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)
2026-05-21 01:12:11 +00:00 · 2020-01-09 11:00:40 -05:00
parent 04ba05f5a0
commit de4f594937
165 changed files with 285 additions and 8108 deletions
--- a/posix-configs/bbblue/px4.config
+++ b/posix-configs/bbblue/px4.config
@@ -50,7 +50,7 @@ dataman start

 bmp280 -I start

-df_mpu9250_wrapper start
+mpu9250 start
 # options:  -R rotation

 gps start -d /dev/ttyS2 -s -p ubx
--- a/posix-configs/bbblue/px4_fw.config
+++ b/posix-configs/bbblue/px4_fw.config
@@ -50,7 +50,7 @@ dataman start

 bmp280 -I start

-df_mpu9250_wrapper start
+mpu9250 start
 # options:  -R rotation

 gps start -d /dev/ttyS2 -s -p ubx
--- a/posix-configs/eagle/200qx/px4.config
+++ b/posix-configs/eagle/200qx/px4.config
@@ -14,17 +14,11 @@ param set MC_ROLL_P 7.0
 param set MC_ROLLRATE_P 0.08
 param set MC_ROLLRATE_I 0.0
 param set MC_ROLLRATE_D 0.001
-param set ATT_W_MAG 0.00
 param set SENS_BOARD_ROT 0
-param set RC_RECEIVER_TYPE 1
-param set UART_ESC_MODEL 2
-param set UART_ESC_BAUD 250000
-param set UART_ESC_MOTOR1 4
-param set UART_ESC_MOTOR2 2
-param set UART_ESC_MOTOR3 1
-param set UART_ESC_MOTOR4 3
+
+
 sleep 1
-df_mpu9250_wrapper start
+mpu9250 start
 bmp280 start
 gps start -d /dev/tty-4
 rc_update start
@@ -38,7 +32,5 @@ mc_rate_control start
 uart_esc start -D /dev/tty-2
 spektrum_rc start -d /dev/tty-1
 sleep 1
-list_devices
 list_files
 list_tasks
-list_topics
--- a/posix-configs/eagle/210qc/px4.config
+++ b/posix-configs/eagle/210qc/px4.config
@@ -16,15 +16,9 @@ param set MC_ROLLRATE_I 0.0
 param set MC_ROLLRATE_D 0.001
 param set ATT_W_MAG 0.00
 param set SENS_BOARD_ROT 0
-param set RC_RECEIVER_TYPE 1
-param set UART_ESC_MODEL 2
-param set UART_ESC_BAUD 250000
-param set UART_ESC_MOTOR1 4
-param set UART_ESC_MOTOR2 2
-param set UART_ESC_MOTOR3 1
-param set UART_ESC_MOTOR4 3
+
 sleep 1
-df_mpu9250_wrapper start
+mpu9250 start
 bmp280 start
 gps start -d /dev/tty-4
 rc_update start
@@ -38,7 +32,5 @@ mc_rate_control start
 uart_esc start -D /dev/tty-2
 spektrum_rc start -d /dev/tty-1
 sleep 1
-list_devices
 list_files
 list_tasks
-list_topics
--- a/posix-configs/eagle/flight/px4.config
+++ b/posix-configs/eagle/flight/px4.config
@@ -6,11 +6,8 @@ gps start -d /dev/tty-4
 param set MAV_TYPE 2
 sleep 1
 hmc5883 start
-df_mpu9250_wrapper start_without_mag
+mpu9250 start_without_mag
 bmp280 start
-df_trone_wrapper start
-#df_ltc2946_wrapper start # (currently not working on all boards...)
-#df_isl29501_wrapper start
 sleep 1
 rc_update start
 sensors start
--- a/posix-configs/eagle/hil/px4.config
+++ b/posix-configs/eagle/hil/px4.config
@@ -1,42 +1,16 @@
 uorb start
 qshell start
-param set CAL_GYRO0_ID 2293760
-param set CAL_ACC0_ID 1310720
-param set CAL_ACC1_ID 1376256
-param set CAL_MAG0_ID 196608
+
 param set SYS_AUTOSTART 4001
 param set SYS_AUTOCONFIG 1
 param set MAV_TYPE 2
-param set RC1_MAX 2015
-param set RC1_MIN 996
-param set RC1_TRIM 1502
-param set RC1_REV -1
-param set RC2_MAX 2016
-param set RC2_MIN 995
-param set RC2_TRIM 1500
-param set RC3_MAX 2003
-param set RC3_MIN 992
-param set RC3_TRIM 992
-param set RC4_MAX 2011
-param set RC4_MIN 997
-param set RC4_TRIM 1504
-param set RC4_REV -1
-param set RC6_MAX 2016
-param set RC6_MIN 992
-param set RC6_TRIM 1504
-param set RC_CHAN_CNT 8
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 7
-param set RC_MAP_RETURN_SW 8
 param set MC_YAW_P 1.5
 param set MC_PITCH_P 3.0
 param set MC_ROLL_P 3.0
 param set MC_YAWRATE_P 0.2
 param set MC_PITCHRATE_P 0.03
 param set MC_ROLLRATE_P 0.03
-param set ATT_W_ACC 0.0002
-param set ATT_W_MAG 0.002
-param set ATT_W_GYRO_BIAS 0.05
+
 sleep 1
 rc_update start
 commander start -hil
@@ -49,10 +23,8 @@ land_detector start multicopter
 sleep 1
 pwm_out_sim start
 mixer load /dev/pwm_output0 /startup/quad_x.main.mix
-list_devices
 list_files
 list_tasks
-list_topics
 sleep 10
 list_tasks
 sleep 10
--- a/posix-configs/eagle/init/rcS
+++ b/posix-configs/eagle/init/rcS
@@ -20,15 +20,10 @@ then

