move all distance sensor drivers to the same folder

cmake/configs/nuttx_aerocore2_default.cmake

@@ -17,11 +17,11 @@ set(config_module_list
 	drivers/lsm303d
 	drivers/l3gd20
 	drivers/ms5611
-	drivers/teraranger
 	drivers/gps
 	drivers/pwm_out_sim
 	drivers/airspeed
 	drivers/differential_pressure
+	drivers/distance_sensor
 	#drivers/frsky_telemetry
 	modules/sensors
 	#drivers/pwm_input
@@ -51,7 +51,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	#drivers/sf0x/sf0x_tests
+	#drivers/distance_sensor/sf0x/sf0x_tests
 	#drivers/test_ppm
 	#lib/rc/rc_tests
 	#modules/commander/commander_tests

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -18,7 +18,7 @@ set(config_module_list
 	drivers/hmc5883
 	drivers/gps
 	drivers/ist8310
-	drivers/ll40ls
+	drivers/distance_sensor
 	drivers/aerofc_adc
 	modules/sensors
 

cmake/configs/nuttx_auav-x21_default.cmake

@@ -20,12 +20,7 @@ set(config_module_list
 	drivers/mpu9250
 	drivers/hmc5883
 	drivers/ms5611
-	drivers/mb12xx
-	drivers/srf02
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/ll40ls
-	drivers/teraranger
+	drivers/distance_sensor
 	drivers/gps
 	drivers/pwm_out_sim
 	drivers/hott
@@ -44,7 +39,6 @@ set(config_module_list
 	drivers/camera_trigger
 	drivers/bst
 	drivers/lis3mdl
-	drivers/tfmini
 
 	#
 	# System commands
@@ -71,7 +65,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -22,14 +22,7 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/hmc5883
 	drivers/ms5611
-	drivers/mb12xx
-	drivers/srf02
-	drivers/srf02_i2c
-	#drivers/hc_sr04
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/ll40ls
-	drivers/teraranger
+	drivers/distance_sensor
 	drivers/gps
 	drivers/pwm_out_sim
 	#drivers/hott
@@ -47,7 +40,6 @@ set(config_module_list
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
-	drivers/tfmini
 
 	#
 	# System commands
@@ -74,7 +66,7 @@ set(config_module_list
 	#
 	# Tests
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	modules/commander/commander_tests
 	modules/mc_pos_control/mc_pos_control_tests

cmake/configs/nuttx_nxphlite-v3_default.cmake

@@ -32,9 +32,7 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/led
 	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/lsm303d
-	drivers/mb12xx
+	drivers/distance_sensor
 	drivers/mkblctrl
 	drivers/mpl3115a2
 	drivers/mpu6000
@@ -47,14 +45,9 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/rgbled
 	drivers/rgbled_pwm
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/srf02
 	drivers/tap_esc
-	drivers/teraranger
 	drivers/vmount
 	modules/sensors
-	drivers/tfmini
 
 	#
 	# System commands
@@ -82,7 +75,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 ### NOT Portable YET 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests

cmake/configs/nuttx_px4-same70xplained-v1_default.cmake

@@ -22,11 +22,7 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/hmc5883
 	drivers/ms5611
-	drivers/mb12xx
-	drivers/srf02
-	drivers/sf0x
-	drivers/ll40ls
-	drivers/teraranger
+	drivers/distance_sensor
 	drivers/gps
 #WIP 	drivers/pwm_out_sim
 	drivers/hott
@@ -44,7 +40,6 @@ set(config_module_list
 #WIP  	drivers/camera_trigger
 	drivers/bst
 	drivers/lis3mdl
-	drivers/tfmini
 
