Make NuttX drivers cross platform (VDev -> CDev)

cmake/configs/posix_rpi_common.cmake

@@ -17,6 +17,9 @@ set(config_module_list
 	# Board support modules
 	#
 	drivers/device
+	drivers/airspeed
+	drivers/ms4525_airspeed
+
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
 	platforms/posix/drivers/df_lsm9ds1_wrapper

cmake/configs/posix_sitl_default.cmake

@@ -10,6 +10,9 @@ set(config_module_list
 	drivers/pwm_out_sim
 	drivers/vmount
 	drivers/linux_gpio
+	drivers/airspeed
+	drivers/ms4525_airspeed
+
 	modules/sensors
 	platforms/posix/drivers/accelsim
 	platforms/posix/drivers/adcsim

posix-configs/rpi/px4_fw.config

@@ -1,34 +1,40 @@
 # navio config for FW
+
 uorb start
 param load
 param set MAV_BROADCAST 1
-#param set SYS_AUTOSTART 2104
+param set SYS_AUTOSTART 2100
 param set MAV_TYPE 1
 param set SYS_MC_EST_GROUP 2
+
 param set BAT_CNT_V_VOLT 0.001
 param set BAT_V_DIV 10.9176300578
 param set BAT_CNT_V_CURR 0.001
 param set BAT_A_PER_V 15.391030303
+
 dataman start
+
 df_lsm9ds1_wrapper start -R 4
 df_ms5611_wrapper start
 navio_rgbled start
 navio_adc start
 gps start -d /dev/spidev0.0 -i spi -p ubx
+ms4525_airspeed start
 sensors start
 commander start
 navigator start
 ekf2 start
 fw_att_control start
 fw_pos_control_l1 start
+
 mavlink start -u 14556 -r 1000000
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 20
 mavlink stream -u 14556 -s ATTITUDE -r 20
 mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
 
-
 navio_sysfs_rc_in start
-linux_pwm_out start -m ROMFS/px4fmu_common/mixers/AERT.main.mix
+linux_pwm_out start -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+
 logger start -t -b 200
 mavlink boot_complete

src/drivers/airspeed/airspeed.cpp

@@ -39,28 +39,10 @@
  */
 
 #include <px4_config.h>
+#include <drivers/device/device.h>
 
 #include <drivers/device/i2c.h>
 
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <semaphore.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
-#include <arch/board/board.h>
-
 #include <systemlib/airspeed.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
@@ -173,7 +155,7 @@ Airspeed::probe()
 }
 
 int
-Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
+Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -249,14 +231,14 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = px4_enter_critical_section();
+			ATOMIC_ENTER;
 
 			if (!_reports->resize(arg)) {
-				px4_leave_critical_section(flags);
+				ATOMIC_LEAVE;
 				return -ENOMEM;
 			}
 
-			px4_leave_critical_section(flags);
+			ATOMIC_LEAVE;
 
 			return OK;
 		}
@@ -288,7 +270,7 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-Airspeed::read(struct file *filp, char *buffer, size_t buflen)
+Airspeed::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(differential_pressure_s);
 	differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);

src/drivers/airspeed/airspeed.h

@@ -38,47 +38,20 @@
  * Generic driver for airspeed sensors connected via I2C.
  */
 
+#include <drivers/device/i2c.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/drv_airspeed.h>
+#include <drivers/drv_hrt.h>
 #include <px4_config.h>
 #include <px4_defines.h>
-
-#include <drivers/device/i2c.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <semaphore.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-
-#ifdef __PX4_NUTTX
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-#
-#else
 #include <px4_workqueue.h>
-#endif
-
-#include <arch/board/board.h>
-
 #include <systemlib/airspeed.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
 #include <systemlib/perf_counter.h>
-
-#include <drivers/drv_airspeed.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/device/ringbuffer.h>
-
-#include <uORB/uORB.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/subsystem_info.h>
+#include <uORB/uORB.h>
 
 /* Default I2C bus */
 static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;

src/drivers/boards/rpi/board_config.h

@@ -50,5 +50,11 @@
 
 #define BOARD_MAX_LEDS 1 // Number external of LED's this board has
 
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_EXPANSION	1
+#define PX4_NUMBER_I2C_BUSES 1
+
 #include <system_config.h>
 #include "../common/board_common.h"

src/drivers/boards/sim/board_config.h

@@ -2,7 +2,6 @@
  * I2C busses
  */
 #define PX4_I2C_BUS_ESC		1
-#define PX4_SIM_BUS_TEST	2
 #define PX4_I2C_BUS_EXPANSION	3
 #define PX4_I2C_BUS_LED		3
 

src/drivers/boards/sitl/board_config.h

@@ -50,5 +50,8 @@
 
 #define CONFIG_ARCH_BOARD_SITL 1
 
+#define PX4_I2C_BUS_EXPANSION	1
+#define PX4_NUMBER_I2C_BUSES 1
+
 #include <system_config.h>
 #include "../common/board_common.h"

src/drivers/device/device.h

@@ -35,7 +35,16 @@
 
 #ifdef __PX4_NUTTX
 #include "device_nuttx.h"
+
+#include <nuttx/arch.h>
+#define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
+#define ATOMIC_LEAVE px4_leave_critical_section(flags)
+
 #elif defined (__PX4_POSIX)
 #include "vdev.h"
+
+#define ATOMIC_ENTER lock()
+#define ATOMIC_LEAVE unlock()
+
 #endif
 

