compatibility could induce timing issues on
-	// critical sensors the adopter might be unaware of.
-
-	// set the bus frequency on the first access if it has
-	// not been set yet
-	if (_bus_clocks[bus_index] == 0) {
-		_bus_clocks[bus_index] = _frequency;
-	}
-
-	// call the probe function to check whether the device is present
-	ret = probe();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("probe failed");
-		goto out;
-	}
-
-	// do base class init, which will create device node, etc
-	ret = CDev::init();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("cdev init failed");
-		goto out;
-	}
-
-	// tell the world where we are
-	DEVICE_LOG("on I2C bus %d at 0x%02x (bus: %u KHz, max: %u KHz)",
-		   get_device_bus(), get_device_address(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
-
-out:
-
-	if ((ret != OK) && (_dev != nullptr)) {
-		px4_i2cbus_uninitialize(_dev);
-		_dev = nullptr;
-	}
-
-	return ret;
-}
-
-int
-I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
-{
-	px4_i2c_msg_t msgv[2];
-	unsigned msgs;
-	int ret = PX4_ERROR;
-	unsigned retry_count = 0;
-
-	if (_dev == nullptr) {
-		PX4_ERR("I2C device not opened");
-		return 1;
-	}
-
-	do {
-		DEVICE_DEBUG("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
-		msgs = 0;
-
-		if (send_len > 0) {
-			msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
-			msgv[msgs].addr = get_device_address();
-			msgv[msgs].flags = 0;
-			msgv[msgs].buffer = const_cast<uint8_t *>(send);
-			msgv[msgs].length = send_len;
-			msgs++;
-		}
-
-		if (recv_len > 0) {
-			msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
-			msgv[msgs].addr = get_device_address();
-			msgv[msgs].flags = I2C_M_READ;
-			msgv[msgs].buffer = recv;
-			msgv[msgs].length = recv_len;
-			msgs++;
-		}
-
-		if (msgs == 0) {
-			return -EINVAL;
-		}
-
-		ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
-
-		/* success */
-		if (ret == PX4_OK) {
-			break;
-		}
-
-		/* if we have already retried once, or we are going to give up, then reset the bus */
-		if ((retry_count >= 1) || (retry_count >= _retries)) {
-			I2C_RESET(_dev);
-		}
-
-	} while (retry_count++ < _retries);
-
-	return ret;
-}
-
-} // namespace device

src/drivers/device/nuttx/I2C.hpp

@@ -1,114 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file i2c.h
- *
- * Base class for devices connected via I2C.
- */
-
-#ifndef _DEVICE_I2C_H
-#define _DEVICE_I2C_H
-
-#include "../CDev.hpp"
-
-#include <px4_i2c.h>
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on I2C
- */
-class __EXPORT I2C : public CDev
-{
-
-public:
-
-	static int	set_bus_clock(unsigned bus, unsigned clock_hz);
-
-	static unsigned	int	_bus_clocks[BOARD_NUMBER_I2C_BUSES];
-
-protected:
-	/**
-	 * The number of times a read or write operation will be retried on
-	 * error.
-	 */
-	uint8_t		_retries{0};
-
-	/**
-	 * @ Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param bus		I2C bus on which the device lives
-	 * @param address	I2C bus address, or zero if set_address will be used
-	 * @param frequency	I2C bus frequency for the device (currently not used)
-	 */
-	I2C(const char *name, const char *devname, int bus, uint16_t address, uint32_t frequency);
-	virtual ~I2C();
-
-	virtual int	init();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe() { return PX4_OK; }
-
-	/**
-	 * Perform an I2C transaction to the device.
-	 *
-	 * At least one of send_len and recv_len must be non-zero.
-	 *
-	 * @param send		Pointer to bytes to send.
-	 * @param send_len	Number of bytes to send.
-	 * @param recv		Pointer to buffer for bytes received.
-	 * @param recv_len	Number of bytes to receive.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
-
-	bool		external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
-
-private:
-	uint32_t		_frequency{0};
-	px4_i2c_dev_t		*_dev{nullptr};
-
-	I2C(const device::I2C &);
-	I2C operator=(const device::I2C &);
-};
-
-} // namespace device
-
-#endif /* _DEVICE_I2C_H */

