deprecate df_hmc5883_wrapper and replace with in tree hmc5883

- deprecate DriverFramework hmc5883 driver (df_hmc5883_wrapper)
 - update aerotenna ocpoc and snapdragon flight eagle boards to use in tree hmc5883

Tools/serial/generate_config.py

@@ -107,6 +107,11 @@ serial_ports = {
         "index": 202,
         "default_baudrate": 0,
         },
+    "GPS3": {
+        "label": "GPS 3",
+        "index": 203,
+        "default_baudrate": 0,
+        },
 
     # RC Port
     "RC": {

boards/aerotenna/ocpoc/default.cmake

@@ -7,6 +7,14 @@ px4_add_board(
 	ARCHITECTURE cortex-a9
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3  # GPS/Compass #1           (OcPoC Port 6)
+		GPS2:/dev/ttyS7  # GPS/Compass #2           (OcPoC Port 7)
+		GPS3:/dev/ttyS1  # GPS/Compass #3           (OcPoC Port 9)
+		TEL1:/dev/ttyPS1 # Radio Telemetry          (OcPoC Port 4)
+		TEL2:/dev/ttyS6  # uLanding Radar Altimeter (OcPoC Port 8)
+		TEL3:/dev/ttyS2  #                          (OcPoC Port 2)
+		TEL4:/dev/ttyS0  # uSharp-Patch             (OcPoC Port 5)
 	DRIVERS
 		#barometer # all available barometer drivers
 		barometer/ms5611
@@ -26,7 +34,6 @@ px4_add_board(
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		hmc5883
 		mpu9250
 	MODULES
 		airspeed_selector

boards/aerotenna/ocpoc/src/board_config.h

@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * OCPOC internal definitions
+ * Aerotenna Ocpoc internal definitions
  */
 
 #pragma once
@@ -43,22 +43,36 @@
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_OCPOC
 
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
+
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 
-#define BOARD_NUMBER_I2C_BUSES 4
 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_EXPANSION  2 // i2c-2: Air Data Probe or I2C Splitter
+#define PX4_I2C_BUS_EXPANSION1 4 // i2c-4: GPS/Compass #1
+#define PX4_I2C_BUS_EXPANSION2 5 // i2c-5: GPS/Compass #2
+#define PX4_I2C_BUS_EXPANSION3 3 // i2c-3: GPS/Compass #3
+
+#define PX4_NUMBER_I2C_BUSES 4
+
 #define PX4_I2C_BUS_LED 1
-#define PX4_I2C_BUS_EXPANSION 1
+
+// SPI
+#define PX4_SPI_BUS_SENSORS    1
+#define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev1.0 - mpu9250
+#define PX4_SPIDEV_BARO        PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev1.1 - ms5611
+//#define PX4_SPIDEV_MPU2      PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // TODO: where is the 2nd mpu9250?
+
+#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
 
 // Battery ADC channels
 #define ADC_BATTERY_VOLTAGE_CHANNEL     10
 #define ADC_BATTERY_CURRENT_CHANNEL     ((uint8_t)(-1))
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL    11
 
-// SPI
-#define PX4_SPI_BUS_SENSORS		1
-#define PX4_SPIDEV_MPU			PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
-
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

boards/atlflight/eagle/qurt-default.cmake

@@ -52,7 +52,6 @@ px4_add_board(
 		snapdragon_pwm_out
 		spektrum_rc
 	DF_DRIVERS
-		hmc5883
 		isl29501
 		ltc2946
 		mpu9250

boards/atlflight/eagle/src/board_config.h

@@ -57,8 +57,10 @@
 #define PX4_I2C_OBDEV_BMP280  0x76
 
 // SPI
-#define PX4_SPI_BUS_SENSORS	1
+#define PX4_SPI_BUS_SENSORS    1
-#define PX4_SPIDEV_MPU		PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
+#define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spi-1 - mpu9250
+
+// Battery ADC channels
 
