DriverFramework purge

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)

platforms/qurt/CMakeLists.txt

@@ -1,5 +1,7 @@
 
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+px4_add_git_submodule(TARGET git_dspal PATH "${PX4_SOURCE_DIR}/platforms/qurt/dspal")
+
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/platforms/qurt/dspal/cmake_hexagon")
 include(toolchain/Toolchain-qurt)
 include(fastrpc)
 include(qurt_lib)
@@ -33,7 +35,7 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 		${PX4_BINARY_DIR}/platforms/qurt/px4muorb_skel.c
 	)
 
-	target_link_libraries(px4 PRIVATE ${module_libraries} ${df_driver_libs})
+	target_link_libraries(px4 PRIVATE ${module_libraries})
 
 else()
 	# Generate the DSP lib and stubs but not the apps side executable
@@ -45,8 +47,6 @@ else()
 		LINK_LIBS
 			modules__muorb__adsp
 			${module_libraries}
-			${df_driver_libs}
-			df_driver_framework
 			m
 		)
 

platforms/qurt/cmake/px4_impl_os.cmake

@@ -108,24 +108,20 @@ endfunction()
 #
 function(px4_os_add_flags)
 
-	set(DSPAL_ROOT src/lib/DriverFramework/dspal)
+	set(DSPAL_ROOT platforms/qurt/dspal)
 	include_directories(
 		${DSPAL_ROOT}/include
-		${DSPAL_ROOT}/mpu_spi/inc
 		${DSPAL_ROOT}/sys
 		${DSPAL_ROOT}/sys/sys
-		${DSPAL_ROOT}/uart_esc/inc
 
 		platforms/posix/include
 		platforms/qurt/include
-		)
+	)
 
 	add_definitions(
 		-D__PX4_POSIX
 		-D__PX4_QURT
-
-		-D__DF_QURT # For DriverFramework
-		)
+	)
 
 	add_compile_options(
 		-fPIC
@@ -139,8 +135,6 @@ function(px4_os_add_flags)
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)
 
-	set(DF_TARGET "qurt" CACHE STRING "DriverFramework target" FORCE)
-
 endfunction()
 
 #=============================================================================

platforms/qurt/include/poll.h

@@ -1,40 +0,0 @@
-/****************************************************************************
- * include/poll.h
- *
- *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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
-
-typedef unsigned int nfds_t;
-
-#define POLLIN       (0x01)

platforms/qurt/include/sys/ioctl.h

@@ -1,3 +0,0 @@
-#pragma once
-
-#define _IO(x,y) (x+y)

platforms/qurt/src/px4/common/CMakeLists.txt

@@ -38,7 +38,7 @@ include_directories(${HEXAGON_8074_INCLUDES})
 
 set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
-	px4_qurt_tasks.cpp
+	tasks.cpp
 	lib_crc32.c
 	drv_hrt.cpp
 	qurt_stubs.c

platforms/qurt/src/px4/common/commands_hil.c

@@ -93,10 +93,8 @@ const char *get_commands()
 
 		"param set MAV_TYPE 2\n"
 		"mixer load /dev/pwm_output0 /startup/quad_x.main.mix\n"
-		"list_devices\n"
 		"list_files\n"
 		"list_tasks\n"
-		"list_topics\n"
 		"sleep 10\n"
 		"list_tasks\n"
 		"sleep 10\n"

platforms/qurt/src/px4/common/main.cpp

@@ -52,7 +52,6 @@
 
 #include "get_commands.h"
 #include "apps.h"
-#include "DriverFramework.hpp"
 
 #define MAX_ARGS 8 // max number of whitespace separated args after app name
 
@@ -196,7 +195,6 @@ int dspal_entry(int argc, char *argv[])
 	PX4_INFO("In dspal_entry");
 	apps_map_type apps;
 	init_app_map(apps);
-	DriverFramework::Framework::initialize();
 	px4::init_once();
 	px4::init(argc, (char **)argv, "px4");
 	process_commands(apps, get_commands());