 	qshell gps start -d /dev/tty-4
 	qshell hmc5883 start
-	qshell df_trone_wrapper start
-	#qshell df_isl29501_wrapper start

 # Qualcomm 200qx microheli platform
 elif param compare SYS_AUTOSTART 4200
 then
-	param set CAL_GYRO0_ID 100
-	param set CAL_ACC0_ID 100
-	param set CAL_MAG0_ID 101
 	param set MAV_TYPE 2
 	param set MC_YAW_P 7.0
 	param set MC_YAWRATE_P 0.08
@@ -42,56 +37,11 @@ then
 	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.0
 	param set MC_ROLLRATE_D 0.0001
-	param set RC_MAP_THROTTLE 1
-	param set RC_MAP_ROLL 2
-	param set RC_MAP_PITCH 3
-	param set RC_MAP_YAW 4
-	param set RC_MAP_MODE_SW 5
-	param set RC_MAP_POSCTL_SW 6
-	param set RC1_MAX 1900
-	param set RC1_MIN 1099
-	param set RC1_TRIM 1099
-	param set RC1_REV 1
-	param set RC2_MAX 1900
-	param set RC2_MIN 1099
-	param set RC2_TRIM 1500
-	param set RC2_REV -1
-	param set RC3_MAX 1900
-	param set RC3_MIN 1099
-	param set RC3_TRIM 1500
-	param set RC3_REV 1
-	param set RC4_MAX 1900
-	param set RC4_MIN 1099
-	param set RC4_TRIM 1500
-	param set RC4_REV -1
-	param set RC5_MAX 1900
-	param set RC5_MIN 1099
-	param set RC5_TRIM 1500
-	param set RC5_REV 1
-	param set RC6_MAX 1900
-	param set RC6_MIN 1099
-	param set RC6_TRIM 1099
-	param set RC6_REV 1
-	param set ATT_W_MAG 0.00
-	param set PE_MAG_NOISE 1.0f
 	param set SENS_BOARD_ROT 0
-	param set RC_RECEIVER_TYPE 1
-	param set UART_ESC_MODEL 2
-	param set UART_ESC_BAUDRTE 250000
-	param set UART_ESC_MOTOR1 4
-	param set UART_ESC_MOTOR2 2
-	param set UART_ESC_MOTOR3 1
-	param set UART_ESC_MOTOR4 3
-
-	qshell uart_esc start -D /dev/tty-2
-	qshell rc_receiver start -D /dev/tty-1

