delete unused ADCSIM

- set BOARD_NUMBER_BRICKS to 0 for boards without analog power bricks

platforms/posix/include/system_config.h

@@ -39,12 +39,8 @@
 
 #pragma once
 
-#define ADC_BATTERY_VOLTAGE_CHANNEL     10
-#define ADC_BATTERY_CURRENT_CHANNEL     ((uint8_t)(-1))
-#define ADC_AIRSPEED_VOLTAGE_CHANNEL    11
-#define ADCSIM0_DEVICE_PATH	"/dev/adc0"
-
 #define SIM_FORMATED_UUID "000000010000000200000003"
+
 #define PX4_CPU_UUID_BYTE_LENGTH 12
 #define PX4_CPU_UUID_WORD32_LENGTH 3
 #define PX4_CPU_MFGUID_BYTE_LENGTH              PX4_CPU_UUID_BYTE_LENGTH

posix-configs/SITL/README.md

@@ -74,7 +74,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 commander start
 sensors start
 ekf_att_pos_estimator start

posix-configs/SITL/init/ekf2/hippocampus

@@ -19,7 +19,6 @@ mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 
 sleep 1

posix-configs/SITL/init/ekf2/iris

@@ -51,7 +51,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/ekf2/iris_1

@@ -53,7 +53,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/ekf2/iris_2

@@ -53,7 +53,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/ekf2/iris_irlock

@@ -52,7 +52,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/ekf2/iris_opt_flow

@@ -54,7 +54,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/ekf2/iris_rplidar

@@ -51,7 +51,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/ekf2/multiple_iris

@@ -51,7 +51,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/ekf2/plane

@@ -73,7 +73,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/ekf2/rover

@@ -54,7 +54,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/ekf2/solo

@@ -48,7 +48,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/ekf2/standard_vtol

@@ -66,7 +66,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start start

posix-configs/SITL/init/ekf2/tailsitter

@@ -49,7 +49,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/ekf2/tiltrotor

@@ -83,7 +83,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/ekf2/typhoon_h480

@@ -54,7 +54,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/inav/iris

@@ -49,7 +49,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/inav/iris_opt_flow

@@ -51,7 +51,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/lpe/hippocampus

@@ -19,7 +19,6 @@ mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 
 sleep 1
 

posix-configs/SITL/init/lpe/iris

@@ -51,7 +51,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/lpe/iris_1

@@ -53,7 +53,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/lpe/iris_2

@@ -53,7 +53,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/lpe/iris_irlock

@@ -59,7 +59,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/lpe/iris_opt_flow

@@ -69,7 +69,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/lpe/iris_rplidar

@@ -50,7 +50,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sleep 1

posix-configs/SITL/init/lpe/plane

@@ -56,7 +56,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/lpe/rover

@@ -50,7 +50,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/lpe/solo

@@ -51,7 +51,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/lpe/standard_vtol

@@ -60,7 +60,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/lpe/typhoon_h480

@@ -48,7 +48,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 pwm_out_sim start
 sensors start

posix-configs/SITL/init/rcS_gazebo_delta_wing

@@ -32,7 +32,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/test/cmd_template.in

@@ -10,7 +10,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

posix-configs/SITL/init/test/tests_template.in

@@ -10,7 +10,6 @@ tone_alarm start
 gyrosim start
 accelsim start
 barosim start
-adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim start

src/drivers/boards/bebop/board_config.h

@@ -43,11 +43,12 @@
 #define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
 
 #define BOARD_NAME "BEBOP"
-#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+
-#define BOARD_BATTERY1_A_PER_V (15.391030303f)
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 
+#define BOARD_NUMBER_BRICKS     0
+
 /*
  * I2C busses
  */

src/drivers/boards/common/board_common.h

@@ -170,7 +170,9 @@
 #  endif
 #endif
 
-#if BOARD_NUMBER_BRICKS == 1
+#if BOARD_NUMBER_BRICKS == 0
+/* allow SITL to disable all bricks */
+#elif BOARD_NUMBER_BRICKS == 1
 #  define BOARD_BATT_V_LIST       {ADC_BATTERY_VOLTAGE_CHANNEL}
 #  define BOARD_BATT_I_LIST       {ADC_BATTERY_CURRENT_CHANNEL}
 #  define BOARD_BRICK_VALID_LIST  {BOARD_ADC_BRICK_VALID}

src/drivers/boards/eagle/board_config.h

@@ -43,11 +43,12 @@
 #define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
 
