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)

.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

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
 #

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

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 \

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

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

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

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

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

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

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
 }

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")

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

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

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

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

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

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)

cmake/px4_add_common_flags.cmake

@@ -177,7 +177,6 @@ function(px4_add_common_flags)
 		${PX4_SOURCE_DIR}/src
 		${PX4_SOURCE_DIR}/src/include
 		${PX4_SOURCE_DIR}/src/lib
-		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
 		${PX4_SOURCE_DIR}/src/lib/matrix
 		${PX4_SOURCE_DIR}/src/modules
 	)

cmake/px4_add_module.cmake

@@ -132,7 +132,7 @@ function(px4_add_module)
 			endforeach()
 		endif()
 
-	elseif(DYNAMIC AND MAIN AND (${OS} STREQUAL "posix"))
+	elseif(DYNAMIC AND MAIN AND (${PX4_PLATFORM} STREQUAL "posix"))
 		add_library(${MODULE} SHARED ${SRCS})
 		target_compile_definitions(${MODULE} PRIVATE ${MAIN}_main=px4_module_main)
 		set_target_properties(${MODULE} PROPERTIES

platforms/common/apps.cpp.in

@@ -19,25 +19,17 @@ ${builtin_apps_decl_string}
 int shutdown_main(int argc, char *argv[]);
 int list_tasks_main(int argc, char *argv[]);
 int list_files_main(int argc, char *argv[]);
-int list_devices_main(int argc, char *argv[]);
-int list_topics_main(int argc, char *argv[]);
 int sleep_main(int argc, char *argv[]);
-int wait_for_topic(int argc, char *argv[]);
 
 }
 
-extern void px4_show_devices(void);
-
 void init_app_map(apps_map_type &apps)
 {
-${builtin_apps_string}
+	${builtin_apps_string}
 	apps["shutdown"] = shutdown_main;
 	apps["list_tasks"] = list_tasks_main;
 	apps["list_files"] = list_files_main;
-	apps["list_devices"] = list_devices_main;
-	apps["list_topics"] = list_topics_main;
 	apps["sleep"] = sleep_main;
-	apps["wait_for_topic"] = wait_for_topic;
 }
 
 void list_builtins(apps_map_type &apps)
@@ -60,18 +52,6 @@ int list_tasks_main(int argc, char *argv[])
 	return 0;
 }
 
-int list_devices_main(int argc, char *argv[])
-{
-	px4_show_devices();
-	return 0;
-}
-
-int list_topics_main(int argc, char *argv[])
-{
-	px4_show_topics();
-	return 0;
-}
-
 int list_files_main(int argc, char *argv[])
 {
 	px4_show_files();
@@ -90,32 +70,3 @@ int sleep_main(int argc, char *argv[])
         px4_usleep(usecs);
         return 0;
 }
-
-#include "uORB/uORB.h"
-
-int wait_for_topic(int argc, char *argv[])
-{
-	if (argc < 2 || argc > 3) {
-		printf("Usage: wait_for_topic <topic> [timeout_sec]\n");
-		return 1;
-	}
-
-	struct orb_metadata meta = { .o_name = argv[1],
-				     .o_size = 0,
-				     .o_size_no_padding = 0,
-				     .o_fields = nullptr };
-
-	unsigned int timeout = (argc == 3) ? (unsigned int)atoi(argv[2]) : 0;
-	unsigned int elapsed = 0;
-
-	printf("Waiting for topic %s timeout %u\n", argv[1], timeout);
-
-	while (orb_exists(&meta, 0) != 0 && (timeout && (elapsed < timeout)))
-	{
-		px4_sleep(1);
-		elapsed += 1;
-	}
-
-	return 0;
-}
-

platforms/common/include/px4_platform_common/defines.h

@@ -54,19 +54,6 @@ constexpr bool PX4_ISFINITE(float x) { return __builtin_isfinite(x); }
 constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 #endif /* __cplusplus */
 