 # Qualcomm internal 210qc platform
 elif param compare SYS_AUTOSTART 4210
 then
-	param set CAL_GYRO0_ID 100
-	param set CAL_ACC0_ID 100
-	param set CAL_MAG0_ID 101
 	param set MAV_TYPE 2
 	param set MC_YAW_P 12
 	param set MC_YAWRATE_P 0.08
@@ -105,64 +55,8 @@ then
 	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.0
 	param set MC_ROLLRATE_D 0.001
-	param set RC_MAP_THROTTLE 1
-	param set RC_MAP_ROLL 2
-	param set RC_MAP_PITCH 3
-	param set RC_MAP_YAW 4
-	param set RC_MAP_MODE_SW 5
-	param set RC_MAP_POSCTL_SW 6
-	param set RC1_MAX 1900
-	param set RC1_MIN 1099
-	param set RC1_TRIM 1099
-	param set RC1_REV 1
-	param set RC2_MAX 1900
-	param set RC2_MIN 1099
-	param set RC2_TRIM 1500
-	param set RC2_REV -1
-	param set RC3_MAX 1900
-	param set RC3_MIN 1099
-	param set RC3_TRIM 1500
-	param set RC3_REV 1
-	param set RC4_MAX 1900
-	param set RC4_MIN 1099
-	param set RC4_TRIM 1500
-	param set RC4_REV -1
-	param set RC5_MAX 1900
-	param set RC5_MIN 1099
-	param set RC5_TRIM 1500
-	param set RC5_REV 1
-	param set RC6_MAX 1900
-	param set RC6_MIN 1099
-	param set RC6_TRIM 1099
-	param set RC6_REV 1
-	param set ATT_W_MAG 0.00
-	param set PE_MAG_NOISE 1.0f
 	param set SENS_BOARD_ROT 0
-	param set CAL_GYRO0_XOFF -0.0028
-	param set CAL_GYRO0_YOFF -0.0047
-	param set CAL_GYRO0_ZOFF -0.0034
-	param set CAL_MAG0_XOFF 0.0000
-	param set CAL_MAG0_YOFF 0.0000
-	param set CAL_MAG0_ZOFF 0.0000
-	param set CAL_MAG0_XSCALE 1.0000
-	param set CAL_MAG0_YSCALE 1.0000
-	param set CAL_MAG0_ZSCALE 1.0000
-	param set CAL_ACC0_XOFF -0.0941
-	param set CAL_ACC0_YOFF 0.1168
-	param set CAL_ACC0_ZOFF -0.0398
-	param set CAL_ACC0_XSCALE 1.0004
-	param set CAL_ACC0_YSCALE 0.9974
-	param set CAL_ACC0_ZSCALE 0.9951
-	param set RC_RECEIVER_TYPE 1
-	param set UART_ESC_MODEL 2
-	param set UART_ESC_BAUDRTE 250000
-	param set UART_ESC_MOTOR1 4
-	param set UART_ESC_MOTOR2 2
-	param set UART_ESC_MOTOR3 1
-	param set UART_ESC_MOTOR4 3

-	uart_esc start -D /dev/tty-2
-	rc_receiver start -D /dev/tty-1
 else
 	echo "NO AIRFRAME CHOSEN!"
 	echo "Please set parameter to select airframe:"
@@ -171,7 +65,7 @@ else
 fi


