yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

DriverFramework purge

Browse Source 
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)
This commit is contained in:
Daniel Agar
2020-01-09 11:00:40 -05:00
parent 04ba05f5a0
commit de4f594937
165 changed files with 285 additions and 8108 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
src/modules/commander/accelerometer_calibration.cpp
View File

@@ -132,10 +132,8 @@
#include <px4_platform_common/time.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <float.h>
#include <mathlib/mathlib.h>
#include <string.h>
@@ -180,7 +178,7 @@ typedef struct {
int do_accel_calibration(orb_advert_t *mavlink_log_pub)
{
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
int fd;
#endif
@@ -200,7 +198,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
/* reset all sensors */
for (unsigned s = 0; s < max_accel_sens; s++) {
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */
fd = px4_open(str, 0);
@@ -422,7 +420,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
return PX4_ERROR;
}
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, uorb_index);
fd = px4_open(str, 0);
@@ -525,7 +523,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
sensor_accel_s report = {};
orb_copy(ORB_ID(sensor_accel), worker_data.subs[cur_accel], &report);
#ifdef __PX4_NUTTX
#if 1 // TODO: replace all IOCTL usage
// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
// and match it up with the one from the uORB subscription, because the