src/drivers/device/nuttx/SPI.cpp

@@ -1,236 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file spi.cpp
- *
- * Base class for devices connected via SPI.
- *
- * @todo Work out if caching the mode/frequency would save any time.
- *
- * @todo A separate bus/device abstraction would allow for mixed interrupt-mode
- * and non-interrupt-mode clients to arbitrate for the bus.  As things stand,
- * a bus shared between clients of both kinds is vulnerable to races between
- * the two, where an interrupt-mode client will ignore the lock held by the
- * non-interrupt-mode client.
- */
-
-#include "SPI.hpp"
-
-#include <px4_config.h>
-#include <nuttx/arch.h>
-
-#ifndef CONFIG_SPI_EXCHANGE
-# error This driver requires CONFIG_SPI_EXCHANGE
-#endif
-
-namespace device
-{
-
-SPI::SPI(const char *name,
-	 const char *devname,
-	 int bus,
-	 uint32_t device,
-	 enum spi_mode_e mode,
-	 uint32_t frequency) :
-	// base class
-	CDev(name, devname),
-	// public
-	// protected
-	locking_mode(LOCK_PREEMPTION),
-	// private
-	_device(device),
-	_mode(mode),
-	_frequency(frequency),
-	_dev(nullptr)
-{
-	// fill in _device_id fields for a SPI device
-	_device_id.devid_s.bus_type = DeviceBusType_SPI;
-	_device_id.devid_s.bus = bus;
-	_device_id.devid_s.address = (uint8_t)device;
-	// devtype needs to be filled in by the driver
-	_device_id.devid_s.devtype = 0;
-}
-
-SPI::~SPI()
-{
-	// XXX no way to let go of the bus...
-}
-
-int
-SPI::init()
-{
-	int ret = OK;
-
-	/* attach to the spi bus */
-	if (_dev == nullptr) {
-		_dev = px4_spibus_initialize(get_device_bus());
-	}
-
-	if (_dev == nullptr) {
-		DEVICE_DEBUG("failed to init SPI");
-		ret = -ENOENT;
-		goto out;
-	}
-
-	/* deselect device to ensure high to low transition of pin select */
-	SPI_SELECT(_dev, _device, false);
-
-	/* call the probe function to check whether the device is present */
-	ret = probe();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("probe failed");
-		goto out;
-	}
-
-	/* do base class init, which will create the device node, etc. */
-	ret = CDev::init();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("cdev init failed");
-		goto out;
-	}
-
-	/* tell the workd where we are */
-	DEVICE_LOG("on SPI bus %d at %d (%u KHz)", get_device_bus(), PX4_SPI_DEV_ID(_device), _frequency / 1000);
-
-out:
-	return ret;
-}
-
-int
-SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
-{
-	int result;
-
-	if ((send == nullptr) && (recv == nullptr)) {
-		return -EINVAL;
-	}
-
-	LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode;
-
-	/* lock the bus as required */
-	switch (mode) {
-	default:
-	case LOCK_PREEMPTION: {
-			irqstate_t state = px4_enter_critical_section();
-			result = _transfer(send, recv, len);
-			px4_leave_critical_section(state);
-		}
-		break;
-
-	case LOCK_THREADS:
-		SPI_LOCK(_dev, true);
-		result = _transfer(send, recv, len);
-		SPI_LOCK(_dev, false);
-		break;
-
-	case LOCK_NONE:
-		result = _transfer(send, recv, len);
-		break;
-	}
-
-	return result;
-}
-
-int
-SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
-{
-	SPI_SETFREQUENCY(_dev, _frequency);
-	SPI_SETMODE(_dev, _mode);
-	SPI_SETBITS(_dev, 8);
-	SPI_SELECT(_dev, _device, true);
-
-	/* do the transfer */
-	SPI_EXCHANGE(_dev, send, recv, len);
-
-	/* and clean up */
-	SPI_SELECT(_dev, _device, false);
-
-	return OK;
-}
-
-int
-SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
-{
-	int result;
-
-	if ((send == nullptr) && (recv == nullptr)) {
-		return -EINVAL;
-	}
-
-	LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode;
-
-	/* lock the bus as required */
-	switch (mode) {
-	default:
-	case LOCK_PREEMPTION: {
-			irqstate_t state = px4_enter_critical_section();
-			result = _transferhword(send, recv, len);
-			px4_leave_critical_section(state);
-		}
-		break;
-
-	case LOCK_THREADS:
-		SPI_LOCK(_dev, true);
-		result = _transferhword(send, recv, len);
-		SPI_LOCK(_dev, false);
-		break;
-
-	case LOCK_NONE:
-		result = _transferhword(send, recv, len);
-		break;
-	}
-
-	return result;
-}
-
-int
-SPI::_transferhword(uint16_t *send, uint16_t *recv, unsigned len)
-{
-	SPI_SETFREQUENCY(_dev, _frequency);
-	SPI_SETMODE(_dev, _mode);
-	SPI_SETBITS(_dev, 16);							/* 16 bit transfer */
-	SPI_SELECT(_dev, _device, true);
-
-	/* do the transfer */
-	SPI_EXCHANGE(_dev, send, recv, len);
-
-	/* and clean up */
-	SPI_SELECT(_dev, _device, false);
-
-	return OK;
-}
-
-} // namespace device

src/drivers/device/nuttx/SPI.hpp

@@ -1,176 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file spi.h
- *
- * Base class for devices connected via SPI.
- */
-
-#ifndef _DEVICE_SPI_H
-#define _DEVICE_SPI_H
-
-#include "../CDev.hpp"
-
-#include <px4_spi.h>
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on SPI
- */
-class __EXPORT SPI : public CDev
-{
-protected:
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param bus		SPI bus on which the device lives
-	 * @param device	Device handle (used by SPI_SELECT)
-	 * @param mode		SPI clock/data mode
-	 * @param frequency	SPI clock frequency
-	 */
-	SPI(const char *name,
-	    const char *devname,
-	    int bus,
-	    uint32_t device,
-	    enum spi_mode_e mode,
-	    uint32_t frequency);
-	virtual ~SPI();
-
-	/**
-	 * Locking modes supported by the driver.
-	 */
-	enum LockMode {
-		LOCK_PREEMPTION,	/**< the default; lock against all forms of preemption. */
-		LOCK_THREADS,		/**< lock only against other threads, using SPI_LOCK */
-		LOCK_NONE		/**< perform no locking, only safe if the bus is entirely private */
-	};
-
-	virtual int	init();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe() { return PX4_OK; }
-
-	/**
-	 * Perform a SPI transfer.
-	 *
-	 * If called from interrupt context, this interface does not lock
-	 * the bus and may interfere with non-interrupt-context callers.
-	 *
-	 * Clients in a mixed interrupt/non-interrupt configuration must
-	 * ensure appropriate interlocking.
-	 *
-	 * At least one of send or recv must be non-null.
-	 *
-	 * @param send		Bytes to send to the device, or nullptr if
-	 *			no data is to be sent.
-	 * @param recv		Buffer for receiving bytes from the device,
-	 *			or nullptr if no bytes are to be received.
-	 * @param len		Number of bytes to transfer.
-	 * @return		OK if the exchange was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(uint8_t *send, uint8_t *recv, unsigned len);
-
-	/**
-	 * Perform a SPI 16 bit transfer.
-	 *
-	 * If called from interrupt context, this interface does not lock
-	 * the bus and may interfere with non-interrupt-context callers.
-	 *
-	 * Clients in a mixed interrupt/non-interrupt configuration must
-	 * ensure appropriate interlocking.
-	 *
-	 * At least one of send or recv must be non-null.
-	 *
-	 * @param send		Words to send to the device, or nullptr if
-	 *			no data is to be sent.
-	 * @param recv		Words for receiving bytes from the device,
-	 *			or nullptr if no bytes are to be received.
-	 * @param len		Number of words to transfer.
-	 * @return		OK if the exchange was successful, -errno
-	 *			otherwise.
-	 */
-	int		transferhword(uint16_t *send, uint16_t *recv, unsigned len);
-
-	/**
-	 * Set the SPI bus frequency
-	 * This is used to change frequency on the fly. Some sensors
-	 * (such as the MPU6000) need a lower frequency for setup
-	 * registers and can handle higher frequency for sensor
-	 * value registers
-	 *
-	 * @param frequency	Frequency to set (Hz)
-	 */
-	void		set_frequency(uint32_t frequency) { _frequency = frequency; }
-
-	/**
-	 * Set the SPI bus locking mode
-	 *
-	 * This set the SPI locking mode. For devices competing with NuttX SPI
-	 * drivers on a bus the right lock mode is LOCK_THREADS.
-	 *
-	 * @param mode	Locking mode
-	 */
-	void		set_lockmode(enum LockMode mode) { locking_mode = mode; }
-
-	LockMode	locking_mode;	/**< selected locking mode */
-
-private:
-	uint32_t			_device;
-	enum spi_mode_e		_mode;
-	uint32_t		_frequency;
-	struct spi_dev_s	*_dev;
-
-	/* this class does not allow copying */
-	SPI(const SPI &);
-	SPI operator=(const SPI &);
-
-protected:
-	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
-
-	int	_transferhword(uint16_t *send, uint16_t *recv, unsigned len);
-
-	bool	external() { return px4_spi_bus_external(get_device_bus()); }
-
-};
-
-} // namespace device
-
-#endif /* _DEVICE_SPI_H */

