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DriverFramework purge

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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
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17
src/modules/sensors/sensors.cpp
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@@ -68,14 +68,11 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <DevMgr.hpp>
#include "parameters.h"
#include "voted_sensors_update.h"
#include "vehicle_acceleration/VehicleAcceleration.hpp"
#include "vehicle_angular_velocity/VehicleAngularVelocity.hpp"
using namespace DriverFramework;
using namespace sensors;
using namespace time_literals;
@@ -128,7 +125,7 @@ private:
DataValidator _airspeed_validator; /**< data validator to monitor airspeed */
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
DevHandle _h_adc; /**< ADC driver handle */
int _adc_fd {-1}; /**< ADC driver handle */
hrt_abstime _last_adc{0}; /**< last time we took input from the ADC */
@@ -219,17 +216,13 @@ Sensors::adc_init()
{
if (!_hil_enabled) {
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
_adc_fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
DevMgr::getHandle(ADC0_DEVICE_PATH, _h_adc);
if (!_h_adc.isValid()) {
PX4_ERR("no ADC found: %s (%d)", ADC0_DEVICE_PATH, _h_adc.getError());
if (_adc_fd == -1) {
PX4_ERR("no ADC found: %s", ADC0_DEVICE_PATH);
return PX4_ERROR;
}
#endif // ADC_AIRSPEED_VOLTAGE_CHANNEL
}
@@ -345,7 +338,7 @@ Sensors::adc_poll()
/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS];
/* read all channels available */
int ret = _h_adc.read(&buf_adc, sizeof(buf_adc));
int ret = px4_read(_adc_fd, &buf_adc, sizeof(buf_adc));
if (ret >= (int)sizeof(buf_adc[0])) {