 #define BOARD_NAME "EAGLE"
-#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+
-#define BOARD_BATTERY1_A_PER_V (15.391030303f)
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 
+#define BOARD_NUMBER_BRICKS     0
+
 #define CONFIG_ARCH_BOARD_SITL 1
 
 /*

src/drivers/boards/rpi/board_config.h

@@ -43,8 +43,13 @@
 #define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
 
 #define BOARD_NAME "RPI"
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL 2
+#define ADC_BATTERY_CURRENT_CHANNEL 3
+
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 

src/drivers/boards/sitl/board_config.h

@@ -54,5 +54,7 @@
 #define PX4_I2C_BUS_ONBOARD		2
 #define PX4_NUMBER_I2C_BUSES 1
 
+#define BOARD_NUMBER_BRICKS     0
+
 #include <system_config.h>
 #include "../common/board_common.h"

src/modules/sensors/sensors.cpp

@@ -173,14 +173,18 @@ private:
 	orb_advert_t	_sensor_pub{nullptr};			/**< combined sensor data topic */
 	orb_advert_t	_airdata_pub{nullptr};			/**< combined sensor data topic */
 	orb_advert_t	_magnetometer_pub{nullptr};			/**< combined sensor data topic */
+
+#if BOARD_NUMBER_BRICKS > 0
 	orb_advert_t	_battery_pub[BOARD_NUMBER_BRICKS] {};			/**< battery status */
 
+	Battery		_battery[BOARD_NUMBER_BRICKS];			/**< Helper lib to publish battery_status topic. */
+#endif /* BOARD_NUMBER_BRICKS > 0 */
+
 #if BOARD_NUMBER_BRICKS > 1
 	int 			_battery_pub_intance0ndx {0}; /**< track the index of instance 0 */
-#endif
+#endif /* BOARD_NUMBER_BRICKS > 1 */
 
 	orb_advert_t	_airspeed_pub{nullptr};			/**< airspeed */
-	orb_advert_t	_diff_pres_pub{nullptr};			/**< differential_pressure */
 	orb_advert_t	_sensor_preflight{nullptr};		/**< sensor preflight topic */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
@@ -189,9 +193,9 @@ private:
 
 #ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
 	differential_pressure_s	_diff_pres {};
-#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
 
-	Battery		_battery[BOARD_NUMBER_BRICKS];			/**< Helper lib to publish battery_status topic. */
+	orb_advert_t	_diff_pres_pub{nullptr};			/**< differential_pressure */
+#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
 
 	Parameters		_parameters{};			/**< local copies of interesting parameters */
 	ParameterHandles	_parameter_handles{};		/**< handles for interesting parameters */
@@ -249,9 +253,13 @@ Sensors::Sensors(bool hil_enabled) :
 	_airspeed_validator.set_timeout(300000);
 	_airspeed_validator.set_equal_value_threshold(100);
 
+#if BOARD_NUMBER_BRICKS > 0
+
 	for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
 		_battery[b].setParent(this);
 	}
+
+#endif /* BOARD_NUMBER_BRICKS > 0 */
 }
 
 int
@@ -425,6 +433,7 @@ Sensors::adc_poll()
 		/* read all channels available */
 		int ret = _h_adc.read(&buf_adc, sizeof(buf_adc));
 
+#if BOARD_NUMBER_BRICKS > 0
 		//todo:abosorb into new class Power
 
 		/* For legacy support we publish the battery_status for the Battery that is
@@ -433,19 +442,16 @@ Sensors::adc_poll()
 		 * Like in the FMUv4
 		 */
 