src/drivers/device/nuttx/cdev_platform.cpp

@@ -1,140 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file cdev_platform.cpp
- *
- * NuttX Character device functions
- */
-#include "cdev_platform.hpp"
-#include "../CDev.hpp"
-
-#include "px4_posix.h"
-#include "drivers/drv_device.h"
-#include <sys/ioctl.h>
-
-#ifdef CONFIG_DISABLE_POLL
-# error This driver is not compatible with CONFIG_DISABLE_POLL
-#endif
-
-namespace device
-{
-
-/*
- * The standard NuttX operation dispatch table can't call C++ member functions
- * directly, so we have to bounce them through this dispatch table.
- */
-static int	cdev_open(file_t *filp);
-static int	cdev_close(file_t *filp);
-static ssize_t	cdev_read(file_t *filp, char *buffer, size_t buflen);
-static ssize_t	cdev_write(file_t *filp, const char *buffer, size_t buflen);
-static off_t	cdev_seek(file_t *filp, off_t offset, int whence);
-static int	cdev_ioctl(file_t *filp, int cmd, unsigned long arg);
-static int	cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup);
-
-/**
- * Character device indirection table.
- *
- * Every cdev we register gets the same function table; we use the private data
- * field in the inode to store the instance pointer.
- *
- * Note that we use the GNU extension syntax here because we don't get designated
- * initialisers in gcc 4.6.
- */
-const struct file_operations device::CDev::fops = {
-open	: cdev_open,
-close	: cdev_close,
-read	: cdev_read,
-write	: cdev_write,
-seek	: cdev_seek,
-ioctl	: cdev_ioctl,
-poll	: cdev_poll
-};
-
-static int
-cdev_open(file_t *filp)
-{
-	device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
-
-	return cdev->open(filp);
-}
-
-static int
-cdev_close(file_t *filp)
-{
-	device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
-
-	return cdev->close(filp);
-}
-
-static ssize_t
-cdev_read(file_t *filp, char *buffer, size_t buflen)
-{
-	device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
-
-	return cdev->read(filp, buffer, buflen);
-}
-
-static ssize_t
-cdev_write(file_t *filp, const char *buffer, size_t buflen)
-{
-	device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
-
-	return cdev->write(filp, buffer, buflen);
-}
-
-static off_t
-cdev_seek(file_t *filp, off_t offset, int whence)
-{
-	device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
-
-	return cdev->seek(filp, offset, whence);
-}
-
-static int
-cdev_ioctl(file_t *filp, int cmd, unsigned long arg)
-{
-	device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
-
-	return cdev->ioctl(filp, cmd, arg);
-}
-
-static int
-cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup)
-{
-	device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
-
-	return cdev->poll(filp, fds, setup);
-}
-
-} // namespace device

src/drivers/device/nuttx/cdev_platform.hpp

@@ -1,19 +0,0 @@
-
-#pragma once
-
-#include <cinttypes>
-
-#include <nuttx/arch.h>
-
-#include <px4_micro_hal.h>
-
-#define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
-#define ATOMIC_LEAVE px4_leave_critical_section(flags)
-
-namespace device
-{
-
-using px4_file_operations_t = struct file_operations;
-using file_t = struct file;
-
-} // namespace device

src/drivers/device/posix/I2C.cpp

@@ -1,194 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file i2c.cpp
- *
- * Base class for devices attached via the I2C bus.
- *
- * @todo Bus frequency changes; currently we do nothing with the value
- *       that is supplied.  Should we just depend on the bus knowing?
- */
-
-#include "I2C.hpp"
-
-#ifdef __PX4_LINUX
-#include <linux/i2c.h>
-#include <linux/i2c-dev.h>
-#endif
-
-#ifdef __PX4_QURT
-#define PX4_SIMULATE_I2C 1
-#else
-#define PX4_SIMULATE_I2C 0
-#endif
-
-static constexpr const int simulate = PX4_SIMULATE_I2C;
-
-
-namespace device
-{
-
-I2C::I2C(const char *name, const char *devname, int bus, uint16_t address, uint32_t frequency) :
-	CDev(name, devname)
-{
-	DEVICE_DEBUG("I2C::I2C name = %s devname = %s", name, devname);
-	// fill in _device_id fields for a I2C device
-	_device_id.devid_s.bus_type = DeviceBusType_I2C;
-	_device_id.devid_s.bus = bus;
-	_device_id.devid_s.address = address;
-	// devtype needs to be filled in by the driver
-	_device_id.devid_s.devtype = 0;
-}
-
-I2C::~I2C()
-{
-	if (_fd >= 0) {
-#ifndef __PX4_QURT
-		::close(_fd);
-#endif /* !__PX4_QURT */
-		_fd = -1;
-	}
-}
-
-int
-I2C::init()
-{
-	// Assume the driver set the desired bus frequency. There is no standard
-	// way to set it from user space.
-
-	// do base class init, which will create device node, etc
-	int ret = CDev::init();
-
-	if (ret != PX4_OK) {
-		DEVICE_DEBUG("CDev::init failed");
-		return ret;
-	}
-
-	if (simulate) {
-		_fd = 10000;
-
-	} else {
-#ifndef __PX4_QURT
-
-		// Open the actual I2C device
-		char dev_path[16];
-		snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%i", get_device_bus());
-		_fd = ::open(dev_path, O_RDWR);
-
-		if (_fd < 0) {
-			PX4_ERR("could not open %s", dev_path);
-			px4_errno = errno;
-			return PX4_ERROR;
-		}
-
-#endif /* !__PX4_QURT */
-	}
-
-	return ret;
-}
-
-int
-I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
-{
-#ifndef __PX4_LINUX
-	return PX4_ERROR;
-#else
-	struct i2c_msg msgv[2];
-	unsigned msgs;
-	int ret = PX4_ERROR;
-	unsigned retry_count = 0;
-
-	if (_fd < 0) {
-		PX4_ERR("I2C device not opened");
-		return 1;
-	}
-
-	do {
-		DEVICE_DEBUG("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
-		msgs = 0;
-
-		if (send_len > 0) {
-			msgv[msgs].addr = get_device_address();
-			msgv[msgs].flags = 0;
-			msgv[msgs].buf = const_cast<uint8_t *>(send);
-			msgv[msgs].len = send_len;
-			msgs++;
-		}
-
-		if (recv_len > 0) {
-			msgv[msgs].addr = get_device_address();
-			msgv[msgs].flags = I2C_M_READ;
-			msgv[msgs].buf = recv;
-			msgv[msgs].len = recv_len;
-			msgs++;
-		}
-
-		if (msgs == 0) {
-			return -EINVAL;
-		}
-
-		struct i2c_rdwr_ioctl_data packets;
-
-		packets.msgs  = msgv;
-
-		packets.nmsgs = msgs;
-
-		if (simulate) {
-			DEVICE_DEBUG("I2C SIM: transfer_4 on %s", get_devname());
-			ret = PX4_OK;
-
-		} else {
-			ret = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
-
-			if (ret == -1) {
-				DEVICE_DEBUG("I2C transfer failed");
-				ret = PX4_ERROR;
-
-			} else {
-				ret = PX4_OK;
-			}
-		}
-
-		/* success */
-		if (ret == PX4_OK) {
-			break;
-		}
-
-	} while (retry_count++ < _retries);
-
-	return ret;
-#endif
-}
-
-} // namespace device