 
 	#

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -6,6 +6,9 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/differential_pressure
+	drivers/distance_sensor
+
 	#drivers/adis16448
 	drivers/airspeed
 	#drivers/blinkm
@@ -15,8 +18,7 @@ set(config_module_list
 	#drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/differential_pressure
-	drivers/frsky_telemetry
+	#drivers/frsky_telemetry
 	drivers/gps
 	drivers/hmc5883
 	#drivers/hott
@@ -28,7 +30,6 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/led
 	drivers/lis3mdl
-	drivers/ll40ls
 	drivers/lsm303d
 	#drivers/mb12xx
 	#drivers/mkblctrl
@@ -43,23 +44,17 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/px4io
 	drivers/rgbled
-	drivers/sf0x
-	drivers/sf1xx
-	#drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	#drivers/tap_esc
-	drivers/teraranger
-	#drivers/ulanding
 	drivers/vmount
 	modules/sensors
-	#drivers/tfmini
 
 	#
 	# System commands
 	#
-	systemcmds/bl_update
+	#systemcmds/bl_update
 	#systemcmds/config
 	#systemcmds/dumpfile
 	#systemcmds/esc_calib
@@ -82,7 +77,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	#drivers/sf0x/sf0x_tests
+	#drivers/distance_sensor/sf0x/sf0x_tests
 	#drivers/test_ppm
 	#lib/controllib/controllib_test
 	#lib/rc/rc_tests
@@ -119,8 +114,8 @@ set(config_module_list
 	#
 	modules/fw_att_control
 	modules/fw_pos_control_l1
-	modules/gnd_att_control
-	modules/gnd_pos_control
+	#modules/gnd_att_control
+	#modules/gnd_pos_control
 	modules/mc_att_control
 	modules/mc_pos_control
 	modules/vtol_att_control

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -69,7 +69,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -34,9 +34,8 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/led
 	drivers/lis3mdl
-	drivers/ll40ls
+	drivers/distance_sensor
 	drivers/lsm303d
-	drivers/mb12xx
 	drivers/mkblctrl
 	drivers/mpu6000
 	drivers/mpu9250
@@ -49,18 +48,12 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/px4io
 	drivers/rgbled
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
-	drivers/ulanding
 	drivers/vmount
 	modules/sensors
-	drivers/tfmini
 
 	#
 	# System commands
@@ -88,7 +81,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	lib/controllib/controllib_test
 	#lib/rc/rc_tests

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -29,8 +29,7 @@ set(config_module_list
 	drivers/irlock
 	drivers/led
 	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/mb12xx
+	drivers/distance_sensor
 	drivers/mkblctrl
 	drivers/mpu6000
 	drivers/mpu9250
@@ -42,17 +41,12 @@ set(config_module_list
 	drivers/px4flow
 	drivers/px4fmu
 	drivers/rgbled
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
 	drivers/vmount
 	modules/sensors
-	drivers/tfmini
 
 	#
 	# System commands
@@ -79,7 +73,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -27,9 +27,8 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/led
 	drivers/lis3mdl
-	drivers/ll40ls
+	drivers/distance_sensor
 	drivers/lsm303d
-	drivers/mb12xx
 	drivers/mkblctrl
 	drivers/mpu6000
 	drivers/mpu9250
@@ -42,17 +41,12 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/px4io
 	drivers/rgbled
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
 	drivers/vmount
 	modules/sensors
-	drivers/tfmini
 
 	#
 	# System commands
@@ -79,7 +73,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -28,8 +28,7 @@ set(config_module_list
 	drivers/ist8310
 	drivers/led
 	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/mb12xx
+	drivers/distance_sensor
 	drivers/mkblctrl
 	drivers/mpu6000
 	drivers/mpu9250
@@ -42,17 +41,12 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/rgbled
 	drivers/rgbled_pwm
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
 	drivers/vmount
 	modules/sensors
-	drivers/tfmini
 
 	#
 	# System commands
@@ -79,7 +73,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests

cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake

@@ -24,8 +24,7 @@ set(config_module_list
 	drivers/hott/hott_telemetry
 	drivers/led
 	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/mb12xx
+	drivers/distance_sensor
 	drivers/mkblctrl
 	drivers/mpu6000
 	drivers/mpu9250
@@ -37,15 +36,11 @@ set(config_module_list
 	drivers/px4flow
 	drivers/px4fmu
 	drivers/rgbled
-	drivers/sf0x
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
 	modules/sensors
-	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/posix_ocpoc_ubuntu.cmake