-		/* The ADC channela that  are associated with each brick, in power controller
+		/* The ADC channels that  are associated with each brick, in power controller
 		 * priority order highest to lowest, as defined by the board config.
 		 */
-
 		int   bat_voltage_v_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
 		int   bat_voltage_i_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
 
 		/* The valid signals (HW dependent) are associated with each brick */
-
 		bool  valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
 
 		/* Per Brick readings with default unread channels at 0 */
-
 		float bat_current_a[BOARD_NUMBER_BRICKS] = {0.0f};
 		float bat_voltage_v[BOARD_NUMBER_BRICKS] = {0.0f};
 
@@ -456,6 +462,8 @@ Sensors::adc_poll()
 
 		int selected_source = -1;
 
+#endif /* BOARD_NUMBER_BRICKS > 0 */
+
 		if (ret >= (int)sizeof(buf_adc[0])) {
 
 			/* Read add channels we got */
@@ -489,6 +497,9 @@ Sensors::adc_poll()
 				} else
 #endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
 				{
+
+#if BOARD_NUMBER_BRICKS > 0
+
 					for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
 
 						/* Once we have subscriptions, Do this once for the lowest (highest priority
@@ -512,7 +523,7 @@ Sensors::adc_poll()
 								_battery_pub_intance0ndx = selected_source;
 							}
 
-#endif
+#endif /* BOARD_NUMBER_BRICKS > 1 */
 						}
 
 						// todo:per brick scaling
@@ -526,9 +537,13 @@ Sensors::adc_poll()
 									    - _parameters.battery_current_offset) * _parameters.battery_a_per_v;
 						}
 					}
+
+#endif /* BOARD_NUMBER_BRICKS > 0 */
 				}
 			}
 
+#if BOARD_NUMBER_BRICKS > 0
+
 			if (_parameters.battery_source == 0) {
 
 				for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
@@ -557,8 +572,9 @@ Sensors::adc_poll()
 				}
 			}
 
-			_last_adc = t;
+#endif /* BOARD_NUMBER_BRICKS > 0 */
 
+			_last_adc = t;
 		}
 	}
 }

src/platforms/posix/drivers/adcsim/CMakeLists.txt

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-	MODULE platforms__posix__drivers__adcsim
-	MAIN adcsim
-	COMPILE_FLAGS
-	SRCS
-		adcsim.cpp
-	DEPENDS
-		git_driverframework
-		df_driver_framework
-)