src/drivers/device/i2c_posix.cpp

@@ -64,9 +64,10 @@ namespace device
 I2C::I2C(const char *name,
 	 const char *devname,
 	 int bus,
-	 uint16_t address) :
+	 uint16_t address,
+	 uint32_t frequency) :
 	// base class
-	VDev(name, devname),
+	CDev(name, devname),
 	// public
 	// protected
 	_retries(0),
@@ -75,7 +76,7 @@ I2C::I2C(const char *name,
 	_address(address),
 	_fd(-1)
 {
-	//warnx("I2C::I2C name = %s devname = %s", name, devname);
+	DEVICE_DEBUG("I2C::I2C name = %s devname = %s", name, devname);
 	// fill in _device_id fields for a I2C device
 	_device_id.devid_s.bus_type = DeviceBusType_I2C;
 	_device_id.devid_s.bus = bus;
@@ -103,10 +104,10 @@ I2C::init()
 	// way to set it from user space.
 
 	// do base class init, which will create device node, etc
-	ret = VDev::init();
+	ret = CDev::init();
 
 	if (ret != PX4_OK) {
-		DEVICE_DEBUG("VDev::init failed");
+		DEVICE_DEBUG("CDev::init failed");
 		return ret;
 	}
 
@@ -146,12 +147,12 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 	unsigned retry_count = 0;
 
 	if (_fd < 0) {
-		warnx("I2C device not opened");
+		PX4_ERR("I2C device not opened");
 		return 1;
 	}
 
 	do {
-		//	DEVICE_DEBUG("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
+		DEVICE_DEBUG("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
 		msgs = 0;
 
 		if (send_len > 0) {
@@ -178,15 +179,18 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		packets.nmsgs = msgs;
 
 		if (simulate) {
-			//warnx("I2C SIM: transfer_4 on %s", get_devname());
+			DEVICE_DEBUG("I2C SIM: transfer_4 on %s", get_devname());
 			ret = PX4_OK;
 
 		} else {
 			ret = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
 
-			if (ret < 0) {
+			if (ret == -1) {
-				warnx("I2C transfer failed");
+				DEVICE_DEBUG("I2C transfer failed");
-				return 1;
+				ret = PX4_ERROR;
+
+			} else {
+				ret = PX4_OK;
 			}
 		}
 
@@ -221,7 +225,7 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 		packets.nmsgs = msgs;
 
 		if (simulate) {
-			warnx("I2C SIM: transfer_2 on %s", get_devname());
+			DEVICE_DEBUG("I2C SIM: transfer_2 on %s", get_devname());
 			ret = PX4_OK;
 
 		} else {
@@ -229,7 +233,7 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 		}
 
 		if (ret < 0) {
-			warnx("I2C transfer failed");
+			DEVICE_DEBUG("I2C transfer failed");
 			return 1;
 		}
 
@@ -251,13 +255,13 @@ int I2C::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 #ifdef __PX4_LINUX
 
 	case I2C_RDWR:
-		warnx("Use I2C::transfer, not ioctl");
+		DEVICE_DEBUG("Use I2C::transfer, not ioctl");
 		return 0;
 #endif
 
 	default:
 		/* give it to the superclass */
-		return VDev::ioctl(filp, cmd, arg);
+		return CDev::ioctl(filp, cmd, arg);
 	}
 }
 
@@ -265,7 +269,7 @@ ssize_t	I2C::read(file_t *filp, char *buffer, size_t buflen)
 {
 	if (simulate) {
 		// FIXME no idea what this should be
-		warnx("2C SIM I2C::read");
+		DEVICE_DEBUG("2C SIM I2C::read");
 		return 0;
 	}
 
@@ -279,7 +283,7 @@ ssize_t	I2C::read(file_t *filp, char *buffer, size_t buflen)
 ssize_t	I2C::write(file_t *filp, const char *buffer, size_t buflen)
 {
 	if (simulate) {
-		warnx("2C SIM I2C::write");
+		DEVICE_DEBUG("2C SIM I2C::write");
 		return buflen;
 	}
 

src/drivers/device/i2c_posix.h

@@ -55,7 +55,7 @@ namespace device __EXPORT
 /**
  * Abstract class for character device on I2C
  */
-class __EXPORT I2C : public VDev
+class __EXPORT I2C : public CDev
 {
 
 public:
@@ -88,7 +88,8 @@ protected:
 	I2C(const char *name,
 	    const char *devname,
 	    int bus,
-	    uint16_t address);
+	    uint16_t address,
+	    uint32_t frequency = 0);
 	virtual ~I2C();
 
 	virtual int	init();
@@ -122,6 +123,20 @@ protected:
 	 */
 	int		transfer(struct i2c_msg *msgv, unsigned msgs);
 
+	/**
+	 * Change the bus address.
+	 *
+	 * Most often useful during probe() when the driver is testing
+	 * several possible bus addresses.
+	 *
+	 * @param address	The new bus address to set.
+	 */
+	void		set_address(uint16_t address)
+	{
+		_address = address;
+		_device_id.devid_s.address = _address;
+	}
+
 private:
 	uint16_t		_address;
 	int 			_fd;

src/drivers/device/sim.cpp

@@ -88,7 +88,7 @@ SIM::init()
 	ret = Device::init();
 
 	if (ret != PX4_OK) {
-		PX4_ERR("VDev::init failed");
+		PX4_ERR("CDev::init failed");
 		return ret;
 	}
 

src/drivers/device/spi.h

@@ -50,11 +50,7 @@ namespace device __EXPORT
 /**
  * Abstract class for character device on SPI
  */
-#ifdef __PX4_NUTTX
 class __EXPORT SPI : public CDev
-#else
-class __EXPORT SPI : public VDev
-#endif
 {
 protected:
 	/**

src/drivers/device/vdev.cpp

@@ -61,7 +61,7 @@ static map<string, void *> devmap;
 pthread_mutex_t devmutex = PTHREAD_MUTEX_INITIALIZER;
 