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

boards/atlflight/excelsior/qurt-default.cmake

@@ -52,7 +52,6 @@ px4_add_board(
 		snapdragon_pwm_out
 		spektrum_rc
 	DF_DRIVERS
-		hmc5883
 		isl29501
 		ltc2946
 		mpu9250

boards/emlid/navio2/default.cmake

@@ -25,7 +25,6 @@ px4_add_board(
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		hmc5883
 		isl29501
 		lsm9ds1
 		mpu9250

boards/emlid/navio2/src/board_config.h

@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * Emlid Navio2 RPI internal definitions
+ * Emlid Navio2 internal definitions
  */
 
 #pragma once
@@ -42,9 +42,6 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI
 
-#define ADC_BATTERY_VOLTAGE_CHANNEL 2
-#define ADC_BATTERY_CURRENT_CHANNEL 3
-
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)
 
@@ -56,12 +53,20 @@
 /*
  * I2C busses
  */
-#define PX4_I2C_BUS_EXPANSION		1
+#define PX4_I2C_BUS_EXPANSION   1
-#define PX4_NUMBER_I2C_BUSES		1
+
+#define PX4_NUMBER_I2C_BUSES    1
 
 // SPI
-#define PX4_SPI_BUS_SENSORS		0
+#define PX4_SPI_BUS_SENSORS    0
-#define PX4_SPIDEV_MPU			PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
+#define PX4_SPIDEV_UBLOX       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0 - ublox m8n
+#define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev0.1 - mpu9250
+#define PX4_SPIDEV_LSM9DS1_M   PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // spidev0.2 - lsm9ds1 mag
+#define PX4_SPIDEV_LSM9DS1_AG  PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) // spidev0.3 - lsm9ds1 accel/gyro
+
+// Battery ADC channels
+#define ADC_BATTERY_VOLTAGE_CHANNEL 2
+#define ADC_BATTERY_CURRENT_CHANNEL 3
 
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

boards/px4/raspberrypi/default.cmake

@@ -28,7 +28,7 @@ px4_add_board(
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
-		battery_status
+		#battery_status
 		camera_feedback
 		commander
 		dataman

boards/px4/raspberrypi/src/board_config.h

@@ -48,17 +48,14 @@
 /*
  * I2C busses
  */
-#define PX4_I2C_BUS_ONBOARD   1
+#define PX4_I2C_BUS_ONBOARD     1
-#define PX4_I2C_BUS_EXPANSION 0
+#define PX4_I2C_BUS_EXPANSION   0
 
-#define PX4_NUMBER_I2C_BUSES 2
+#define PX4_NUMBER_I2C_BUSES    2
 
 // SPI
-#define PX4_SPI_BUS_SENSORS		0
+#define PX4_SPI_BUS_SENSORS    0
-#define PX4_SPIDEV_MPU			PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0)
+#define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0
-
-#define ADC_BATTERY_VOLTAGE_CHANNEL 0
-#define ADC_BATTERY_CURRENT_CHANNEL 1
 
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

posix-configs/eagle/flight/px4.config

@@ -5,7 +5,7 @@ sleep 1
 gps start -d /dev/tty-4
 param set MAV_TYPE 2
 sleep 1
-df_hmc5883_wrapper start
+hmc5883 start
 df_mpu9250_wrapper start_without_mag
 bmp280 start
 df_trone_wrapper start

posix-configs/eagle/init/rcS

@@ -19,7 +19,7 @@ then
 	qshell pwm_out_rc_in start -d /dev/tty-2
 
 	qshell gps start -d /dev/tty-4
-	qshell df_hmc5883_wrapper start
+	qshell hmc5883 start
 	qshell df_trone_wrapper start
 	#qshell df_isl29501_wrapper start
 

posix-configs/ocpoc/px4.config

@@ -16,7 +16,7 @@ param set MAV_TYPE 2
 param set MAV_SYS_ID 1
 
 df_mpu9250_wrapper start_without_mag -R 10
-df_hmc5883_wrapper start -D /dev/i2c-4
+hmc5883 start
 ms5611 start
 rgbled start -b 1
 ocpoc_adc start