@@ -18,6 +18,7 @@ set(config_module_list
 	# Board support modules
 	#
 	drivers/device
+	drivers/distance_sensor
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
 	platforms/posix/drivers/df_ms5611_wrapper
@@ -73,7 +74,6 @@ set(config_module_list
 	drivers/linux_sbus
 	drivers/linux_pwm_out
 	drivers/rgbled
-	drivers/ulanding
 
 	#
 	# Libraries

cmake/configs/posix_rpi_common.cmake

@@ -17,7 +17,7 @@ set(config_module_list
 	#
 	drivers/airspeed
 	drivers/device
-	drivers/ll40ls
+	drivers/distance_sensor
 	drivers/differential_pressure
 
 	modules/sensors

cmake/configs/posix_sitl_default.cmake

@@ -2,14 +2,15 @@
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
+	drivers/differential_pressure
+	drivers/distance_sensor
+
 	drivers/airspeed
 	drivers/boards
 	drivers/camera_trigger
 	drivers/device
 	drivers/gps
 	drivers/linux_gpio
-	drivers/ll40ls
-	drivers/differential_pressure
 	drivers/pwm_out_sim
 	drivers/vmount
 
@@ -47,7 +48,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	#drivers/test_ppm
 	lib/rc/rc_tests
 	modules/commander/commander_tests

src/drivers/distance_sensor/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2017 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.
+#
+############################################################################
+
+#add_subdirectory(hc_sr04) # not currently supported
+add_subdirectory(ll40ls)
+add_subdirectory(mb12xx)
+add_subdirectory(sf0x)
+add_subdirectory(sf1xx)
+add_subdirectory(srf02)
+add_subdirectory(srf02_i2c)
+add_subdirectory(teraranger)
+add_subdirectory(tfmini)
+add_subdirectory(ulanding)

src/drivers/distance_sensor/hc_sr04/CMakeLists.txt

@@ -30,6 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 px4_add_module(
 	MODULE drivers__hc_sr04
 	MAIN hc_sr04
@@ -39,5 +40,4 @@ px4_add_module(
 		hc_sr04.cpp
 	DEPENDS
 		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+	)

src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp

@@ -37,8 +37,8 @@
  * Driver for the hc_sr04 sonar range finders .
  */
 
-#include <nuttx/config.h>
-
+#include <px4_config.h>
+#include <px4_workqueue.h>
 #include <drivers/device/device.h>
 #include <px4_defines.h>
 
@@ -56,10 +56,6 @@
 #include <unistd.h>
 #include <vector>
 
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -71,10 +67,6 @@
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/topics/distance_sensor.h>
 
-
-#include <board_config.h>
-
-
 #define SR04_MAX_RANGEFINDERS 6
 #define SR04_ID_BASE	 0x10
 
@@ -101,8 +93,8 @@ public:
 
 	virtual int 		init();
 
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -356,7 +348,7 @@ HC_SR04::interrupt(unsigned time)
 }
 
 int
-HC_SR04::ioctl(struct file *filp, int cmd, unsigned long arg)
+HC_SR04::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -433,14 +425,14 @@ HC_SR04::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;
 		}
@@ -456,7 +448,7 @@ HC_SR04::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-HC_SR04::read(struct file *filp, char *buffer, size_t buflen)
+HC_SR04::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 
 	unsigned count = buflen / sizeof(struct distance_sensor_s);

src/drivers/distance_sensor/mb12xx/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__mb12xx
 	MAIN mb12xx
 	COMPILE_FLAGS
+		-Wno-sign-compare
 	SRCS
 		mb12xx.cpp
 	DEPENDS

src/drivers/distance_sensor/mb12xx/mb12xx.cpp

@@ -41,6 +41,7 @@
 
 #include <px4_config.h>
 #include <px4_getopt.h>
+#include <px4_workqueue.h>
 
 #include <drivers/device/i2c.h>
 
@@ -58,10 +59,6 @@
 #include <unistd.h>
 #include <vector>
 
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -106,8 +103,8 @@ public:
 
 	virtual int 		init();
 