src/drivers/device/posix/I2C.hpp

@@ -1,114 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file i2c.h
- *
- * Base class for devices connected via I2C.
- */
-
-#ifndef _DEVICE_I2C_H
-#define _DEVICE_I2C_H
-
-#include "../CDev.hpp"
-
-#include <px4_i2c.h>
-
-#ifdef __PX4_LINUX
-#include <linux/i2c.h>
-#include <linux/i2c-dev.h>
-#endif
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on I2C
- */
-class __EXPORT I2C : public CDev
-{
-
-public:
-
-protected:
-	/**
-	 * The number of times a read or write operation will be retried on
-	 * error.
-	 */
-	uint8_t		_retries{0};
-
-	/**
-	 * @ Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param bus		I2C bus on which the device lives
-	 * @param address	I2C bus address, or zero if set_address will be used
-	 * @param frequency	I2C bus frequency for the device (currently not used)
-	 */
-	I2C(const char *name, const char *devname, int bus, uint16_t address, uint32_t frequency = 0);
-	virtual ~I2C();
-
-	virtual int	init();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe() { return PX4_OK; }
-
-	/**
-	 * Perform an I2C transaction to the device.
-	 *
-	 * At least one of send_len and recv_len must be non-zero.
-	 *
-	 * @param send		Pointer to bytes to send.
-	 * @param send_len	Number of bytes to send.
-	 * @param recv		Pointer to buffer for bytes received.
-	 * @param recv_len	Number of bytes to receive.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
-
-	bool		external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
-
-private:
-	int 			_fd{-1};
-
-	I2C(const device::I2C &);
-	I2C operator=(const device::I2C &);
-};
-
-} // namespace device
-
-#endif /* _DEVICE_I2C_H */

src/drivers/device/posix/SPI.hpp

@@ -1,54 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file spi.h
- *
- * Base class for devices connected via SPI.
- */
-
-#ifndef _DEVICE_SPI_H
-#define _DEVICE_SPI_H
-
-#include "CDev.hpp"
-
-#include <px4_spi.h>
-
-namespace device __EXPORT
-{
-
-// TODO: implement posix spi
-
-} // namespace device
-
-#endif /* _DEVICE_SPI_H */