-#if defined(__PX4_NUTTX) || defined(__PX4_POSIX)
-/****************************************************************************
- * Building for NuttX or POSIX.
- ****************************************************************************/
-
-/* Main entry point */
-#define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
-
-#else // defined(__PX4_NUTTX) || defined(__PX4_POSIX)
-/****************************************************************************/
-#error "No target OS defined"
-#endif
-
 #if defined(__PX4_NUTTX)
 /****************************************************************************
  * NuttX specific defines.
@@ -99,9 +86,6 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 // NuttX _IOC is equivalent to Linux _IO
 #define _PX4_IOC(x,y) _IO(x,y)
 
-/* FIXME - Used to satisfy build */
-#define getreg32(a)    (*(volatile uint32_t *)(a))
-
 #define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
 
@@ -111,7 +95,6 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 #  include "dspal_math.h"
 #  define PX4_ROOTFSDIR "."
 #  define PX4_TICKS_PER_SEC 1000L
-#  define SIOCDEVPRIVATE 999999
 
 #else // __PX4_QURT
 

platforms/common/include/px4_platform_common/posix.h

@@ -44,7 +44,6 @@
 #include <stdint.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <poll.h>
 #include <stdint.h>
 
 #if defined(__PX4_QURT)
@@ -60,7 +59,10 @@
 
 #ifdef __PX4_NUTTX
 
+#include <poll.h>
+
 typedef struct pollfd px4_pollfd_struct_t;
+typedef pollevent_t px4_pollevent_t;
 
 #if defined(__cplusplus)
 #define _GLOBAL ::
@@ -73,7 +75,6 @@ typedef struct pollfd px4_pollfd_struct_t;
 #define px4_write 	_GLOBAL write
 #define px4_read 	_GLOBAL read
 #define px4_poll 	_GLOBAL poll
-#define px4_fsync 	_GLOBAL fsync
 #define px4_access 	_GLOBAL access
 #define px4_getpid 	_GLOBAL getpid
 
@@ -83,34 +84,31 @@ typedef struct pollfd px4_pollfd_struct_t;
 
 #define	 PX4_STACK_OVERHEAD	(1024 * 11)
 
-/**
- * Terminates the calling process immediately.
- * @return 0 on success, 1 on error
- */
-#define px4_exit(status) ({return status;})
-
 __BEGIN_DECLS
 
-typedef short pollevent_t;
+typedef short px4_pollevent_t;
 
 typedef struct {
 	/* This part of the struct is POSIX-like */
 	int		fd;       /* The descriptor being polled */
-	pollevent_t 	events;   /* The input event flags */
-	pollevent_t 	revents;  /* The output event flags */
+	px4_pollevent_t 	events;   /* The input event flags */
+	px4_pollevent_t 	revents;  /* The output event flags */
 
 	/* Required for PX4 compatibility */
 	px4_sem_t   *sem;  	/* Pointer to semaphore used to post output event */
 	void   *priv;     	/* For use by drivers */
 } px4_pollfd_struct_t;
 
+#ifndef POLLIN
+#define POLLIN       (0x01)
+#endif
+
 __EXPORT int 		px4_open(const char *path, int flags, ...);
 __EXPORT int 		px4_close(int fd);
 __EXPORT ssize_t	px4_read(int fd, void *buffer, size_t buflen);
 __EXPORT ssize_t	px4_write(int fd, const void *buffer, size_t buflen);
 __EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
-__EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
-__EXPORT int		px4_fsync(int fd);
+__EXPORT int		px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
 __EXPORT int		px4_access(const char *pathname, int mode);
 __EXPORT px4_task_t	px4_getpid(void);
 
@@ -127,13 +125,7 @@ __END_DECLS
 #define PX4_STACK_ADJUSTED(_s) (_s * (__SIZEOF_POINTER__ >> 2) + PX4_STACK_OVERHEAD)
 