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -308,7 +305,7 @@ MB12XX::init()
 		DEVICE_LOG("sonar %d with address %d added", (i + 1), addr_ind[i]);
 	}
 
-	DEVICE_DEBUG("Number of sonars connected: %d", addr_ind.size());
+	DEVICE_DEBUG("Number of sonars connected: %lu", addr_ind.size());
 
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
@@ -348,7 +345,7 @@ MB12XX::get_maximum_distance()
 }
 
 int
-MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
+MB12XX::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -425,14 +422,14 @@ MB12XX::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;
 		}
@@ -448,7 +445,7 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-MB12XX::read(struct file *filp, char *buffer, size_t buflen)
+MB12XX::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 
 	unsigned count = buflen / sizeof(struct distance_sensor_s);
@@ -891,7 +888,7 @@ mb12xx_main(int argc, char *argv[])
 	// check for optional arguments
 	int ch;
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 
 
@@ -942,5 +939,6 @@ mb12xx_main(int argc, char *argv[])
 		mb12xx::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	return PX4_ERROR;
 }

src/drivers/distance_sensor/sf0x/sf0x.cpp

@@ -41,6 +41,7 @@
 
 #include <px4_config.h>
 #include <px4_getopt.h>
+#include <px4_workqueue.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -56,10 +57,6 @@
 #include <unistd.h>
 #include <termios.h>
 
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -72,8 +69,6 @@
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/topics/distance_sensor.h>
 
-#include <board_config.h>
-
 #include "sf0x_parser.h"
 
 /* Configuration Constants */
@@ -95,8 +90,8 @@ public:
 
 	virtual int 			init();
 
-	virtual ssize_t			read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t			read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -114,7 +109,6 @@ private:
 	int                 _conversion_interval;
 	work_s				_work;
 	ringbuffer::RingBuffer		*_reports;
-	bool				_sensor_ok;
 	int				_measure_ticks;
 	bool				_collect_phase;
 	int				_fd;
@@ -186,7 +180,6 @@ SF0X::SF0X(const char *port, uint8_t rotation) :
 	_max_distance(40.0f),
 	_conversion_interval(83334),
 	_reports(nullptr),
-	_sensor_ok(false),
 	_measure_ticks(0),
 	_collect_phase(false),
 	_fd(-1),
@@ -383,7 +376,7 @@ SF0X::get_maximum_distance()
 }
 
 int
-SF0X::ioctl(struct file *filp, int cmd, unsigned long arg)
+SF0X::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -460,14 +453,14 @@ SF0X::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;
 		}
@@ -483,7 +476,7 @@ SF0X::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-SF0X::read(struct file *filp, char *buffer, size_t buflen)
+SF0X::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct distance_sensor_s);
 	struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
@@ -964,7 +957,7 @@ sf0x_main(int argc, char *argv[])
 	int ch;
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 
 
 	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
@@ -1019,5 +1012,6 @@ sf0x_main(int argc, char *argv[])
 		sf0x::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	return PX4_ERROR;
 }

src/drivers/distance_sensor/sf0x/sf0x_tests/CMakeLists.txt

@@ -41,4 +41,3 @@ px4_add_module(
 	DEPENDS
 		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/distance_sensor/sf0x/sf0x_tests/SF0XTest.cpp

@@ -1,6 +1,6 @@
 #include <unit_test.h>
 
-#include <drivers/sf0x/sf0x_parser.h>
+#include "../sf0x_parser.h"
 
 #include <systemlib/err.h>
 
@@ -89,4 +89,3 @@ bool SF0XTest::sf0xTest()
 }
 
 ut_declare_test_c(sf0x_tests_main, SF0XTest)
-

src/drivers/distance_sensor/sf1xx/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MODULE drivers__sf1xx
 	MAIN sf1xx
 	COMPILE_FLAGS
+		-Wno-sign-compare
 	SRCS
 		sf1xx.cpp
 	DEPENDS

src/drivers/distance_sensor/sf1xx/sf1xx.cpp

@@ -44,6 +44,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
+#include <px4_workqueue.h>
 