src/drivers/device/posix/cdev_platform.cpp

@@ -1,551 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2015 Mark Charlebois. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vdev_posix.cpp
- *
- * POSIX-like API for virtual character device
- */
-
-#include "cdev_platform.hpp"
-
-#include <string>
-#include <map>
-
-#include "vfile.h"
-#include "../CDev.hpp"
-
-#include <px4_log.h>
-#include <px4_posix.h>
-#include <px4_time.h>
-
-#include "DevMgr.hpp"
-
-using namespace std;
-using namespace DriverFramework;
-
-const device::px4_file_operations_t device::CDev::fops = {};
-
-pthread_mutex_t devmutex = PTHREAD_MUTEX_INITIALIZER;
-pthread_mutex_t filemutex = PTHREAD_MUTEX_INITIALIZER;
-
-px4_sem_t lockstep_sem;
-bool sim_lockstep = false;
-volatile bool sim_delay = false;
-
-#define PX4_MAX_FD 350
-static map<string, void *> devmap;
-static device::file_t filemap[PX4_MAX_FD] = {};
-
-extern "C" {
-
-	int px4_errno;
-
-	static device::CDev *getDev(const char *path)
-	{
-		PX4_DEBUG("CDev::getDev");
-
-		pthread_mutex_lock(&devmutex);
-
-		auto item = devmap.find(path);
-
-		if (item != devmap.end()) {
-			pthread_mutex_unlock(&devmutex);
-			return (device::CDev *)item->second;
-		}
-
-		pthread_mutex_unlock(&devmutex);
-
-		return nullptr;
-	}
-
-	static device::CDev *get_vdev(int fd)
-	{
-		pthread_mutex_lock(&filemutex);
-		bool valid = (fd < PX4_MAX_FD && fd >= 0 && filemap[fd].vdev);
-		device::CDev *dev;
-
-		if (valid) {
-			dev = (device::CDev *)(filemap[fd].vdev);
-
-		} else {
-			dev = nullptr;
-		}
-
-		pthread_mutex_unlock(&filemutex);
-		return dev;
-	}
-
-	int register_driver(const char *name, const device::px4_file_operations_t *fops, device::mode_t mode, void *data)
-	{
-		PX4_DEBUG("CDev::register_driver %s", name);
-		int ret = 0;
-
-		if (name == nullptr || data == nullptr) {
-			return -EINVAL;
-		}
-
-		pthread_mutex_lock(&devmutex);
-
-		// Make sure the device does not already exist
-		auto item = devmap.find(name);
-
-		if (item != devmap.end()) {
-			pthread_mutex_unlock(&devmutex);
-			return -EEXIST;
-		}
-
-		devmap[name] = (void *)data;
-		PX4_DEBUG("Registered DEV %s", name);
-
-		pthread_mutex_unlock(&devmutex);
-
-		return ret;
-	}
-
-	int unregister_driver(const char *name)
-	{
-		PX4_DEBUG("CDev::unregister_driver %s", name);
-		int ret = -EINVAL;
-
-		if (name == nullptr) {
-			return -EINVAL;
-		}
-
-		pthread_mutex_lock(&devmutex);
-
-		if (devmap.erase(name) > 0) {
-			PX4_DEBUG("Unregistered DEV %s", name);
-			ret = 0;
-		}
-
-		pthread_mutex_unlock(&devmutex);
-
-		return ret;
-	}
-
-	int px4_open(const char *path, int flags, ...)
-	{
-		PX4_DEBUG("px4_open");
-		device::CDev *dev = getDev(path);
-		int ret = 0;
-		int i;
-		mode_t mode;
-
-		if (!dev && (flags & (PX4_F_WRONLY | PX4_F_CREAT)) != 0 &&
-		    strncmp(path, "/obj/", 5) != 0 &&
-		    strncmp(path, "/dev/", 5) != 0) {
-			va_list p;
-			va_start(p, flags);
-			mode = va_arg(p, int);
-			va_end(p);
-
-			// Create the file
-			PX4_DEBUG("Creating virtual file %s", path);
-			dev = device::VFile::createFile(path, mode);
-		}
-
-		if (dev) {
-
-			pthread_mutex_lock(&filemutex);
-
-			for (i = 0; i < PX4_MAX_FD; ++i) {
-				if (filemap[i].vdev == nullptr) {
-					filemap[i] = device::file_t(flags, dev);
-					break;
-				}
-			}
-
-			pthread_mutex_unlock(&filemutex);
-
-			if (i < PX4_MAX_FD) {
-				ret = dev->open(&filemap[i]);
-
-			} else {
-
-				const unsigned NAMELEN = 32;
-				char thread_name[NAMELEN] = {};
-
-#ifndef __PX4_QURT
-				int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);
-
-				if (nret || thread_name[0] == 0) {
-					PX4_WARN("failed getting thread name");
-				}
-
-				PX4_BACKTRACE();
-#endif
-
-				PX4_WARN("%s: exceeded maximum number of file descriptors, accessing %s",
-					 thread_name, path);
-				ret = -ENOENT;
-			}
-
-		} else {
-			ret = -EINVAL;
-		}
-
-		if (ret < 0) {
-			return -1;
-		}
-
-		PX4_DEBUG("px4_open fd = %d", i);
-		return i;
-	}
-
-	int px4_close(int fd)
-	{
-		int ret;
-
-		device::CDev *dev = get_vdev(fd);
-
-		if (dev) {
-			pthread_mutex_lock(&filemutex);
-			ret = dev->close(&filemap[fd]);
-
-			filemap[fd].vdev = nullptr;
-
-			pthread_mutex_unlock(&filemutex);
-			PX4_DEBUG("px4_close fd = %d", fd);
-
-		} else {
-			ret = -EINVAL;
-		}
-
-		if (ret < 0) {
-			px4_errno = -ret;
-			ret = PX4_ERROR;
-		}
-
-		return ret;
-	}
-
-	ssize_t px4_read(int fd, void *buffer, size_t buflen)
-	{
-		int ret;
-
-		device::CDev *dev = get_vdev(fd);
-
-		if (dev) {
-			PX4_DEBUG("px4_read fd = %d", fd);
-			ret = dev->read(&filemap[fd], (char *)buffer, buflen);
-
-		} else {
-			ret = -EINVAL;
-		}
-
-		if (ret < 0) {
-			px4_errno = -ret;
-			ret = PX4_ERROR;
-		}
-
-		return ret;
-	}
-
-	ssize_t px4_write(int fd, const void *buffer, size_t buflen)
-	{
-		int ret;
-
-		device::CDev *dev = get_vdev(fd);
-
-		if (dev) {
-			PX4_DEBUG("px4_write fd = %d", fd);
-			ret = dev->write(&filemap[fd], (const char *)buffer, buflen);
-
-		} else {
-			ret = -EINVAL;
-		}
-
-		if (ret < 0) {
-			px4_errno = -ret;
-			ret = PX4_ERROR;
-		}
-
-		return ret;
-	}
-
-	int px4_ioctl(int fd, int cmd, unsigned long arg)
-	{