 __BEGIN_DECLS
-extern int px4_errno;
 
-__EXPORT void		px4_show_devices(void);
 __EXPORT void		px4_show_files(void);
-__EXPORT const char 	*px4_get_device_names(unsigned int *handle);
-
-__EXPORT void		px4_show_topics(void);
-__EXPORT const char 	*px4_get_topic_names(unsigned int *handle);
 
 __END_DECLS

platforms/common/shutdown.cpp

@@ -94,6 +94,7 @@ int px4_register_shutdown_hook(shutdown_hook_t hook)
 {
 	return -EINVAL;
 }
+
 int px4_unregister_shutdown_hook(shutdown_hook_t hook)
 {
 	return -EINVAL;

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -69,7 +69,6 @@ function(px4_os_add_flags)
 
 	add_definitions(
 		-D__PX4_NUTTX
-		-D__DF_NUTTX
 
 		-D_SYS_CDEFS_H_ # skip toolchain's <sys/cdefs.h>
 		-D_SYS_REENT_H_	# skip toolchain's <sys/reent.h>

platforms/nuttx/src/px4/common/CMakeLists.txt

@@ -40,7 +40,7 @@ if (NOT ${PX4_BOARD} MATCHES "px4_io")
 		board_fat_dma_alloc.c
 		console_buffer.cpp
 		gpio.c
-		px4_nuttx_tasks.c
+		tasks.cpp
 		px4_nuttx_impl.cpp
 		px4_init.cpp
 	)

platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h

@@ -34,7 +34,6 @@
 
 
 __BEGIN_DECLS
-#include <nuttx/spi/spi.h>
 
 /* For historical reasons (NuttX STM32 numbering) PX4 bus numbering is 1 based
  * All PX4 code, including, board code is written to assuming 1 based numbering.

platforms/nuttx/src/px4/common/tasks.cpp

@@ -33,11 +33,13 @@
  ****************************************************************************/
 
 /**
- * @file px4_nuttx_tasks.c
+ * @file tasks.cpp
  * Implementation of existing task API for NuttX
  */
 
-#include <nuttx/config.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 
 #include <sys/wait.h>
 #include <stdbool.h>
@@ -50,10 +52,6 @@
 #include <errno.h>
 #include <stdbool.h>
 
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/tasks.h>
-
 void
 px4_systemreset(bool to_bootloader)
 {

platforms/posix/CMakeLists.txt

@@ -42,7 +42,6 @@ if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlfl
 				px4_layer
 				parameters
 				${module_libraries}
-				${df_driver_libs}
 				${FASTRPC_ARM_LIBS}
 				pthread m rt
 			-Wl,--end-group
@@ -57,8 +56,6 @@ else()
 	target_link_libraries(px4
 		PRIVATE
 			${module_libraries}
-			${df_driver_libs}
-			df_driver_framework
 			pthread m
 
 			# horrible circular dependencies that need to be teased apart
@@ -109,8 +106,6 @@ endif()
 
 if("${PX4_BOARD}" MATCHES "beaglebone_blue")
 	target_link_libraries(px4 PRIVATE robotics_cape)
-	add_dependencies(df_driver_framework librobotcontrol)
-	add_dependencies(df_mpu9250 librobotcontrol)
 
 elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
 	target_link_libraries(px4 PRIVATE atomic)

platforms/posix/cmake/px4_impl_os.cmake

@@ -223,10 +223,7 @@ function(px4_os_add_flags)
 	if ("${PX4_BOARD}" MATCHES "sitl")
 
 		if(UNIX AND APPLE)
-			add_definitions(
-				-D__PX4_DARWIN
-				-D__DF_DARWIN
-				)
+			add_definitions(-D__PX4_DARWIN)
 
 			if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
 				message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
@@ -251,46 +248,21 @@ function(px4_os_add_flags)
 				-U__CUSTOM_FILE_IO__
 				)
 		else()
-			add_definitions(
-				-D__PX4_LINUX
-				-D__DF_LINUX
-				)
+			add_definitions(-D__PX4_LINUX)
 		endif()
 