src/platforms/posix/drivers/adcsim/adcsim.cpp

@@ -1,255 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file adcsim.cpp
- *
- * Driver for the ADCSIM.
- *
- * This is a designed for simulating sampling things like voltages
- * and so forth.
- */
-
-#include <px4_config.h>
-#include <px4_time.h>
-#include <board_config.h>
-#include <drivers/device/device.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <stdio.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_adc.h>
-
-#include <systemlib/err.h>
-#include <perf/perf_counter.h>
-
-#include <uORB/topics/system_power.h>
-
-#include "SyncObj.hpp"
-#include "VirtDevObj.hpp"
-
-using namespace DriverFramework;
-
-#define ADC_BASE_DEV_PATH "/dev/adc"
-
-class ADCSIM : public VirtDevObj
-{
-public:
-	ADCSIM(uint32_t channels);
-	virtual ~ADCSIM();
-
-	virtual ssize_t		devRead(void *buffer, size_t len);
-
-private:
-	perf_counter_t		_sample_perf;
-
-	unsigned		_channel_count;
-	px4_adc_msg_t	*_samples;		/**< sample buffer */
-
-	/** worker function */
-	virtual void		_measure();
-
-	/**
-	 * Sample a single channel and return the measured value.
-	 *
-	 * @param channel		The channel to sample.
-	 * @return			The sampled value, or 0xffff if
-	 *				sampling failed.
-	 */
-	uint16_t		_sample(unsigned channel);
-
-	SyncObj 		m_lock;
-};
-
-ADCSIM::ADCSIM(uint32_t channels) :
-	VirtDevObj("adcsim", "/dev/adcsim", ADC_BASE_DEV_PATH, 10000),
-	_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
-	_channel_count(0),
-	_samples(nullptr)
-{
-	/* always enable the temperature sensor */
-	channels |= 1 << 16;
-
-	/* allocate the sample array */
-	for (unsigned i = 0; i < 32; i++) {
-		if (channels & (1 << i)) {
-			_channel_count++;
-		}
-	}
-
-	_samples = new px4_adc_msg_t[_channel_count];
-
-	/* prefill the channel numbers in the sample array */
-	if (_samples != nullptr) {
-		unsigned index = 0;
-
-		for (unsigned i = 0; i < 32; i++) {
-			if (channels & (1 << i)) {
-				_samples[index].am_channel = i;
-				_samples[index].am_data = 0;
-				index++;
-			}
-		}
-	}
-}
-
-ADCSIM::~ADCSIM()
-{
-	if (_samples != nullptr) {
-		delete _samples;
-	}
-}
-
-ssize_t
-ADCSIM::devRead(void *buffer, size_t len)
-{
-	const size_t maxsize = sizeof(px4_adc_msg_t) * _channel_count;
-
-	if (len > maxsize) {
-		len = maxsize;
-	}
-
-	/* block interrupts while copying samples to avoid racing with an update */
-	m_lock.lock();
-	memcpy(buffer, _samples, len);
-	m_lock.unlock();
-
-	return len;
-}
-
-void
-ADCSIM::_measure()
-{
-	m_lock.lock();
-
-	/* scan the channel set and sample each */
-	for (unsigned i = 0; i < _channel_count; i++) {
-		_samples[i].am_data = _sample(_samples[i].am_channel);
-	}
-
-	m_lock.unlock();
-}
-
-uint16_t
-ADCSIM::_sample(unsigned channel)
-{
-	perf_begin(_sample_perf);
-
-	uint16_t result = 1;
-
-	perf_end(_sample_perf);
-	return result;
-}
-
-/*
- * Driver 'main' command.
- */
-extern "C" __EXPORT int adcsim_main(int argc, char *argv[]);
-
-namespace
-{
-ADCSIM	*g_adc;
-
-int
-test()
-{
-	DevHandle h;
-	DevMgr::getHandle(ADCSIM0_DEVICE_PATH, h);
-
-	if (!h.isValid()) {
-		PX4_ERR("can't open ADCSIM device (%d)", h.getError());
-		return 1;
-	}
-
-	for (unsigned i = 0; i < 50; i++) {
-		px4_adc_msg_t data[PX4_MAX_ADC_CHANNELS];
-		ssize_t count = h.read(data, sizeof(data));
-
-		if (count < 0) {
-			PX4_ERR("read error (%d)", h.getError());
-			return 1;
-		}
-
-		unsigned channels = count / sizeof(data[0]);
-
-		for (unsigned j = 0; j < channels; j++) {
-			PX4_INFO("%d: %lu  ", data[j].am_channel, (unsigned long)data[j].am_data);
-		}
-
-		usleep(500000);
-	}
-
-	DevMgr::releaseHandle(h);
-	return 0;
-}
-}
-
-int
-adcsim_main(int argc, char *argv[])
-{
-	int ret = 0;
-
-	if (g_adc == nullptr) {
-		/* FIXME - this hardcodes the default channel set for SITL - should be configurable */
-		g_adc = new ADCSIM((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
-
-		if (g_adc == nullptr) {
-			PX4_ERR("couldn't allocate the ADCSIM driver");
-			return 1;
-		}
-
-		ret = g_adc->init();
-
-		if (ret != 0) {
-			PX4_ERR("ADCSIM init failed (%d)", ret);
-			return 1;
-		}
-	}
-
-	if (argc > 1 && g_adc) {
-		if (!strcmp(argv[1], "test")) {
-			ret = test();
-		}
-	}
-
-	return ret;
-}