posix-configs/rpi/px4.config

@@ -19,7 +19,6 @@ param set BAT_A_PER_V 15.391030303
 dataman start
 df_lsm9ds1_wrapper start -R 4
 #df_mpu9250_wrapper start -R 10
-#df_hmc5883_wrapper start
 ms5611 start
 navio_rgbled start
 navio_adc start

posix-configs/rpi/px4_test.config

@@ -19,7 +19,6 @@ param set BAT_A_PER_V 15.391030303
 dataman start
 df_lsm9ds1_wrapper start -R 4
 #df_mpu9250_wrapper start -R 10
-#df_hmc5883_wrapper start
 ms5611 start
 navio_rgbled start
 navio_adc start

src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/CMakeLists.txt

@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 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.
-#
-############################################################################
-
-include_directories(../../../lib/DriverFramework/drivers)
-
-px4_add_module(
-	MODULE platforms__posix__drivers__df_hmc5883_wrapper
-	MAIN df_hmc5883_wrapper
-	SRCS
-		df_hmc5883_wrapper.cpp
-	DEPENDS
-		git_driverframework
-		df_driver_framework
-		df_hmc5883
-	)

src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp

@@ -1,462 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 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 df_hmc5883_wrapper.cpp
- * Lightweight driver to access the HMC5883 of the DriverFramework.
- *
- * @author Julian Oes <julian@oes.ch>
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <stdint.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include <unistd.h>
-#include <px4_platform_common/getopt.h>
-#include <errno.h>
-#include <lib/parameters/param.h>
-#include <perf/perf_counter.h>
-#include <systemlib/err.h>
-
-#include <drivers/drv_mag.h>
-#include <drivers/drv_hrt.h>
-
-#include <uORB/topics/parameter_update.h>
-
-#include <board_config.h>
-
-#include <lib/conversion/rotation.h>
-
-#include <hmc5883/HMC5883.hpp>
-#include <DevMgr.hpp>
-
-
-extern "C" { __EXPORT int df_hmc5883_wrapper_main(int argc, char *argv[]); }
-
-using namespace DriverFramework;
-
-
-class DfHmc5883Wrapper : public HMC5883
-{
-public:
-	DfHmc5883Wrapper(enum Rotation rotation, const char *path);
-	~DfHmc5883Wrapper();
-
-
-	/**
-	 * Start automatic measurement.
-	 *
-	 * @return 0 on success
-	 */
-	int		start();
-
-	/**
-	 * Stop automatic measurement.
-	 *
-	 * @return 0 on success
-	 */
-	int		stop();
-
-private:
-	int _publish(struct mag_sensor_data &data);
-
-	void _update_mag_calibration();
-
-	orb_advert_t		_mag_topic;
-
-	int			_param_update_sub;
-
-	struct mag_calibration_s {
-		float x_offset;
-		float x_scale;
-		float y_offset;
-		float y_scale;
-		float z_offset;
-		float z_scale;
-	} _mag_calibration;
-
-	matrix::Dcmf      _rotation_matrix;
-
-	int			_mag_orb_class_instance;
-
-	perf_counter_t		_mag_sample_perf;
-
-};
-
-DfHmc5883Wrapper::DfHmc5883Wrapper(enum Rotation rotation, const char *path) :
-	HMC5883(path),
-	_mag_topic(nullptr),
-	_param_update_sub(-1),
-	_mag_calibration{},
-	_mag_orb_class_instance(-1),
-	_mag_sample_perf(perf_alloc(PC_ELAPSED, "df_mag_read"))
-{
-	// Set sane default calibration values
-	_mag_calibration.x_scale = 1.0f;
-	_mag_calibration.y_scale = 1.0f;
-	_mag_calibration.z_scale = 1.0f;
-	_mag_calibration.x_offset = 0.0f;
-	_mag_calibration.y_offset = 0.0f;
-	_mag_calibration.z_offset = 0.0f;
-
-	// Get sensor rotation matrix