-		PX4_DEBUG("px4_ioctl fd = %d", fd);
-		int ret = 0;
-
-		device::CDev *dev = get_vdev(fd);
-
-		if (dev) {
-			ret = dev->ioctl(&filemap[fd], cmd, arg);
-
-		} else {
-			ret = -EINVAL;
-		}
-
-		if (ret < 0) {
-			px4_errno = -ret;
-		}
-
-		return ret;
-	}
-
-	int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
-	{
-		if (nfds == 0) {
-			PX4_WARN("px4_poll with no fds");
-			return -1;
-		}
-
-		px4_sem_t sem;
-		int count = 0;
-		int ret = -1;
-		unsigned int i;
-
-		const unsigned NAMELEN = 32;
-		char thread_name[NAMELEN] = {};
-
-#ifndef __PX4_QURT
-		int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);
-
-		if (nret || thread_name[0] == 0) {
-			PX4_WARN("failed getting thread name");
-		}
-
-#endif
-
-		while (sim_delay) {
-			usleep(100);
-		}
-
-		PX4_DEBUG("Called px4_poll timeout = %d", timeout);
-
-		px4_sem_init(&sem, 0, 0);
-
-		// sem use case is a signal
-		px4_sem_setprotocol(&sem, SEM_PRIO_NONE);
-
-		// Go through all fds and check them for a pollable state
-		bool fd_pollable = false;
-
-		for (i = 0; i < nfds; ++i) {
-			fds[i].sem     = &sem;
-			fds[i].revents = 0;
-			fds[i].priv    = nullptr;
-
-			device::CDev *dev = get_vdev(fds[i].fd);
-
-			// If fd is valid
-			if (dev) {
-				PX4_DEBUG("%s: px4_poll: CDev->poll(setup) %d", thread_name, fds[i].fd);
-				ret = dev->poll(&filemap[fds[i].fd], &fds[i], true);
-
-				if (ret < 0) {
-					PX4_WARN("%s: px4_poll() error: %s",
-						 thread_name, strerror(errno));
-					break;
-				}
-
-				if (ret >= 0) {
-					fd_pollable = true;
-				}
-			}
-		}
-
-		// If any FD can be polled, lock the semaphore and
-		// check for new data
-		if (fd_pollable) {
-			if (timeout > 0) {
-
-				// Get the current time
-				struct timespec ts;
-				// FIXME: check if QURT should probably be using CLOCK_MONOTONIC
-				px4_clock_gettime(CLOCK_REALTIME, &ts);
-
-				// Calculate an absolute time in the future
-				const unsigned billion = (1000 * 1000 * 1000);
-				unsigned tdiff = timeout;
-				uint64_t nsecs = ts.tv_nsec + (tdiff * 1000 * 1000);
-				ts.tv_sec += nsecs / billion;
-				nsecs -= (nsecs / billion) * billion;
-				ts.tv_nsec = nsecs;
-
-				// Execute a blocking wait for that time in the future
-				errno = 0;
-				ret = px4_sem_timedwait(&sem, &ts);
-#ifndef __PX4_DARWIN
-				ret = errno;
-#endif
-
-				// Ensure ret is negative on failure
-				if (ret > 0) {
-					ret = -ret;
-				}
-
-				if (ret && ret != -ETIMEDOUT) {
-					PX4_WARN("%s: px4_poll() sem error", thread_name);
-				}
-
-			} else if (timeout < 0) {
-				px4_sem_wait(&sem);
-			}
-
-			// We have waited now (or not, depending on timeout),
-			// go through all fds and count how many have data
-			for (i = 0; i < nfds; ++i) {
-
-				device::CDev *dev = get_vdev(fds[i].fd);
-
-				// If fd is valid
-				if (dev) {
-					PX4_DEBUG("%s: px4_poll: CDev->poll(teardown) %d", thread_name, fds[i].fd);
-					ret = dev->poll(&filemap[fds[i].fd], &fds[i], false);
-
-					if (ret < 0) {
-						PX4_WARN("%s: px4_poll() 2nd poll fail", thread_name);
-						break;
-					}
-
-					if (fds[i].revents) {
-						count += 1;
-					}
-				}
-			}
-		}
-
-		px4_sem_destroy(&sem);
-
-		// Return the positive count if present,
-		// return the negative error number if failed
-		return (count) ? count : ret;
-	}
-
-	int px4_fsync(int fd)
-	{
-		return 0;
-	}
-
-	int px4_access(const char *pathname, int mode)
-	{
-		if (mode != F_OK) {
-			errno = EINVAL;
-			return -1;
-		}
-
-		device::CDev *dev = getDev(pathname);
-		return (dev != nullptr) ? 0 : -1;
-	}
-
-	void px4_show_devices()
-	{
-		int i = 0;
-		PX4_INFO("PX4 Devices:");
-
-		pthread_mutex_lock(&devmutex);
-
-		for (const auto &dev : devmap) {
-			if (strncmp(dev.first.c_str(), "/dev/", 5) == 0) {
-				PX4_INFO("   %s", dev.first.c_str());
-			}
-		}
-
-		pthread_mutex_unlock(&devmutex);
-
-		PX4_INFO("DF Devices:");
-		const char *dev_path;
-		unsigned int index = 0;
-		i = 0;
-
-		do {
-			// Each look increments index and returns -1 if end reached
-			i = DevMgr::getNextDeviceName(index, &dev_path);
-
-			if (i == 0) {
-				PX4_INFO("   %s", dev_path);
-			}
-		} while (i == 0);
-	}
-
-	void px4_show_topics()
-	{
-		PX4_INFO("Devices:");
-
-		pthread_mutex_lock(&devmutex);
-
-		for (const auto &dev : devmap) {
-			if (strncmp(dev.first.c_str(), "/obj/", 5) == 0) {
-				PX4_INFO("   %s", dev.first.c_str());
-			}
-		}
-
-		pthread_mutex_unlock(&devmutex);
-	}
-
-	void px4_show_files()
-	{
-		PX4_INFO("Files:");
-
-		pthread_mutex_lock(&devmutex);
-
-		for (const auto &dev : devmap) {
-			if (strncmp(dev.first.c_str(), "/obj/", 5) != 0 &&
-			    strncmp(dev.first.c_str(), "/dev/", 5) != 0) {
-				PX4_INFO("   %s", dev.first.c_str());
-			}
-		}
-
-		pthread_mutex_unlock(&devmutex);
-	}
-
-	void px4_enable_sim_lockstep()
-	{
-		px4_sem_init(&lockstep_sem, 0, 0);
-
-		// lockstep_sem use case is a signal
-		px4_sem_setprotocol(&lockstep_sem, SEM_PRIO_NONE);
-
-		sim_lockstep = true;
-		sim_delay = false;
-	}
-
-	void px4_sim_start_delay()
-	{
-		sim_delay = true;
-	}
-
-	void px4_sim_stop_delay()
-	{
-		sim_delay = false;
-	}
-
-	bool px4_sim_delay_enabled()
-	{
-		return sim_delay;
-	}
-
-} // extern "C"

