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)
AndrewKahr · Jan 13, 2020 · de4f594 · de4f594
1 parent 04ba05f
commit de4f594
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Showing 165 changed files with 284 additions and 8,107 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -26,10 +26,6 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git
 	branch = master
-[submodule "src/lib/DriverFramework"]
-	path = src/lib/DriverFramework
-	url = https://github.com/PX4/DriverFramework.git
-	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
@@ -58,3 +54,6 @@
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git
 	branch = master
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -138,7 +138,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
-set(config_df_driver_list)
 
 include(px4_config)
 include(px4_add_board)
@@ -311,25 +310,6 @@ add_subdirectory(msg EXCLUDE_FROM_ALL)
 
 px4_generate_airframes_xml(BOARD ${PX4_BOARD})
 
-#=============================================================================
-# DriverFramework
-#
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-set(OS ${PX4_PLATFORM})
-add_subdirectory(src/lib/DriverFramework/framework)
-
-# List the DriverFramework drivers
-if (DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
 #=============================================================================
 # external projects
 #

diff --git a/Documentation/Doxyfile.in b/Documentation/Doxyfile.in
@@ -828,8 +828,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/lib/DriverFramework \
-                         @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
                          @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                          @CMAKE_SOURCE_DIR@/src/examples \
                          @CMAKE_SOURCE_DIR@/src/templates

diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
@@ -10,9 +10,9 @@ fi
 exec find boards msg src platforms \
     -path msg/templates/urtps -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
+    -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/lib/DriverFramework -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \
     -path src/lib/systemlib/uthash -prune -o \

diff --git a/boards/aerotenna/ocpoc/default.cmake b/boards/aerotenna/ocpoc/default.cmake
@@ -34,8 +34,6 @@ px4_add_board(
 		pwm_out_sim
 		rc_input
 		#telemetry # all available telemetry drivers
-	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -49,7 +47,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -77,7 +75,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake
@@ -32,9 +32,6 @@ add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
 add_definitions(
 	-D__PX4_POSIX_EAGLE
 	-D__PX4_LINUX
-
-	# For DriverFramework
-	-D__DF_LINUX
 )
 
 px4_add_board(
@@ -71,7 +68,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -108,7 +105,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		#tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/boards/atlflight/eagle/qurt.cmake b/boards/atlflight/eagle/qurt.cmake
@@ -47,15 +47,10 @@ px4_add_board(
 		barometer/bmp280
 		gps
 		imu/mpu9250
-		magnetometer/hmc5883
+		#magnetometer/hmc5883
 		qshell/qurt
 		snapdragon_pwm_out
 		spektrum_rc
-	DF_DRIVERS
-		isl29501
-		ltc2946
-		mpu9250
-		trone
 	MODULES
 		airspeed_selector
 		attitude_estimator_q

diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake
@@ -32,9 +32,6 @@ add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
 add_definitions(
 	-D__PX4_POSIX_EXCELSIOR
 	-D__PX4_LINUX
-
-	# For DriverFramework
-	-D__DF_LINUX
 )
 
 px4_add_board(
@@ -71,7 +68,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -108,7 +105,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		#tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/boards/atlflight/excelsior/qurt.cmake b/boards/atlflight/excelsior/qurt.cmake
@@ -51,11 +51,6 @@ px4_add_board(
 		qshell/qurt
 		snapdragon_pwm_out
 		spektrum_rc
-	DF_DRIVERS
-		isl29501
-		ltc2946
-		mpu9250
-		trone
 	MODULES
 		airspeed_selector
 		attitude_estimator_q

diff --git a/boards/beaglebone/blue/default.cmake b/boards/beaglebone/blue/default.cmake
@@ -26,8 +26,6 @@ px4_add_board(
 		pwm_out_sim
 		rc_input
 		#telemetry # all available telemetry drivers
-	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -41,7 +39,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -70,7 +68,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/boards/beaglebone/blue/src/init.cpp b/boards/beaglebone/blue/src/init.cpp
@@ -49,7 +49,6 @@ int rc_init(void)
 #ifdef __RC_V0_3
 	return rc_initialize();
 #else
-#ifdef __DF_BBBLUE
 