-	_rotation_matrix = get_rot_matrix(rotation);
-}
-
-DfHmc5883Wrapper::~DfHmc5883Wrapper()
-{
-	perf_free(_mag_sample_perf);
-}
-
-int DfHmc5883Wrapper::start()
-{
-	/* Subscribe to param update topic. */
-	if (_param_update_sub < 0) {
-		_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
-	}
-
-	/* Init device and start sensor. */
-	int ret = init();
-
-	if (ret != 0) {
-		PX4_ERR("HMC5883 init fail: %d", ret);
-		return ret;
-	}
-
-	ret = HMC5883::start();
-
-	if (ret != 0) {
-		PX4_ERR("HMC5883 start fail: %d", ret);
-		return ret;
-	}
-
-	/* Force getting the calibration values. */
-	_update_mag_calibration();
-
-	return 0;
-}
-
-int DfHmc5883Wrapper::stop()
-{
-	/* Stop sensor. */
-	int ret = HMC5883::stop();
-
-	if (ret != 0) {
-		PX4_ERR("HMC5883 stop fail: %d", ret);
-		return ret;
-	}
-
-	return 0;
-}
-
-void DfHmc5883Wrapper::_update_mag_calibration()
-{
-	// TODO: replace magic number
-	for (unsigned i = 0; i < 3; ++i) {
-
-		// TODO: remove printfs and add error counter
-
-		char str[30];
-		(void)sprintf(str, "CAL_MAG%u_ID", i);
-		int32_t device_id;
-		int res = param_get(param_find(str), &device_id);
-
-		if (res != OK) {
-			PX4_ERR("Could not access param %s", str);
-			continue;
-		}
-
-		if ((uint32_t)device_id != m_id.dev_id) {
-			continue;
-		}
-
-		(void)sprintf(str, "CAL_MAG%u_XSCALE", i);
-		res = param_get(param_find(str), &_mag_calibration.x_scale);
-
-		if (res != OK) {
-			PX4_ERR("Could not access param %s", str);
-		}
-
-		(void)sprintf(str, "CAL_MAG%u_YSCALE", i);
-		res = param_get(param_find(str), &_mag_calibration.y_scale);
-
-		if (res != OK) {
-			PX4_ERR("Could not access param %s", str);
-		}
-
-		(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
-		res = param_get(param_find(str), &_mag_calibration.z_scale);
-
-		if (res != OK) {
-			PX4_ERR("Could not access param %s", str);
-		}
-
-		(void)sprintf(str, "CAL_MAG%u_XOFF", i);
-		res = param_get(param_find(str), &_mag_calibration.x_offset);
-
-		if (res != OK) {
-			PX4_ERR("Could not access param %s", str);
-		}
-
-		(void)sprintf(str, "CAL_MAG%u_YOFF", i);
-		res = param_get(param_find(str), &_mag_calibration.y_offset);
-
-		if (res != OK) {
-			PX4_ERR("Could not access param %s", str);
-		}
-
-		(void)sprintf(str, "CAL_MAG%u_ZOFF", i);
-		res = param_get(param_find(str), &_mag_calibration.z_offset);
-
-		if (res != OK) {
-			PX4_ERR("Could not access param %s", str);
-		}
-	}
-}
-
-
-int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
-{
-	/* Check if calibration values are still up-to-date. */
-	bool updated;
-	orb_check(_param_update_sub, &updated);
-
-	if (updated) {
-		parameter_update_s parameter_update;
-		orb_copy(ORB_ID(parameter_update), _param_update_sub, &parameter_update);
-
-		_update_mag_calibration();
-	}
-
-	/* Publish mag first. */
-	perf_begin(_mag_sample_perf);
-
-	mag_report mag_report = {};
-	mag_report.timestamp = hrt_absolute_time();
-	mag_report.is_external = true;
-
-	/* The standard external mag by 3DR has x pointing to the
-	 * right, y pointing backwards, and z down, therefore switch x
-	 * and y and invert y. */
-	const float tmp = data.field_x_ga;
-	data.field_x_ga = -data.field_y_ga;
-	data.field_y_ga = tmp;
-
-	// TODO: remove these (or get the values)
-	mag_report.x_raw = 0;
-	mag_report.y_raw = 0;