 
-VDev::VDev(const char *name,
+CDev::CDev(const char *name,
 	   const char *devname) :
 	// base class
 	Device(name),
@@ -75,12 +75,12 @@ VDev::VDev(const char *name,
 	_open_count(0),
 	_pollset(nullptr)
 {
-	PX4_DEBUG("VDev::VDev");
+	DEVICE_DEBUG("CDev::CDev");
 }
 
-VDev::~VDev()
+CDev::~CDev()
 {
-	PX4_DEBUG("VDev::~VDev");
+	DEVICE_DEBUG("CDev::~CDev");
 
 	if (_registered) {
 		unregister_driver(_devname);
@@ -92,9 +92,9 @@ VDev::~VDev()
 }
 
 int
-VDev::register_class_devname(const char *class_devname)
+CDev::register_class_devname(const char *class_devname)
 {
-	PX4_DEBUG("VDev::register_class_devname %s", class_devname);
+	DEVICE_DEBUG("CDev::register_class_devname %s", class_devname);
 
 	if (class_devname == nullptr) {
 		return -EINVAL;
@@ -121,9 +121,9 @@ VDev::register_class_devname(const char *class_devname)
 }
 
 int
-VDev::register_driver(const char *name, void *data)
+CDev::register_driver(const char *name, void *data)
 {
-	PX4_DEBUG("VDev::register_driver %s", name);
+	DEVICE_DEBUG("CDev::register_driver %s", name);
 	int ret = 0;
 
 	if (name == nullptr || data == nullptr) {
@@ -141,7 +141,7 @@ VDev::register_driver(const char *name, void *data)
 	}
 
 	devmap[name] = (void *)data;
-	PX4_DEBUG("Registered DEV %s", name);
+	DEVICE_DEBUG("Registered DEV %s", name);
 
 	pthread_mutex_unlock(&devmutex);
 
@@ -149,9 +149,9 @@ VDev::register_driver(const char *name, void *data)
 }
 
 int
-VDev::unregister_driver(const char *name)
+CDev::unregister_driver(const char *name)
 {
-	PX4_DEBUG("VDev::unregister_driver %s", name);
+	DEVICE_DEBUG("CDev::unregister_driver %s", name);
 	int ret = -EINVAL;
 
 	if (name == nullptr) {
@@ -161,7 +161,7 @@ VDev::unregister_driver(const char *name)
 	pthread_mutex_lock(&devmutex);
 
 	if (devmap.erase(name) > 0) {
-		PX4_DEBUG("Unregistered DEV %s", name);
+		DEVICE_DEBUG("Unregistered DEV %s", name);
 		ret = 0;
 	}
 
@@ -171,9 +171,9 @@ VDev::unregister_driver(const char *name)
 }
 
 int
-VDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
+CDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
 {
-	PX4_DEBUG("VDev::unregister_class_devname");
+	DEVICE_DEBUG("CDev::unregister_class_devname");
 	char name[32];
 	snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
 	int ret = -EINVAL;
@@ -182,7 +182,7 @@ VDev::unregister_class_devname(const char *class_devname, unsigned class_instanc
 	pthread_mutex_lock(&devmutex);
 
 	if (devmap.erase(name) > 0) {
-		PX4_DEBUG("Unregistered class DEV %s", name);
+		DEVICE_DEBUG("Unregistered class DEV %s", name);
 		ret = 0;
 	}
 
@@ -192,9 +192,9 @@ VDev::unregister_class_devname(const char *class_devname, unsigned class_instanc
 }
 
 int
-VDev::init()
+CDev::init()
 {
-	PX4_DEBUG("VDev::init");
+	DEVICE_DEBUG("CDev::init");
 
 	// base class init first
 	int ret = Device::init();
@@ -222,9 +222,9 @@ out:
  * Default implementations of the character device interface
  */
 int
-VDev::open(file_t *filep)
+CDev::open(file_t *filep)
 {
-	PX4_DEBUG("VDev::open");
+	DEVICE_DEBUG("CDev::open");
 	int ret = PX4_OK;
 
 	lock();
@@ -247,16 +247,16 @@ VDev::open(file_t *filep)
 }
 
 int
-VDev::open_first(file_t *filep)
+CDev::open_first(file_t *filep)
 {
-	PX4_DEBUG("VDev::open_first");
+	DEVICE_DEBUG("CDev::open_first");
 	return PX4_OK;
 }
 
 int
-VDev::close(file_t *filep)
+CDev::close(file_t *filep)
 {
-	PX4_DEBUG("VDev::close");
+	DEVICE_DEBUG("CDev::close");
 	int ret = PX4_OK;
 
 	lock();
@@ -280,37 +280,37 @@ VDev::close(file_t *filep)
 }
 
 int
-VDev::close_last(file_t *filep)
+CDev::close_last(file_t *filep)
 {
-	PX4_DEBUG("VDev::close_last");
+	DEVICE_DEBUG("CDev::close_last");
 	return PX4_OK;
 }
 