 	elseif (("${PX4_BOARD}" MATCHES "navio2") OR ("${PX4_BOARD}" MATCHES "raspberrypi"))
-
 		#TODO: move to board support
-
-		add_definitions(
-			-D__PX4_LINUX
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_RPI
-		)
+		add_definitions(-D__PX4_LINUX)
 
 	elseif ("${PX4_BOARD}" MATCHES "aerotenna_ocpoc")
-
 		#TODO: move to board support
-
-		add_definitions(
-			-D__PX4_LINUX
-			-D__PX4_POSIX_OCPOC # TODO: remove
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_OCPOC
-		)
+		add_definitions(-D__PX4_LINUX)
 
 	elseif ("${PX4_BOARD}" MATCHES "beaglebone_blue")
 		#TODO: move to board support
 		add_definitions(
 			-D__PX4_LINUX
-			-D__PX4_POSIX_BBBLUE # TODO: remove
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_BBBLUE
 
 			-DRC_AUTOPILOT_EXT  # Enable extensions in Robotics Cape Library, TODO: remove
 		)

platforms/posix/src/px4/common/CMakeLists.txt

@@ -50,7 +50,7 @@ endif()
 
 add_library(px4_layer
 	px4_posix_impl.cpp
-	px4_posix_tasks.cpp
+	tasks.cpp
 	px4_sem.cpp
 	px4_init.cpp
 	lib_crc32.c

platforms/posix/src/px4/common/main.cpp

@@ -71,7 +71,6 @@
 #include <px4_platform_common/posix.h>
 
 #include "apps.h"
-#include "DriverFramework.hpp"
 #include "px4_daemon/client.h"
 #include "px4_daemon/server.h"
 #include "px4_daemon/pxh.h"
@@ -281,8 +280,6 @@ int main(int argc, char **argv)
 			return ret;
 		}
 
-		DriverFramework::Framework::initialize();
-
 		px4::init_once();
 		px4::init(argc, argv, "px4");
 

platforms/posix/src/px4/common/px4_posix_impl.cpp

@@ -68,7 +68,6 @@ void init_once();
 void init_once()
 {
 	_shell_task_id = pthread_self();
-	//printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);
 
 	work_queues_init();
 	hrt_work_queue_init();

platforms/posix/src/px4/common/test_stubs/CMakeLists.txt

@@ -33,7 +33,6 @@
 
 set(SRCS
     stub_daemon.cpp
-    stub_devmgr.cpp
     stub_parameter.cpp
    )
 

platforms/posix/src/px4/common/test_stubs/stub_devmgr.cpp

@@ -1,10 +0,0 @@
-#include "stub_devmgr.h"
-
-
-namespace DriverFramework
-{
-int DevMgr::getNextDeviceName(unsigned int &index, const char **instancename)
-{
-	return stub_getNextDeviceName_callback(index, instancename);
-}
-}

platforms/posix/src/px4/common/test_stubs/stub_devmgr.h

@@ -1,8 +0,0 @@
-#pragma once
-
-#include "DevMgr.hpp"
-
-#include <functional>
-
-std::function<int(unsigned int &, const char **)> stub_getNextDeviceName_callback = [](unsigned int &,
-const char **) {return 0;};

platforms/qurt/CMakeLists.txt

@@ -1,5 +1,7 @@
 
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+px4_add_git_submodule(TARGET git_dspal PATH "${PX4_SOURCE_DIR}/platforms/qurt/dspal")
+
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/platforms/qurt/dspal/cmake_hexagon")
 include(toolchain/Toolchain-qurt)
 include(fastrpc)
 include(qurt_lib)
@@ -33,7 +35,7 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 		${PX4_BINARY_DIR}/platforms/qurt/px4muorb_skel.c
 	)
 