 #include <drivers/device/i2c.h>
 
@@ -61,10 +62,6 @@
 #include <unistd.h>
 #include <vector>
 
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -96,8 +93,8 @@ public:
 
 	virtual int 		init();
 
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -346,7 +343,7 @@ SF1XX::get_maximum_distance()
 }
 
 int
-SF1XX::ioctl(struct file *filp, int cmd, unsigned long arg)
+SF1XX::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -423,14 +420,14 @@ SF1XX::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;
 		}
@@ -446,7 +443,7 @@ SF1XX::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-SF1XX::read(struct file *filp, char *buffer, size_t buflen)
+SF1XX::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct distance_sensor_s);
 	struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
@@ -828,7 +825,7 @@ sf1xx_main(int argc, char *argv[])
 	// check for optional arguments
 	int ch;
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 
 
@@ -879,5 +876,6 @@ sf1xx_main(int argc, char *argv[])
 		sf1xx::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	return PX4_ERROR;
 }

src/drivers/distance_sensor/srf02/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__srf02
 	MAIN srf02
 	COMPILE_FLAGS
+		-Wno-sign-compare
 	SRCS
 		srf02.cpp
 	DEPENDS

src/drivers/distance_sensor/srf02/srf02.cpp

@@ -40,6 +40,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
+#include <px4_workqueue.h>
 
 #include <drivers/device/i2c.h>
 
@@ -57,10 +58,6 @@
 #include <unistd.h>
 #include <vector>
 
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -107,8 +104,8 @@ public:
 
 	virtual int 		init();
 
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -309,7 +306,7 @@ SRF02::init()
 		DEVICE_LOG("sonar %d with address %d added", (i + 1), addr_ind[i]);
 	}
 
-	DEVICE_DEBUG("Number of sonars connected: %d", addr_ind.size());
+	DEVICE_DEBUG("Number of sonars connected: %zu", addr_ind.size());
 
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
@@ -349,7 +346,7 @@ SRF02::get_maximum_distance()
 }
 
 int
-SRF02::ioctl(struct file *filp, int cmd, unsigned long arg)
+SRF02::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -426,14 +423,14 @@ SRF02::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;
 		}
@@ -449,7 +446,7 @@ SRF02::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-SRF02::read(struct file *filp, char *buffer, size_t buflen)
+SRF02::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 
 	unsigned count = buflen / sizeof(struct distance_sensor_s);
@@ -895,7 +892,7 @@ srf02_main(int argc, char *argv[])
 	// check for optional arguments
 	int ch;
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 
 
@@ -946,5 +943,6 @@ srf02_main(int argc, char *argv[])
 		srf02::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	return PX4_ERROR;
 }

src/drivers/distance_sensor/srf02_i2c/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__srf02_i2c
 	MAIN srf02_i2c
 	COMPILE_FLAGS
+		-Wno-sign-compare
 	SRCS
 		srf02_i2c.cpp
 	DEPENDS

src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp

@@ -39,6 +39,7 @@
  * Driver for the Maxbotix sonar range finders connected via I2C.
  */
 
+#include <px4_workqueue.h>
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
@@ -59,10 +60,6 @@
 #include <unistd.h>
 #include <vector>
 
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -108,8 +105,8 @@ public:
 
 	virtual int 		init();
 
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -310,7 +307,7 @@ SRF02_I2C::init()
 		DEVICE_LOG("sonar %d with address %d added", (i + 1), addr_ind[i]);
 	}
 
-	DEVICE_DEBUG("Number of sonars connected: %d", addr_ind.size());
+	DEVICE_DEBUG("Number of sonars connected: %zu", addr_ind.size());
 
