mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-16 19:10:34 +08:00
Daniel Agar
de4f594937
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
101 lines
3.0 KiB
C++
101 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4_posix_impl.cpp
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*
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* PX4 Middleware Wrapper Linux Implementation
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*/
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/workqueue.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/time.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <signal.h>
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#include <errno.h>
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#include <unistd.h>
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#include <parameters/param.h>
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#include "hrt_work.h"
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#include <drivers/drv_hrt.h>
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#include <pthread.h>
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#include <px4_platform_common/init.h>
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extern pthread_t _shell_task_id;
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__BEGIN_DECLS
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long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
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__END_DECLS
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namespace px4
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{
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void init_once();
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void init_once()
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{
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_shell_task_id = pthread_self();
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work_queues_init();
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hrt_work_queue_init();
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px4_platform_init();
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}
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void init(int argc, char *argv[], const char *app_name)
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{
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printf("\n");
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printf("______ __ __ ___ \n");
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printf("| ___ \\ \\ \\ / / / |\n");
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printf("| |_/ / \\ V / / /| |\n");
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printf("| __/ / \\ / /_| |\n");
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printf("| | / /^\\ \\ \\___ |\n");
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printf("\\_| \\/ \\/ |_/\n");
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printf("\n");
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printf("%s starting.\n", app_name);
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printf("\n");
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// set the threads name
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#ifdef __PX4_DARWIN
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(void)pthread_setname_np(app_name);
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#else
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(void)pthread_setname_np(pthread_self(), app_name);
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#endif
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}
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}
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