 	if (rc_get_state() == RUNNING) {  return 0; }
 
@@ -111,7 +110,6 @@ int rc_init(void)
 	//i2c, barometer and mpu will be initialized later
 
 	rc_set_state(RUNNING);
-#endif
 
 	return 0;
 #endif
@@ -123,7 +121,6 @@ void rc_cleaning(void)
 #ifdef __RC_V0_3
 	rc_cleanup();  return ;
 #else
-#ifdef __DF_BBBLUE
 
 	if (rc_get_state() == EXITING) { return; }
 
@@ -136,5 +133,4 @@ void rc_cleaning(void)
 
 	rc_remove_pid_file();
 #endif
-#endif
 }
diff --git a/boards/emlid/navio2/cmake/upload.cmake b/boards/emlid/navio2/cmake/upload.cmake
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-if($ENV{AUTOPILOT_HOST})
+if(DEFINED ENV{AUTOPILOT_HOST})
 	set(AUTOPILOT_HOST $ENV{AUTOPILOT_HOST})
 else()
 	set(AUTOPILOT_HOST "navio")

diff --git a/boards/emlid/navio2/default.cmake b/boards/emlid/navio2/default.cmake
@@ -28,11 +28,6 @@ px4_add_board(
 		pwm_out_sim
 		rc_input
 		#telemetry # all available telemetry drivers
-	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		isl29501
-		lsm9ds1
-		mpu9250
-		trone
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -46,7 +41,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -75,7 +70,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/boards/px4/raspberrypi/default.cmake b/boards/px4/raspberrypi/default.cmake
@@ -39,7 +39,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -68,7 +68,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
@@ -31,7 +31,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -65,7 +65,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake
@@ -32,7 +32,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -67,7 +67,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake
@@ -31,7 +31,7 @@ px4_add_board(
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		local_position_estimator
 		logger
 		mavlink
@@ -65,7 +65,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		tests # tests and test runner
-		top
+		#top
 		topic_listener
 		tune_control
 		ver

diff --git a/cmake/px4_add_board.cmake b/cmake/px4_add_board.cmake
@@ -55,7 +55,6 @@
 #			[ SYSTEMCMDS <list> ]
 #			[ EXAMPLES <list> ]
 #			[ SERIAL_PORTS <list> ]
-#			[ DF_DRIVERS <list> ]
 #			[ CONSTRAINED_FLASH ]
 #			[ TESTING ]
 #			)
@@ -77,7 +76,6 @@
 #		SYSTEMCMDS		: list of system commands to build for this board (relative to src/systemcmds)
 #		EXAMPLES		: list of example modules to build for this board (relative to src/examples)
 #		SERIAL_PORTS		: mapping of user configurable serial ports and param facing name
-#		DF_DRIVERS		: list of DriverFramework device drivers (includes DriverFramework driver and wrapper)
 #		CONSTRAINED_FLASH	: flag to enable constrained flash options (eg limit init script status text)
 #		TESTING			: flag to enable automatic inclusion of PX4 testing modules
 #
@@ -148,7 +146,6 @@ function(px4_add_board)
 			SYSTEMCMDS
 			EXAMPLES
 			SERIAL_PORTS
-			DF_DRIVERS
 		OPTIONS
 			BUILD_BOOTLOADER
 			CONSTRAINED_FLASH
@@ -264,19 +261,6 @@ function(px4_add_board)
 		endforeach()
 	endif()
 
-	# DriverFramework drivers
-	if(DF_DRIVERS)
-		set(config_df_driver_list)
-		foreach(driver ${DF_DRIVERS})
-			list(APPEND config_df_driver_list ${driver})
-
-			if(EXISTS "${PX4_SOURCE_DIR}/src/drivers/driver_framework_wrapper/df_${driver}_wrapper")
-				list(APPEND config_module_list drivers/driver_framework_wrapper/df_${driver}_wrapper)
-			endif()
-		endforeach()
-		set(config_df_driver_list ${config_df_driver_list} PARENT_SCOPE)
-	endif()
-
 	# add board config directory src to build modules
 	file(RELATIVE_PATH board_support_src_rel ${PX4_SOURCE_DIR}/src ${PX4_BOARD_DIR})
 	list(APPEND config_module_list ${board_support_src_rel}/src)