-	target_link_libraries(px4 PRIVATE ${module_libraries} ${df_driver_libs})
+	target_link_libraries(px4 PRIVATE ${module_libraries})
 
 else()
 	# Generate the DSP lib and stubs but not the apps side executable
@@ -45,8 +47,6 @@ else()
 		LINK_LIBS
 			modules__muorb__adsp
 			${module_libraries}
-			${df_driver_libs}
-			df_driver_framework
 			m
 		)
 

platforms/qurt/cmake/px4_impl_os.cmake

@@ -108,24 +108,20 @@ endfunction()
 #
 function(px4_os_add_flags)
 
-	set(DSPAL_ROOT src/lib/DriverFramework/dspal)
+	set(DSPAL_ROOT platforms/qurt/dspal)
 	include_directories(
 		${DSPAL_ROOT}/include
-		${DSPAL_ROOT}/mpu_spi/inc
 		${DSPAL_ROOT}/sys
 		${DSPAL_ROOT}/sys/sys
-		${DSPAL_ROOT}/uart_esc/inc
 
 		platforms/posix/include
 		platforms/qurt/include
-		)
+	)
 
 	add_definitions(
 		-D__PX4_POSIX
 		-D__PX4_QURT
-
-		-D__DF_QURT # For DriverFramework
-		)
+	)
 
 	add_compile_options(
 		-fPIC
@@ -139,8 +135,6 @@ function(px4_os_add_flags)
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)
 
-	set(DF_TARGET "qurt" CACHE STRING "DriverFramework target" FORCE)
-
 endfunction()
 
 #=============================================================================

platforms/qurt/include/poll.h

@@ -1,40 +0,0 @@
-/****************************************************************************
- * include/poll.h
- *
- *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-typedef unsigned int nfds_t;
-
-#define POLLIN       (0x01)

platforms/qurt/include/sys/ioctl.h

@@ -1,3 +0,0 @@
-#pragma once
-
-#define _IO(x,y) (x+y)

platforms/qurt/src/px4/common/CMakeLists.txt

@@ -38,7 +38,7 @@ include_directories(${HEXAGON_8074_INCLUDES})
 
 set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
-	px4_qurt_tasks.cpp
+	tasks.cpp
 	lib_crc32.c
 	drv_hrt.cpp
 	qurt_stubs.c

platforms/qurt/src/px4/common/commands_hil.c

@@ -93,10 +93,8 @@ const char *get_commands()
 
 		"param set MAV_TYPE 2\n"
 		"mixer load /dev/pwm_output0 /startup/quad_x.main.mix\n"
-		"list_devices\n"
 		"list_files\n"
 		"list_tasks\n"
-		"list_topics\n"
 		"sleep 10\n"
 		"list_tasks\n"
 		"sleep 10\n"

platforms/qurt/src/px4/common/main.cpp

@@ -52,7 +52,6 @@
 
 #include "get_commands.h"
 #include "apps.h"
-#include "DriverFramework.hpp"
 
 #define MAX_ARGS 8 // max number of whitespace separated args after app name
 
@@ -196,7 +195,6 @@ int dspal_entry(int argc, char *argv[])
 	PX4_INFO("In dspal_entry");
 	apps_map_type apps;
 	init_app_map(apps);
-	DriverFramework::Framework::initialize();
 	px4::init_once();
 	px4::init(argc, (char **)argv, "px4");
 	process_commands(apps, get_commands());

posix-configs/bbblue/px4.config

@@ -50,7 +50,7 @@ dataman start
 
 bmp280 -I start
 
-df_mpu9250_wrapper start
+mpu9250 start
 # options:  -R rotation
 
 gps start -d /dev/ttyS2 -s -p ubx

posix-configs/bbblue/px4_fw.config

@@ -50,7 +50,7 @@ dataman start
 
 bmp280 -I start
 
-df_mpu9250_wrapper start
+mpu9250 start
 # options:  -R rotation
 
 gps start -d /dev/ttyS2 -s -p ubx