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
@@ -350,7 +347,7 @@ SRF02_I2C::get_maximum_distance()
 }
 
 int
-SRF02_I2C::ioctl(struct file *filp, int cmd, unsigned long arg)
+SRF02_I2C::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -427,14 +424,14 @@ SRF02_I2C::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;
 		}
@@ -450,7 +447,7 @@ SRF02_I2C::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-SRF02_I2C::read(struct file *filp, char *buffer, size_t buflen)
+SRF02_I2C::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 
 	unsigned count = buflen / sizeof(struct distance_sensor_s);
@@ -895,7 +892,7 @@ srf02_i2c_main(int argc, char *argv[])
 	// check for optional arguments
 	int ch;
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 
 
@@ -946,5 +943,6 @@ srf02_i2c_main(int argc, char *argv[])
 		srf02_i2c::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	return PX4_ERROR;
 }

src/drivers/distance_sensor/teraranger/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MAIN teraranger
 	STACK_MAIN 1200
 	COMPILE_FLAGS
+		-Wno-sign-compare
 	SRCS
 		teraranger.cpp
 	DEPENDS

src/drivers/distance_sensor/teraranger/teraranger.cpp

@@ -41,6 +41,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
+#include <px4_workqueue.h>
 
 #include <drivers/device/i2c.h>
 
@@ -57,10 +58,6 @@
 #include <math.h>
 #include <unistd.h>
 
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -108,8 +105,8 @@ public:
 
 	virtual int 		init();
 
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -414,7 +411,7 @@ TERARANGER::get_maximum_distance()
 }
 
 int
-TERARANGER::ioctl(struct file *filp, int cmd, unsigned long arg)
+TERARANGER::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -490,14 +487,14 @@ TERARANGER::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;
 		}
@@ -513,7 +510,7 @@ TERARANGER::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-TERARANGER::read(struct file *filp, char *buffer, size_t buflen)
+TERARANGER::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct distance_sensor_s);
 	struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
@@ -936,7 +933,7 @@ teraranger_main(int argc, char *argv[])
 {
 	int ch;
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 
 	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
@@ -986,5 +983,6 @@ teraranger_main(int argc, char *argv[])
 		teraranger::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	return PX4_ERROR;
 }

src/drivers/distance_sensor/tfmini/tfmini.cpp

@@ -41,6 +41,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_workqueue.h>
 #include <px4_getopt.h>
 
 #include <sys/types.h>
@@ -57,10 +58,6 @@
 #include <unistd.h>
 #include <termios.h>
 
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -94,8 +91,8 @@ public:
 
 	virtual int 			init();
 
-	virtual ssize_t			read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t			read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -110,7 +107,6 @@ private:
 	int				_conversion_interval;
 	work_s				_work;
 	ringbuffer::RingBuffer		*_reports;
-	bool				_sensor_ok;
 	int				_measure_ticks;
 	bool				_collect_phase;
 	int				_fd;
@@ -183,7 +179,6 @@ TFMINI::TFMINI(const char *port, uint8_t rotation) :
 	_max_distance(12.0f),
 	_conversion_interval(10000),
 	_reports(nullptr),
-	_sensor_ok(false),
 	_measure_ticks(0),
 	_collect_phase(false),
 	_fd(-1),
@@ -362,7 +357,7 @@ TFMINI::get_maximum_distance()
 }
 
 int
-TFMINI::ioctl(struct file *filp, int cmd, unsigned long arg)
+TFMINI::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -439,14 +434,14 @@ TFMINI::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;
 		}
@@ -462,7 +457,7 @@ TFMINI::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-TFMINI::read(struct file *filp, char *buffer, size_t buflen)
+TFMINI::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct distance_sensor_s);
 	struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
@@ -912,7 +907,7 @@ tfmini_main(int argc, char *argv[])
 	int ch;
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 
 
 	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
@@ -967,5 +962,6 @@ tfmini_main(int argc, char *argv[])
 		tfmini::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	return PX4_ERROR;
 }

src/drivers/distance_sensor/ulanding/ulanding.cpp

@@ -491,7 +491,7 @@ int ulanding_radar_main(int argc, char *argv[])
 	// check for optional arguments
 	int ch;
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;