Moved all drivers to new world, PX4IO completely in new world

1 files changed, 0 insertions, 231 deletions

diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
deleted file mode 100644
index 9de37e118..000000000
--- a/apps/px4io/px4io.c
+++ /dev/null
@@ -1,231 +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 px4io.c
- * Top-level logic for the PX4IO module.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>	// required for task_create
-#include <stdbool.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <string.h>
-#include <poll.h>
-#include <signal.h>
-
-#include <drivers/drv_pwm_output.h>
-#include <drivers/drv_hrt.h>
-
-#include <systemlib/perf_counter.h>
-
-#include <stm32_uart.h>
-
-#define DEBUG
-#include "px4io.h"
-
-__EXPORT int user_start(int argc, char *argv[]);
-
-extern void up_cxxinitialize(void);
-
-struct sys_state_s 	system_state;
-
-static struct hrt_call serial_dma_call;
-
-/* store i2c reset count XXX this should be a register, together with other error counters */
-volatile uint32_t i2c_loop_resets = 0;
-
-/*
- * a set of debug buffers to allow us to send debug information from ISRs
- */
-
-static volatile uint32_t msg_counter;
-static volatile uint32_t last_msg_counter;
-static volatile uint8_t msg_next_out, msg_next_in;
-
-/*
- * WARNING: too large buffers here consume the memory required
- * for mixer handling. Do not allocate more than 80 bytes for
- * output.
- */
-#define NUM_MSG 2
-static char msg[NUM_MSG][40];
-
-/*
- * add a debug message to be printed on the console
- */
-void
-isr_debug(uint8_t level, const char *fmt, ...)
-{
-	if (level > r_page_setup[PX4IO_P_SETUP_SET_DEBUG]) {
-		return;
-	}
-	va_list ap;
-	va_start(ap, fmt);
-	vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap);
-	va_end(ap);
-	msg_next_in = (msg_next_in+1) % NUM_MSG;
-	msg_counter++;
-}
-
-/*
- * show all pending debug messages
- */
-static void
-show_debug_messages(void)
-{
-	if (msg_counter != last_msg_counter) {
-		uint32_t n = msg_counter - last_msg_counter;
-		if (n > NUM_MSG) n = NUM_MSG;
-		last_msg_counter = msg_counter;
-		while (n--) {
-			debug("%s", msg[msg_next_out]);
-			msg_next_out = (msg_next_out+1) % NUM_MSG;
-		}
-	}
-}
-
-int
-user_start(int argc, char *argv[])
-{
-	/* run C++ ctors before we go any further */
-	up_cxxinitialize();
-
-	/* reset all to zero */
-	memset(&system_state, 0, sizeof(system_state));
-
-	/* configure the high-resolution time/callout interface */
-	hrt_init();
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-
-	/* print some startup info */
-	lowsyslog("\nPX4IO: starting\n");
-
-	/* default all the LEDs to off while we start */
-	LED_AMBER(false);
-	LED_BLUE(false);
-	LED_SAFETY(false);
-
-	/* turn on servo power */
-	POWER_SERVO(true);
-
-	/* start the safety switch handler */
-	safety_init();
-
-	/* configure the first 8 PWM outputs (i.e. all of them) */
-	up_pwm_servo_init(0xff);
-
-	/* initialise the control inputs */
-	controls_init();
-
-	/* start the i2c handler */
-	i2c_init();
-
-	/* add a performance counter for mixing */
-	perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
-
-	/* add a performance counter for controls */
-	perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls");
-
-	/* and one for measuring the loop rate */
-	perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
-
-	struct mallinfo minfo = mallinfo();
-	lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
-
-#if 0
-	/* not enough memory, lock down */
-	if (minfo.mxordblk < 500) {
-		lowsyslog("ERR: not enough MEM");
-		bool phase = false;
-
-		if (phase) {
-			LED_AMBER(true);
-			LED_BLUE(false);
-		} else {
-			LED_AMBER(false);
-			LED_BLUE(true);
-		}
-
-		phase = !phase;
-		usleep(300000);
-	}
-#endif
-
-	/*
-	 * Run everything in a tight loop.
-	 */
-
-	uint64_t last_debug_time = 0;
-	for (;;) {
-
-		/* track the rate at which the loop is running */
-		perf_count(loop_perf);
-
-		/* kick the mixer */
-		perf_begin(mixer_perf);
-		mixer_tick();
-		perf_end(mixer_perf);
-
-		/* kick the control inputs */
-		perf_begin(controls_perf);
-		controls_tick();
-		perf_end(controls_perf);
-
-		/* check for debug activity */
-		show_debug_messages();
-
-		/* post debug state at ~1Hz */
-		if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
-
-			struct mallinfo minfo = mallinfo();
-
-			isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", 
-				  (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
-				  (unsigned)r_status_flags,
-				  (unsigned)r_setup_arming,
-				  (unsigned)r_setup_features,
-				  (unsigned)i2c_loop_resets,
-				  (unsigned)minfo.mxordblk);
-			last_debug_time = hrt_absolute_time();
-		}
-	}
-}
-