src/drivers/device/posix/cdev_platform.hpp

@@ -1,32 +0,0 @@
-
-#pragma once
-
-#include <cinttypes>
-
-#define ATOMIC_ENTER lock()
-#define ATOMIC_LEAVE unlock()
-
-namespace device
-{
-
-struct file_operations {
-	void *op;
-};
-
-using px4_file_operations_t = struct file_operations;
-using mode_t = uint32_t;
-
-struct file_t {
-	int flags;
-	void *priv;
-	void *vdev;
-
-	file_t() : flags(0), priv(nullptr), vdev(nullptr) {}
-	file_t(int f, void *c) : flags(f), priv(nullptr), vdev(c) {}
-};
-
-} // namespace device
-
-extern "C" __EXPORT int register_driver(const char *name, const device::px4_file_operations_t *fops,
-					device::mode_t mode, void *data);
-extern "C" __EXPORT int unregister_driver(const char *path);

src/drivers/device/posix/vfile.cpp

@@ -1,67 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vdev_file.cpp
- * Virtual file
- *
- * @author Mark Charlebois <charlebm@gmail.com>
- */
-
-#include "vfile.h"
-
-namespace device
-{
-
-VFile::VFile(const char *fname, mode_t mode) :
-	CDev("vfile", fname)
-{
-}
-
-VFile *VFile::createFile(const char *fname, mode_t mode)
-{
-	VFile *me = new VFile(fname, mode);
-	px4_file_operations_t *fops = nullptr;
-	register_driver(fname, fops, 0666, (void *)me);
-	return me;
-}
-
-ssize_t VFile::write(file_t *handlep, const char *buffer, size_t buflen)
-{
-	// ignore what was written, but let pollers know something was written
-	poll_notify(POLLIN);
-
-	return buflen;
-}
-
-} // namespace device

src/drivers/device/posix/vfile.h

@@ -1,62 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vfile.cpp
- * Virtual file
- *
- * @author Mark Charlebois <charlebm@gmail.com>
- */
-
-#pragma once
-
-#include "../CDev.hpp"
-
-namespace device
-{
-
-class VFile : public CDev
-{
-public:
-
-	static VFile *createFile(const char *fname, mode_t mode);
-	~VFile() {}
-
-	ssize_t write(file_t *handlep, const char *buffer, size_t buflen) override;
-
-private:
-	VFile(const char *fname, mode_t mode);
-	VFile(const VFile &);
-};
-
-} // namespace device

src/drivers/device/ringbuffer.cpp

@@ -1,420 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file ringbuffer.cpp
- *
- * A flexible ringbuffer class.
- */
-
-#include "ringbuffer.h"
-#include <string.h>
-
-namespace ringbuffer
-{
-
-RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :
-	_num_items(num_items),
-	_item_size(item_size),
-	_buf(new char[(_num_items + 1) * item_size]),
-	_head(_num_items),
-	_tail(_num_items)
-{}
-
-RingBuffer::~RingBuffer()
-{
-	if (_buf != nullptr) {
-		delete[] _buf;
-	}
-}
-
-unsigned
-RingBuffer::_next(unsigned index)
-{
-	return (0 == index) ? _num_items : (index - 1);
-}
-
-bool
-RingBuffer::empty()
-{
-	return _tail == _head;
-}
-
-bool
-RingBuffer::full()
-{
-	return _next(_head) == _tail;
-}
-
-unsigned
-RingBuffer::size()
-{
-	return (_buf != nullptr) ? _num_items : 0;
-}
-
-void
-RingBuffer::flush()
-{
-	while (!empty()) {
-		get(nullptr);
-	}
-}
-
-bool
-RingBuffer::put(const void *val, size_t val_size)
-{
-	unsigned next = _next(_head);
-
-	if (next != _tail) {
-		if ((val_size == 0) || (val_size > _item_size)) {
-			val_size = _item_size;
-		}
-
-		memcpy(&_buf[_head * _item_size], val, val_size);
-		_head = next;
-		return true;
-
-	} else {
-		return false;
-	}
-}
-
-bool
-RingBuffer::put(int8_t val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(uint8_t val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(int16_t val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(uint16_t val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(int32_t val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(uint32_t val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(int64_t val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(uint64_t val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(float val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::put(double val)
-{
-	return put(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(const void *val, size_t val_size)
-{
-	bool overwrote = false;
-
-	for (;;) {
-		if (put(val, val_size)) {
-			break;
-		}
-
-		get(nullptr);
-		overwrote = true;
-	}
-
-	return overwrote;
-}
-
-bool
-RingBuffer::force(int8_t val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(uint8_t val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(int16_t val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(uint16_t val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(int32_t val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(uint32_t val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(int64_t val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(uint64_t val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(float val)
-{
-	return force(&val, sizeof(val));
-}
-
-bool
-RingBuffer::force(double val)
-{
-	return force(&val, sizeof(val));
-}
-
-// FIXME - clang crashes on this get() call
-#ifdef __PX4_QURT
-#define __PX4_SBCAP my_sync_bool_compare_and_swap
-static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
-{
-	if (*a == b) {
-		*a = c;
-		return true;
-	}
-
-	return false;
-}
-
-#else
-#define __PX4_SBCAP __sync_bool_compare_and_swap
-#endif
-bool
-RingBuffer::get(void *val, size_t val_size)
-{
-	if (_tail != _head) {
-		unsigned candidate;
-		unsigned next;
-
-		if ((val_size == 0) || (val_size > _item_size)) {
-			val_size = _item_size;
-		}
-
-		do {
-			/* decide which element we think we're going to read */
-			candidate = _tail;
-
-			/* and what the corresponding next index will be */
-			next = _next(candidate);
-
-			/* go ahead and read from this index */
-			if (val != nullptr) {
-				memcpy(val, &_buf[candidate * _item_size], val_size);
-			}
-
-			/* if the tail pointer didn't change, we got our item */
-		} while (!__PX4_SBCAP(&_tail, candidate, next));
-
-		return true;
-
-	} else {
-		return false;
-	}
-}
-
-bool
-RingBuffer::get(int8_t &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(uint8_t &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(int16_t &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(uint16_t &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(int32_t &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(uint32_t &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(int64_t &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(uint64_t &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(float &val)
-{
-	return get(&val, sizeof(val));
-}
-
-bool
-RingBuffer::get(double &val)
-{
-	return get(&val, sizeof(val));
-}
-
-unsigned
-RingBuffer::space()
-{
-	unsigned tail, head;
-
-	/*
-	 * Make a copy of the head/tail pointers in a fashion that
-	 * may err on the side of under-estimating the free space
-	 * in the buffer in the case that the buffer is being updated
-	 * asynchronously with our check.
-	 * If the head pointer changes (reducing space) while copying,
-	 * re-try the copy.
-	 */
-	do {
-		head = _head;
-		tail = _tail;
-	} while (head != _head);
-
-	return (tail >= head) ? (_num_items - (tail - head)) : (head - tail - 1);
-}
-
-unsigned
-RingBuffer::count()
-{
-	/*
-	 * Note that due to the conservative nature of space(), this may
-	 * over-estimate the number of items in the buffer.
-	 */
-	return _num_items - space();
-}
-
-bool
-RingBuffer::resize(unsigned new_size)
-{
-	char *old_buffer;
-	char *new_buffer = new char [(new_size + 1) * _item_size];
-
-	if (new_buffer == nullptr) {
-		return false;
-	}
-
-	old_buffer = _buf;
-	_buf = new_buffer;
-	_num_items = new_size;
-	_head = new_size;
-	_tail = new_size;
-	delete[] old_buffer;
-	return true;
-}
-
-void
-RingBuffer::print_info(const char *name)
-{
-	printf("%s	%u/%lu (%u/%u @ %p)\n",
-	       name,
-	       _num_items,
-	       (unsigned long)_num_items * _item_size,
-	       _head,
-	       _tail,
-	       _buf);
-}
-
-} // namespace ringbuffer