 ssize_t
-VDev::read(file_t *filep, char *buffer, size_t buflen)
+CDev::read(file_t *filep, char *buffer, size_t buflen)
 {
-	PX4_DEBUG("VDev::read");
+	DEVICE_DEBUG("CDev::read");
 	return -ENOSYS;
 }
 
 ssize_t
-VDev::write(file_t *filep, const char *buffer, size_t buflen)
+CDev::write(file_t *filep, const char *buffer, size_t buflen)
 {
-	PX4_DEBUG("VDev::write");
+	DEVICE_DEBUG("CDev::write");
 	return -ENOSYS;
 }
 
 off_t
-VDev::seek(file_t *filep, off_t offset, int whence)
+CDev::seek(file_t *filep, off_t offset, int whence)
 {
-	PX4_DEBUG("VDev::seek");
+	DEVICE_DEBUG("CDev::seek");
 	return -ENOSYS;
 }
 
 int
-VDev::ioctl(file_t *filep, int cmd, unsigned long arg)
+CDev::ioctl(file_t *filep, int cmd, unsigned long arg)
 {
-	PX4_DEBUG("VDev::ioctl");
+	DEVICE_DEBUG("CDev::ioctl");
 	int ret = -ENOTTY;
 
 	switch (cmd) {
@@ -342,9 +342,9 @@ VDev::ioctl(file_t *filep, int cmd, unsigned long arg)
 }
 
 int
-VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
+CDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 {
-	PX4_DEBUG("VDev::Poll %s", setup ? "setup" : "teardown");
+	DEVICE_DEBUG("CDev::Poll %s", setup ? "setup" : "teardown");
 	int ret = PX4_OK;
 
 	/*
@@ -358,7 +358,7 @@ VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 		 * benefit.
 		 */
 		fds->priv = (void *)filep;
-		PX4_DEBUG("VDev::poll: fds->priv = %p", filep);
+		DEVICE_DEBUG("CDev::poll: fds->priv = %p", filep);
 
 		/*
 		 * Handle setup requests.
@@ -395,9 +395,9 @@ VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 }
 
 void
-VDev::poll_notify(pollevent_t events)
+CDev::poll_notify(pollevent_t events)
 {
-	PX4_DEBUG("VDev::poll_notify events = %0x", events);
+	DEVICE_DEBUG("CDev::poll_notify events = %0x", events);
 
 	/* lock against poll() as well as other wakeups */
 	lock();
@@ -412,16 +412,16 @@ VDev::poll_notify(pollevent_t events)
 }
 
 void
-VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
+CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 {
-	PX4_DEBUG("VDev::poll_notify_one");
+	DEVICE_DEBUG("CDev::poll_notify_one");
 	int value;
 	px4_sem_getvalue(fds->sem, &value);
 
 	/* update the reported event set */
 	fds->revents |= fds->events & events;
 
-	PX4_DEBUG(" Events fds=%p %0x %0x %0x %d", fds, fds->revents, fds->events, events, value);
+	DEVICE_DEBUG(" Events fds=%p %0x %0x %0x %d", fds, fds->revents, fds->events, events, value);
 
 	/* if the state is now interesting, wake the waiter if it's still asleep */
 	/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
@@ -431,20 +431,20 @@ VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 }
 
 pollevent_t
-VDev::poll_state(file_t *filep)
+CDev::poll_state(file_t *filep)
 {
-	PX4_DEBUG("VDev::poll_notify");
+	DEVICE_DEBUG("CDev::poll_notify");
 	/* by default, no poll events to report */
 	return 0;
 }
 
 int
-VDev::store_poll_waiter(px4_pollfd_struct_t *fds)
+CDev::store_poll_waiter(px4_pollfd_struct_t *fds)
 {
 	/*
 	 * Look for a free slot.
 	 */
-	PX4_DEBUG("VDev::store_poll_waiter");
+	DEVICE_DEBUG("CDev::store_poll_waiter");
 
 	for (unsigned i = 0; i < _max_pollwaiters; i++) {
 		if (nullptr == _pollset[i]) {
@@ -482,9 +482,9 @@ VDev::store_poll_waiter(px4_pollfd_struct_t *fds)
 }
 
 int
-VDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
+CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
 {
-	PX4_DEBUG("VDev::remove_poll_waiter");
+	DEVICE_DEBUG("CDev::remove_poll_waiter");
 
 	for (unsigned i = 0; i < _max_pollwaiters; i++) {
 		if (fds == _pollset[i]) {
@@ -499,9 +499,9 @@ VDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
 	return -EINVAL;
 }
 
-VDev *VDev::getDev(const char *path)
+CDev *CDev::getDev(const char *path)
 {
-	PX4_DEBUG("VDev::getDev");
+	PX4_DEBUG("CDev::getDev");
 
 	pthread_mutex_lock(&devmutex);
 
@@ -509,7 +509,7 @@ VDev *VDev::getDev(const char *path)
 
 	if (item != devmap.end()) {
 		pthread_mutex_unlock(&devmutex);
-		return (VDev *)item->second;
+		return (CDev *)item->second;
 	}
 
 	pthread_mutex_unlock(&devmutex);
@@ -517,7 +517,7 @@ VDev *VDev::getDev(const char *path)
 	return nullptr;
 }
 
-void VDev::showDevices()
+void CDev::showDevices()
 {
 	int i = 0;
 	PX4_INFO("PX4 Devices:");
@@ -547,7 +547,7 @@ void VDev::showDevices()
 	} while (i == 0);
 }
 