-	mag_report.z_raw = 0;
-
-	matrix::Vector3f mag_val(data.field_x_ga,
-				 data.field_y_ga,
-				 data.field_z_ga);
-
-	// apply sensor rotation on the accel measurement
-	mag_val = _rotation_matrix * mag_val;
-
-	// Apply calibration after rotation.
-	mag_report.x = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;
-	mag_report.y = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;
-	mag_report.z = (mag_val(2) - _mag_calibration.z_offset) * _mag_calibration.z_scale;
-
-	// TODO: get these right
-	//mag_report.scaling = -1.0f;
-
-	mag_report.device_id = m_id.dev_id;
-
-	// TODO: when is this ever blocked?
-	if (!(m_pub_blocked)) {
-
-		if (_mag_topic == nullptr) {
-			_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report,
-							 &_mag_orb_class_instance, ORB_PRIO_HIGH);
-
-		} else {
-			orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
-		}
-
-	}
-
-	perf_end(_mag_sample_perf);
-
-	return 0;
-};
-
-
-namespace df_hmc5883_wrapper
-{
-
-DfHmc5883Wrapper *g_dev = nullptr;
-
-int start(enum Rotation rotation, const char *path);
-int stop();
-int info();
-void usage();
-
-int start(enum Rotation rotation, const char *path)
-{
-	g_dev = new DfHmc5883Wrapper(rotation, path);
-
-	if (g_dev == nullptr) {
-		PX4_ERR("failed instantiating DfHmc5883Wrapper object");
-		return -1;
-	}
-
-	int ret = g_dev->start();
-
-	if (ret != 0) {
-		PX4_ERR("DfHmc5883Wrapper start failed");
-		return ret;
-	}
-
-	// Open the MAG sensor
-	DevHandle h;
-	DevMgr::getHandle(path, h);
-
-	if (!h.isValid()) {
-		DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
-			    path, h.getError());
-		return -1;
-	}
-
-	DevMgr::releaseHandle(h);
-
-	return 0;
-}
-
-int stop()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running");
-		return 1;
-	}
-
-	int ret = g_dev->stop();
-
-	if (ret != 0) {
-		PX4_ERR("driver could not be stopped");
-		return ret;
-	}
-
-	delete g_dev;
-	g_dev = nullptr;
-	return 0;
-}
-
-/**
- * Print a little info about the driver.
- */
-int
-info()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running");
-		return 1;
-	}
-
-	PX4_DEBUG("state @ %p", g_dev);
-
-	return 0;
-}
-
-void
-usage()
-{
-	PX4_INFO("Usage: df_hmc5883_wrapper 'start', 'info', 'stop'");
-	PX4_INFO("options:");
-	PX4_INFO("    -R rotation");
-}
-
-} // namespace df_hmc5883_wrapper
-
-
-int
-df_hmc5883_wrapper_main(int argc, char *argv[])
-{
-	int ch;
-	enum Rotation rotation = ROTATION_NONE;
-	int ret = 0;
-	int myoptind = 1;
-	const char *myoptarg = NULL;
-	const char *device_path = MAG_DEVICE_PATH;
-
-	/* jump over start/off/etc and look at options first */
-	while ((ch = px4_getopt(argc, argv, "R:D:", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
-			break;
-
-		case 'D':
-			device_path = myoptarg;
-			break;
-
-		default:
-			df_hmc5883_wrapper::usage();
-			return 0;
-		}
-	}
-
-	if (argc <= 1) {
-		df_hmc5883_wrapper::usage();
-		return 1;
-	}
-
-	const char *verb = argv[myoptind];
-
-
-	if (!strcmp(verb, "start")) {
-		ret = df_hmc5883_wrapper::start(rotation, device_path);
-	}
-
-	else if (!strcmp(verb, "stop")) {
-		ret = df_hmc5883_wrapper::stop();
-	}
-
-	else if (!strcmp(verb, "info")) {
-		ret = df_hmc5883_wrapper::info();
-	}
-
-	else {
-		df_hmc5883_wrapper::usage();
-		return 1;
-	}
-
-	return ret;
-}