src/drivers/device/ringbuffer.h

@@ -1,179 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file ringbuffer.h
- *
- * A flexible ringbuffer class.
- */
-
-#pragma once
-
-#include <stddef.h>
-#include <stdint.h>
-#include <stdio.h>
-
-namespace ringbuffer __EXPORT
-{
-
-class RingBuffer
-{
-public:
-	RingBuffer(unsigned num_items, size_t item_size);
-	virtual ~RingBuffer();
-
-	/**
-	 * Put an item into the buffer.
-	 *
-	 * @param val		Item to put
-	 * @return		true if the item was put, false if the buffer is full
-	 */
-	bool			put(const void *val, size_t val_size = 0);
-
-	bool			put(int8_t val);
-	bool			put(uint8_t val);
-	bool			put(int16_t val);
-	bool			put(uint16_t val);
-	bool			put(int32_t val);
-	bool			put(uint32_t val);
-	bool			put(int64_t val);
-	bool			put(uint64_t val);
-	bool			put(float val);
-	bool			put(double val);
-
-	/**
-	 * Force an item into the buffer, discarding an older item if there is not space.
-	 *
-	 * @param val		Item to put
-	 * @return		true if an item was discarded to make space
-	 */
-	bool			force(const void *val, size_t val_size = 0);
-
-	bool			force(int8_t val);
-	bool			force(uint8_t val);
-	bool			force(int16_t val);
-	bool			force(uint16_t val);
-	bool			force(int32_t val);
-	bool			force(uint32_t val);
-	bool			force(int64_t val);
-	bool			force(uint64_t val);
-	bool			force(float val);
-	bool			force(double val);
-
-	/**
-	 * Get an item from the buffer.
-	 *
-	 * @param val		Item that was gotten
-	 * @return		true if an item was got, false if the buffer was empty.
-	 */
-	bool			get(void *val, size_t val_size = 0);
-
-	bool			get(int8_t &val);
-	bool			get(uint8_t &val);
-	bool			get(int16_t &val);
-	bool			get(uint16_t &val);
-	bool			get(int32_t &val);
-	bool			get(uint32_t &val);
-	bool			get(int64_t &val);
-	bool			get(uint64_t &val);
-	bool			get(float &val);
-	bool			get(double &val);
-
-	/*
-	 * Get the number of slots free in the buffer.
-	 *
-	 * @return		The number of items that can be put into the buffer before
-	 *			it becomes full.
-	 */
-	unsigned		space(void);
-
-	/*
-	 * Get the number of items in the buffer.
-	 *
-	 * @return		The number of items that can be got from the buffer before
-	 *			it becomes empty.
-	 */
-	unsigned		count(void);
-
-	/*
-	 * Returns true if the buffer is empty.
-	 */
-	bool			empty();
-
-	/*
-	 * Returns true if the buffer is full.
-	 */
-	bool			full();
-
-	/*
-	 * Returns the capacity of the buffer, or zero if the buffer could
-	 * not be allocated.
-	 */
-	unsigned		size();
-
-	/*
-	 * Empties the buffer.
-	 */
-	void			flush();
-
-	/*
-	 * resize the buffer. This is unsafe to be called while
-	 * a producer or consuming is running. Caller is responsible
-	 * for any locking needed
-	 *
-	 * @param new_size	new size for buffer
-	 * @return		true if the resize succeeds, false if
-	 * 			not (allocation error)
-	 */
-	bool			resize(unsigned new_size);
-
-	/*
-	 * printf() some info on the buffer
-	 */
-	void			print_info(const char *name);
-
-private:
-	unsigned		_num_items;
-	const size_t		_item_size;
-	char			*_buf;
-	volatile unsigned	_head;	/**< insertion point in _item_size units */
-	volatile unsigned	_tail;	/**< removal point in _item_size units */
-
-	unsigned		_next(unsigned index);
-
-	/* we don't want this class to be copied */
-	RingBuffer(const RingBuffer &);
-	RingBuffer operator=(const RingBuffer &);
-};
-
-} // namespace ringbuffer

src/drivers/device/spi.h

@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-#pragma once
-
-#ifdef __PX4_NUTTX
-#include "nuttx/SPI.hpp"
-#else
-#include "posix/SPI.hpp"
-#endif

src/drivers/differential_pressure/ets/CMakeLists.txt

@@ -38,6 +38,5 @@ px4_add_module(
 	SRCS
 		ets_airspeed.cpp
 	DEPENDS
-		platforms__common
+		drivers__airspeed
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/differential_pressure/ets/ets_airspeed.cpp

@@ -44,8 +44,8 @@
 
 #include <systemlib/airspeed.h>
 #include <systemlib/err.h>
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
 
 #include <drivers/drv_airspeed.h>
 #include <drivers/drv_hrt.h>

src/drivers/differential_pressure/ms4525/CMakeLists.txt

@@ -38,6 +38,5 @@ px4_add_module(
 	SRCS
 		ms4525_airspeed.cpp
 	DEPENDS
-		platforms__common
+		drivers__airspeed
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp

@@ -55,8 +55,8 @@
 
 #include <systemlib/airspeed.h>
 #include <systemlib/err.h>
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
 
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 

src/drivers/differential_pressure/ms5525/CMakeLists.txt

@@ -39,6 +39,5 @@ px4_add_module(
 		MS5525.cpp
 		MS5525_main.cpp
 	DEPENDS
-		platforms__common
+		drivers__airspeed
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/differential_pressure/ms5525/MS5525.hpp

@@ -42,7 +42,7 @@
 #include <px4_config.h>
 #include <sys/types.h>
 #include <systemlib/airspeed.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/uORB.h>
 

src/drivers/differential_pressure/sdp3x/CMakeLists.txt

@@ -39,6 +39,5 @@ px4_add_module(
 		SDP3X.cpp
 		SDP3X_main.cpp
 	DEPENDS
-		platforms__common
+		drivers__airspeed
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/differential_pressure/sdp3x/SDP3X.hpp

@@ -50,7 +50,7 @@
 #include <px4_config.h>
 #include <sys/types.h>
 #include <systemlib/airspeed.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/uORB.h>