-void VDev::showTopics()
+void CDev::showTopics()
 {
 	PX4_INFO("Devices:");
 
@@ -562,7 +562,7 @@ void VDev::showTopics()
 	pthread_mutex_unlock(&devmutex);
 }
 
-void VDev::showFiles()
+void CDev::showFiles()
 {
 	PX4_INFO("Files:");
 

src/drivers/device/vdev.h

@@ -209,7 +209,7 @@ private:
 /**
  * Abstract class for any virtual character device
  */
-class __EXPORT VDev : public Device
+class __EXPORT CDev : public Device
 {
 public:
 	/**
@@ -218,12 +218,12 @@ public:
 	 * @param name		Driver name
 	 * @param devname	Device node name
 	 */
-	VDev(const char *name, const char *devname);
+	CDev(const char *name, const char *devname);
 
 	/**
 	 * Destructor
 	 */
-	virtual ~VDev();
+	virtual ~CDev();
 
 	virtual int	init();
 
@@ -322,7 +322,7 @@ public:
 	 */
 	virtual int	ioctl(file_t *filep, int cmd, unsigned long arg);
 
-	static VDev *getDev(const char *path);
+	static CDev *getDev(const char *path);
 	static void showFiles(void);
 	static void showDevices(void);
 	static void showTopics(void);
@@ -447,8 +447,8 @@ private:
 	int		remove_poll_waiter(px4_pollfd_struct_t *fds);
 
 	/* do not allow copying this class */
-	VDev(const VDev &);
+	CDev(const CDev &);
-	//VDev operator=(const VDev&);
+	//CDev operator=(const CDev&);
 };
 
 #if 0

src/drivers/device/vdev_posix.cpp

@@ -72,14 +72,14 @@ extern "C" {
 		return ret;
 	}
 
-	inline VDev *get_vdev(int fd)
+	inline CDev *get_vdev(int fd)
 	{
 		pthread_mutex_lock(&filemutex);
 		bool valid = (fd < PX4_MAX_FD && fd >= 0 && filemap[fd] != nullptr);
-		VDev *dev;
+		CDev *dev;
 
 		if (valid) {
-			dev = (VDev *)(filemap[fd]->vdev);
+			dev = (CDev *)(filemap[fd]->vdev);
 
 		} else {
 			dev = nullptr;
@@ -92,7 +92,7 @@ extern "C" {
 	int px4_open(const char *path, int flags, ...)
 	{
 		PX4_DEBUG("px4_open");
-		VDev *dev = VDev::getDev(path);
+		CDev *dev = CDev::getDev(path);
 		int ret = 0;
 		int i;
 		mode_t mode;
@@ -163,7 +163,7 @@ extern "C" {
 	{
 		int ret;
 
-		VDev *dev = get_vdev(fd);
+		CDev *dev = get_vdev(fd);
 
 		if (dev) {
 			pthread_mutex_lock(&filemutex);
@@ -193,7 +193,7 @@ extern "C" {
 	{
 		int ret;
 
-		VDev *dev = get_vdev(fd);
+		CDev *dev = get_vdev(fd);
 
 		if (dev) {
 			PX4_DEBUG("px4_read fd = %d", fd);
@@ -215,7 +215,7 @@ extern "C" {
 	{
 		int ret;
 
-		VDev *dev = get_vdev(fd);
+		CDev *dev = get_vdev(fd);
 
 		if (dev) {
 			PX4_DEBUG("px4_write fd = %d", fd);
@@ -238,7 +238,7 @@ extern "C" {
 		PX4_DEBUG("px4_ioctl fd = %d", fd);
 		int ret = 0;
 
-		VDev *dev = get_vdev(fd);
+		CDev *dev = get_vdev(fd);
 
 		if (dev) {
 			ret = dev->ioctl(filemap[fd], cmd, arg);
@@ -297,11 +297,11 @@ extern "C" {
 			fds[i].revents = 0;
 			fds[i].priv    = nullptr;
 
-			VDev *dev = get_vdev(fds[i].fd);
+			CDev *dev = get_vdev(fds[i].fd);
 
 			// If fd is valid
 			if (dev) {
-				PX4_DEBUG("%s: px4_poll: VDev->poll(setup) %d", thread_name, fds[i].fd);
+				PX4_DEBUG("%s: px4_poll: CDev->poll(setup) %d", thread_name, fds[i].fd);
 				ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
 
 				if (ret < 0) {
@@ -358,11 +358,11 @@ extern "C" {
 			// go through all fds and count how many have data
 			for (i = 0; i < nfds; ++i) {
 
-				VDev *dev = get_vdev(fds[i].fd);
+				CDev *dev = get_vdev(fds[i].fd);
 
 				// If fd is valid
 				if (dev) {
-					PX4_DEBUG("%s: px4_poll: VDev->poll(teardown) %d", thread_name, fds[i].fd);
+					PX4_DEBUG("%s: px4_poll: CDev->poll(teardown) %d", thread_name, fds[i].fd);
 					ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
 
 					if (ret < 0) {
@@ -396,23 +396,23 @@ extern "C" {
 			return -1;
 		}
 
-		VDev *dev = VDev::getDev(pathname);
+		CDev *dev = CDev::getDev(pathname);
 		return (dev != nullptr) ? 0 : -1;
 	}
 
 	void px4_show_devices()
 	{
-		VDev::showDevices();
+		CDev::showDevices();
 	}
 
 	void px4_show_topics()
 	{
-		VDev::showTopics();
+		CDev::showTopics();
 	}
 
 	void px4_show_files()
 	{
-		VDev::showFiles();
+		CDev::showFiles();
 	}
 
 	void px4_enable_sim_lockstep()

src/drivers/device/vfile.cpp

@@ -44,7 +44,7 @@
 using namespace device;
 