-qshell df_mpu9250_wrapper start
+qshell mpu9250 start
 qshell bmp280 start
 qshell rc_update start
 qshell sensors start
--- a/posix-configs/excelsior/px4.config
+++ b/posix-configs/excelsior/px4.config
@@ -1,8 +1,5 @@
 uorb start
 qshell start
-param set CAL_GYRO0_ID 100
-param set CAL_ACC0_ID 100
-param set CAL_MAG0_ID 101
 param set SYS_AUTOSTART 4001
 param set MAV_TYPE 2
 param set MC_YAW_P 12
@@ -17,62 +14,10 @@ param set MC_ROLL_P 7.0
 param set MC_ROLLRATE_P 0.08
 param set MC_ROLLRATE_I 0.0
 param set MC_ROLLRATE_D 0.001
-param set RC_MAP_THROTTLE 1
-param set RC_MAP_ROLL 2
-param set RC_MAP_PITCH 3
-param set RC_MAP_YAW 4
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 6
-param set RC1_MAX 1900
-param set RC1_MIN 1099
-param set RC1_TRIM 1099
-param set RC1_REV 1
-param set RC2_MAX 1900
-param set RC2_MIN 1099
-param set RC2_TRIM 1500
-param set RC2_REV -1
-param set RC3_MAX 1900
-param set RC3_MIN 1099
-param set RC3_TRIM 1500
-param set RC3_REV 1
-param set RC4_MAX 1900
-param set RC4_MIN 1099
-param set RC4_TRIM 1500
-param set RC4_REV -1
-param set RC5_MAX 1900
-param set RC5_MIN 1099
-param set RC5_TRIM 1500
-param set RC5_REV 1
-param set RC6_MAX 1900
-param set RC6_MIN 1099
-param set RC6_TRIM 1099
-param set RC6_REV 1
-param set ATT_W_MAG 0.00
 param set SENS_BOARD_ROT 4
-param set CAL_GYRO0_XOFF -0.0028
-param set CAL_GYRO0_YOFF -0.0047
-param set CAL_GYRO0_ZOFF -0.0034
-param set CAL_MAG0_XOFF 0.0000
-param set CAL_MAG0_YOFF 0.0000
-param set CAL_MAG0_ZOFF 0.0000
-param set CAL_MAG0_XSCALE 1.0000
-param set CAL_MAG0_YSCALE 1.0000
-param set CAL_MAG0_ZSCALE 1.0000
-param set CAL_ACC0_XOFF -0.0941
-param set CAL_ACC0_YOFF 0.1168
-param set CAL_ACC0_ZOFF -0.0398
-param set CAL_ACC0_XSCALE 1.0004
-param set CAL_ACC0_YSCALE 0.9974
-param set CAL_ACC0_ZSCALE 0.9951
-param set RC_RECEIVER_TYPE 1
-param set UART_ESC_MODEL 2
-param set UART_ESC_BAUD 250000
-param set UART_ESC_MOTOR1 4
-param set UART_ESC_MOTOR2 2
-param set UART_ESC_MOTOR3 1
-param set UART_ESC_MOTOR4 3
+
 sleep 1
-df_mpu9250_wrapper start
+mpu9250 start
 bmp280 start
 rc_update start
 sensors start
@@ -85,7 +30,5 @@ mc_rate_control start
 uart_esc start -D /dev/tty-1
 spektrum_rc start -d /dev/tty-101
 sleep 1
-list_devices
 list_files
 list_tasks
-list_topics
--- a/posix-configs/ocpoc/px4.config
+++ b/posix-configs/ocpoc/px4.config
@@ -15,9 +15,10 @@ param set MAV_BROADCAST 1
 param set MAV_TYPE 2
 param set MAV_SYS_ID 1

-df_mpu9250_wrapper start_without_mag -R 10
+mpu9250 -R 10 start
 hmc5883 start
 ms5611 start
+
 rgbled start -b 1

 adc start
--- a/posix-configs/rpi/px4.config
+++ b/posix-configs/rpi/px4.config
@@ -19,11 +19,11 @@ param set BAT_CNT_V_CURR 0.001

 dataman start

-df_lsm9ds1_wrapper start -R 4
-#lsm9ds1 start -R 4
-#lsm9ds1_mag start -R 4
-#df_mpu9250_wrapper start -R 10
+mpu9250 -R 8 start
+lsm9ds1 -R 4 start
+lsm9ds1_mag -R 4 start
 ms5611 start
+
 navio_rgbled start

 adc start
--- a/posix-configs/rpi/px4_fw.config
+++ b/posix-configs/rpi/px4_fw.config
@@ -19,11 +19,11 @@ param set BAT_CNT_V_CURR 0.001

 dataman start

-df_lsm9ds1_wrapper start -R 4
-#lsm9ds1 start -R 4
-#lsm9ds1_mag start -R 4
-#df_mpu9250_wrapper start -R 10
+mpu9250 -R 8 start
+lsm9ds1 -R 4 start
+lsm9ds1_mag -R 4 start
 ms5611 start
+
 navio_rgbled start

 adc start
--- a/posix-configs/rpi/px4_test.config
+++ b/posix-configs/rpi/px4_test.config
@@ -19,11 +19,11 @@ param set BAT_CNT_V_CURR 0.001

 dataman start

-df_lsm9ds1_wrapper start -R 4
-#lsm9ds1 start -R 4
-#lsm9ds1_mag start -R 4
-#df_mpu9250_wrapper start -R 10
+mpu9250 -R 8 start
+lsm9ds1 -R 4 start
+lsm9ds1_mag -R 4 start
 ms5611 start
+
 navio_rgbled start

 adc start