 VFile::VFile(const char *fname, mode_t mode) :
-	VDev("vfile", fname)
+	CDev("vfile", fname)
 {
 }
 

src/drivers/device/vfile.h

@@ -44,7 +44,7 @@
 #include <unistd.h>
 #include <stdio.h>
 
-class VFile : public device::VDev
+class VFile : public device::CDev
 {
 public:
 

src/drivers/iridiumsbd/IridiumSBD.cpp

@@ -514,11 +514,7 @@ int IridiumSBD::ioctl(struct file *filp, int cmd, unsigned long arg)
 	default: {
 
 			/* see if the parent class can make any use of it */
-#ifdef __PX4_NUTTX
 			return CDev::ioctl(filp, cmd, arg);
-#else
-			return VDev::ioctl(filp, cmd, arg);
-#endif
 		}
 	}
 }

src/drivers/led/led.cpp

@@ -56,11 +56,7 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-#ifdef __PX4_NUTTX
 class LED : device::CDev
-#else
-class LED : device::VDev
-#endif
 {
 public:
 	LED();
@@ -70,12 +66,7 @@ public:
 	virtual int		ioctl(device::file_t *filp, int cmd, unsigned long arg);
 };
 
-LED::LED() :
+LED::LED() : CDev("led", LED0_DEVICE_PATH)
-#ifdef __PX4_NUTTX
-	CDev("led", LED0_DEVICE_PATH)
-#else
-	VDev("led", LED0_DEVICE_PATH)
-#endif
 {
 	// force immediate init/device registration
 	init();
@@ -89,11 +80,7 @@ int
 LED::init()
 {
 	DEVICE_DEBUG("LED::init");
-#ifdef __PX4_NUTTX
 	CDev::init();
-#else
-	VDev::init();
-#endif
 	led_init();
 
 	return 0;
@@ -117,13 +104,8 @@ LED::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		led_toggle(arg);
 		break;
 
-
 	default:
-#ifdef __PX4_NUTTX
 		result = CDev::ioctl(filp, cmd, arg);
-#else
-		result = VDev::ioctl(filp, cmd, arg);
-#endif
 	}
 
 	return result;

src/drivers/ms4525_airspeed/ms4525_airspeed.cpp

@@ -54,23 +54,6 @@
 
 #include <drivers/device/i2c.h>
 
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <semaphore.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <board_config.h>
 
 #include <systemlib/airspeed.h>
@@ -417,7 +400,7 @@ start(int i2c_bus)
 	int fd;
 
 	if (g_dev != nullptr) {
-		errx(1, "already started");
+		PX4_ERR("already started");
 	}
 
 	/* create the driver, try the MS4525DO first */
@@ -430,22 +413,22 @@ start(int i2c_bus)
 
 	/* both versions failed if the init for the MS5525DSO fails, give up */
 	if (OK != g_dev->Airspeed::init()) {
-		PX4_WARN("init fail");
+		PX4_ERR("init fail");
 		goto fail;
 	}
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(PATH_MS4525, O_RDONLY);
+	fd = px4_open(PATH_MS4525, O_RDONLY);
 
 	if (fd < 0) {
 		goto fail;
 	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		goto fail;
 	}
 
-	exit(0);
+	return;
 
 fail:
 
@@ -455,7 +438,6 @@ fail:
 	}
 
 	PX4_WARN("no MS4525 airspeed sensor connected");
-	exit(1);
 }
 
 /**
@@ -469,10 +451,8 @@ stop()
 		g_dev = nullptr;
 
 	} else {
-		errx(1, "driver not running");
+		PX4_ERR("driver not running");
 	}
-
-	exit(0);
 }
 
 /**
@@ -487,25 +467,25 @@ test()
 	ssize_t sz;
 	int ret;
 
-	int fd = open(PATH_MS4525, O_RDONLY);
+	int fd = px4_open(PATH_MS4525, O_RDONLY);
 
 	if (fd < 0) {
-		err(1, "%s open failed (try 'meas_airspeed start' if the driver is not running", PATH_MS4525);
+		PX4_ERR("%s open failed (try 'meas_airspeed start' if the driver is not running", PATH_MS4525);
 	}
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
 
 	if (sz != sizeof(report)) {
-		err(1, "immediate read failed");
+		PX4_ERR("immediate read failed");
 	}
 
-	warnx("single read");
+	PX4_INFO("single read");
-	warnx("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
+	PX4_INFO("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
 
 	/* start the sensor polling at 2Hz */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
+	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
-		errx(1, "failed to set 2Hz poll rate");
+		PX4_ERR("failed to set 2Hz poll rate");
 	}
 
 	/* read the sensor 5x and report each value */
@@ -518,27 +498,25 @@ test()
 		ret = poll(&fds, 1, 2000);
 
 		if (ret != 1) {
-			errx(1, "timed out");
+			PX4_ERR("timed out");
 		}
 
 		/* now go get it */
 		sz = read(fd, &report, sizeof(report));
 
 		if (sz != sizeof(report)) {
-			err(1, "periodic read failed");
+			PX4_ERR("periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
+		PX4_INFO("periodic read %u", i);
-		warnx("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
+		PX4_INFO("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
-		warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
+		PX4_INFO("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
 	}
 
 	/* reset the sensor polling to its default rate */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
+	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
-		errx(1, "failed to set default rate");
+		PX4_ERR("failed to set default rate");
 	}
-
-	errx(0, "PASS");
 }
 
 /**
@@ -547,21 +525,19 @@ test()
 void
 reset()
 {
-	int fd = open(PATH_MS4525, O_RDONLY);
+	int fd = px4_open(PATH_MS4525, O_RDONLY);
 
 	if (fd < 0) {
-		err(1, "failed ");
+		PX4_ERR("failed ");
 	}
 
-	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		err(1, "driver reset failed");
+		PX4_ERR("driver reset failed");
 	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		err(1, "driver poll restart failed");
+		PX4_ERR("driver poll restart failed");
 	}
-
-	exit(0);
 }
 
 /**
@@ -571,13 +547,11 @@ void
 info()
 {
 	if (g_dev == nullptr) {
-		errx(1, "driver not running");
+		PX4_ERR("driver not running");
 	}
 
-	printf("state @ %p\n", g_dev);
+	PX4_INFO("state @ %p", g_dev);
 	g_dev->print_info();
-
-	exit(0);
 }
 
 } // namespace
@@ -586,11 +560,11 @@ info()
 static void
 meas_airspeed_usage()
 {
-	warnx("usage: meas_airspeed command [options]");
+	PX4_INFO("usage: meas_airspeed command [options]");
-	warnx("options:");
+	PX4_INFO("options:");
-	warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
-	warnx("command:");
+	PX4_INFO("command:");
-	warnx("\tstart|stop|reset|test|info");
+	PX4_INFO("\tstart|stop|reset|test|info");
 }
 
 int
@@ -644,5 +618,6 @@ ms4525_airspeed_main(int argc, char *argv[])
 	}
 
 	meas_airspeed_usage();
-	exit(0);
+
+	return 0;
 }

src/drivers/pwm_out_sim/pwm_out_sim.cpp

@@ -82,11 +82,7 @@
 
 #include <systemlib/err.h>
 
-#ifdef __PX4_NUTTX
 class PWMSim : public device::CDev
-#else
-class PWMSim : public device::VDev
-#endif
 {
 	const uint32_t PWM_SIM_DISARMED_MAGIC = 900;
 	const uint32_t PWM_SIM_FAILSAFE_MAGIC = 600;
@@ -178,12 +174,7 @@ bool PWMSim::_lockdown = false;
 bool PWMSim::_failsafe = false;
 
 PWMSim::PWMSim() :
-#ifdef __PX4_NUTTX
+	CDev("pwm_out_sim", PWM_OUTPUT0_DEVICE_PATH),
-	CDev
-#else
-	VDev
-#endif
-	("pwm_out_sim", PWM_OUTPUT0_DEVICE_PATH),
 	_task(-1),
 	_mode(MODE_NONE),
 	_update_rate(50),
@@ -244,11 +235,7 @@ PWMSim::init()
 	ASSERT(_task == -1);
 
 	/* do regular cdev init */
-#ifdef __PX4_NUTTX
 	ret = CDev::init();
-#else
-	ret = VDev::init();
-#endif
 
 	if (ret != OK) {
 		return ret;
@@ -609,11 +596,7 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 	/* if nobody wants it, let CDev have it */
 	if (ret == -ENOTTY) {
-#ifdef __PX4_NUTTX
 		ret = CDev::ioctl(filp, cmd, arg);
-#else
-		ret = VDev::ioctl(filp, cmd, arg);
-#endif
 	}
 
 	return ret;

src/modules/uORB/uORBDevices.cpp

@@ -39,9 +39,6 @@
 #include <systemlib/px4_macros.h>
 
 #ifdef __PX4_NUTTX
-#include <nuttx/arch.h>
-#define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
-#define ATOMIC_LEAVE px4_leave_critical_section(flags)
 #define FILE_FLAGS(filp) filp->f_oflags
 #define FILE_PRIV(filp) filp->f_priv
 #define ITERATE_NODE_MAP() \
@@ -55,8 +52,6 @@
 #include <algorithm>
 #define FILE_FLAGS(filp) filp->flags
 #define FILE_PRIV(filp) filp->priv
-#define ATOMIC_ENTER lock()
-#define ATOMIC_LEAVE unlock()
 #define ITERATE_NODE_MAP() \
 	for (const auto &node_iter : _node_map)
 #define INIT_NODE_MAP_VARS(node_obj, node_name_str) \
@@ -88,7 +83,7 @@ uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *f
 
 uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
 			     int priority, unsigned int queue_size) :
-	VDev(name, path),
+	CDev(name, path),
 	_meta(meta),
 	_data(nullptr),
 	_last_update(0),
@@ -134,7 +129,7 @@ uORB::DeviceNode::open(device::file_t *filp)
 
 		/* now complete the open */
 		if (ret == PX4_OK) {
-			ret = VDev::open(filp);
+			ret = CDev::open(filp);
 
 			/* open failed - not the publisher anymore */
 			if (ret != PX4_OK) {
@@ -165,12 +160,12 @@ uORB::DeviceNode::open(device::file_t *filp)
 
 		FILE_PRIV(filp) = (void *)sd;
 
-		ret = VDev::open(filp);
+		ret = CDev::open(filp);
 
 		add_internal_subscriber();
 
 		if (ret != PX4_OK) {
-			PX4_ERR("VDev::open failed");
+			PX4_ERR("CDev::open failed");
 			delete sd;
 		}
 
@@ -202,7 +197,7 @@ uORB::DeviceNode::close(device::file_t *filp)
 		}
 	}
 
-	return VDev::close(filp);
+	return CDev::close(filp);
 }
 
 ssize_t
@@ -414,7 +409,7 @@ uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 	default:
 		/* give it to the superclass */
-		return VDev::ioctl(filp, cmd, arg);
+		return CDev::ioctl(filp, cmd, arg);
 	}
 }
 
@@ -535,7 +530,7 @@ uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 	 * If the topic looks updated to the subscriber, go ahead and notify them.
 	 */
 	if (appears_updated(sd)) {
-		VDev::poll_notify_one(fds, events);
+		CDev::poll_notify_one(fds, events);
 	}
 }
 
@@ -834,7 +829,7 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
 }
 
 uORB::DeviceMaster::DeviceMaster(Flavor f) :
-	VDev((f == PUBSUB) ? "obj_master" : "param_master",
+	CDev((f == PUBSUB) ? "obj_master" : "param_master",
 	     (f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
 	_flavor(f)
 {
@@ -959,7 +954,7 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 	default:
 		/* give it to the superclass */
-		return VDev::ioctl(filp, cmd, arg);
+		return CDev::ioctl(filp, cmd, arg);
 	}
 }
 

src/modules/uORB/uORBDevices.hpp

@@ -42,13 +42,6 @@
 #include <stdlib.h>
 #include "ORBMap.hpp"
 
-namespace device
-{
-//type mappings to NuttX
-typedef ::file file_t;
-typedef CDev VDev;
-}
-
 #else
 
 #include <string>
@@ -56,8 +49,6 @@ typedef CDev VDev;
 
 #endif /* __PX4_NUTTX */
 
-
-
 namespace uORB
 {
 class DeviceNode;
@@ -68,7 +59,7 @@ class Manager;
 /**
  * Per-object device instance.
  */
-class uORB::DeviceNode : public device::VDev
+class uORB::DeviceNode : public device::CDev
 {
 public:
 	DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
@@ -277,7 +268,7 @@ private:
  * Used primarily to create new objects via the ORBIOCCREATE
  * ioctl.
  */
-class uORB::DeviceMaster : public device::VDev
+class uORB::DeviceMaster : public device::CDev
 {
 public:
 	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);

src/platforms/posix/drivers/airspeedsim/airspeedsim.cpp

@@ -72,7 +72,7 @@
 #include "airspeedsim.h"
 
 AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path) :
-	VDev("AIRSPEEDSIM", path),
+	CDev("AIRSPEEDSIM", path),
 	_reports(nullptr),
 	_retries(0),
 	_sensor_ok(false),
@@ -119,8 +119,8 @@ AirspeedSim::init()
 	int ret = ERROR;
 
 	/* init base class */
-	if (VDev::init() != OK) {
+	if (CDev::init() != OK) {
-		DEVICE_DEBUG("VDev init failed");
+		DEVICE_DEBUG("CDev init failed");
 		goto out;
 	}
 

src/platforms/posix/drivers/airspeedsim/airspeedsim.h

@@ -78,7 +78,7 @@
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
 
-class __EXPORT AirspeedSim : public device::VDev
+class __EXPORT AirspeedSim : public device::CDev
 {
 public:
 	AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path);

src/platforms/posix/include/system_config.h

@@ -44,16 +44,6 @@
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL    11
 #define ADCSIM0_DEVICE_PATH	"/dev/adc0"
 
-/*
- * I2C busses
- */
-#define PX4_I2C_BUS_ESC		1
-#define PX4_SIM_BUS_TEST	2
-#define PX4_I2C_BUS_EXPANSION	3
-#define PX4_I2C_BUS_LED		3
-#define PX4_NUMBER_I2C_BUSES 3
-#define PX4_I2C_OBDEV_LED	0x55
-
 #define SIM_FORMATED_UUID "000000010000000200000003"
 #define PX4_CPU_UUID_BYTE_LENGTH 12
 #define PX4_CPU_UUID_WORD32_LENGTH 3

src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp

@@ -99,11 +99,11 @@ public:
 	size_t _read_offset;
 };
 
-class VCDevNode : public VDev
+class VCDevNode : public CDev
 {
 public:
 	VCDevNode() :
-		VDev("vcdevtest", TESTDEV),
+		CDev("vcdevtest", TESTDEV),
 		_is_open_for_write(false),
 		_write_offset(0) {};
 
@@ -127,7 +127,7 @@ int VCDevNode::open(device::file_t *handlep)
 		return -1;
 	}
 
-	int ret = VDev::open(handlep);
+	int ret = CDev::open(handlep);
 
 	if (ret != 0) {
 		return ret;
@@ -146,7 +146,7 @@ int VCDevNode::close(device::file_t *handlep)
 {
 	delete (PrivData *)handlep->priv;
 	handlep->priv = nullptr;
-	VDev::close(handlep);
+	CDev::close(handlep);
 
 	// Enable a new writer of the device is re-opened for write
 	if ((handlep->flags & PX4_F_WRONLY) && _is_open_for_write) {

src/platforms/qurt/include/board_config.h

@@ -4,7 +4,6 @@
  * I2C busses
  */
 #define PX4_I2C_BUS_ESC		1
-#define PX4_SIM_BUS_TEST	2
 #define PX4_I2C_BUS_EXPANSION	3
 #define PX4_I2C_BUS_LED		3