AP_Radio: remove use of never-set AP_HAL_PX4

libraries/AP_Radio/AP_Radio_cc2500.cpp

@@ -282,9 +282,7 @@ void AP_Radio_cc2500::radio_init(void)
     hal.scheduler->delay_microseconds(10*1000);
     
     // setup handler for rising edge of IRQ pin
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-    stm32_gpiosetevent(CYRF_IRQ_INPUT, true, false, false, irq_radio_trampoline);
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     hal.gpio->attach_interrupt(HAL_GPIO_RADIO_IRQ, trigger_irq_radio_event, AP_HAL::GPIO::INTERRUPT_RISING);
 #endif
 

libraries/AP_Radio/AP_Radio_cypress.cpp

@@ -3,9 +3,6 @@
 #if HAL_RCINPUT_WITH_AP_RADIO
 
 #include <AP_Math/AP_Math.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-#include <board_config.h>
-#endif
 #include "AP_Radio_cypress.h"
 #include <utility>
 #include <stdio.h>
@@ -292,15 +289,7 @@ bool AP_Radio_cypress::reset(void)
     /*
       to reset radio hold reset high for 0.5s, then low for 0.5s
      */
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-    stm32_configgpio(CYRF_RESET_PIN);
-    stm32_gpiowrite(CYRF_RESET_PIN, 1);
-    hal.scheduler->delay(500);
-    stm32_gpiowrite(CYRF_RESET_PIN, 0);
-    hal.scheduler->delay(500);
-    // use AUX5 as radio IRQ pin
-    stm32_configgpio(CYRF_IRQ_INPUT);
-#elif defined(HAL_GPIO_RADIO_RESET)
+#if defined(HAL_GPIO_RADIO_RESET)
     hal.gpio->write(HAL_GPIO_RADIO_RESET, 1);
     hal.scheduler->delay(500);
     hal.gpio->write(HAL_GPIO_RADIO_RESET, 0);
@@ -643,9 +632,7 @@ void AP_Radio_cypress::radio_init(void)
     start_receive();
 
     // setup handler for rising edge of IRQ pin
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-    stm32_gpiosetevent(CYRF_IRQ_INPUT, true, false, false, irq_radio_trampoline);
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     hal.gpio->attach_interrupt(HAL_GPIO_RADIO_IRQ, trigger_irq_radio_event, AP_HAL::GPIO::INTERRUPT_RISING);
 #endif
 }
@@ -945,9 +932,7 @@ void AP_Radio_cypress::dsm2_start_sync(void)
  */
 void AP_Radio_cypress::setup_timeout(uint32_t timeout_ms)
 {
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-    hrt_call_after(&wait_call, timeout_ms*1000, (hrt_callout)irq_timeout_trampoline, nullptr);
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     chVTSet(&timeout_vt, chTimeMS2I(timeout_ms), trigger_timeout_event, nullptr);
 #endif
 }
@@ -1201,27 +1186,10 @@ void AP_Radio_cypress::irq_timeout(void)
 }
 
 
-/*
-  called on rising edge of radio IRQ pin
- */
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-int AP_Radio_cypress::irq_radio_trampoline(int irq, void *context)
-{
-    radio_instance->irq_handler();
-    return 0;
-}
-#endif
-
 /*
   called on HRT timeout
  */
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-int AP_Radio_cypress::irq_timeout_trampoline(int irq, void *context)
-{
-    radio_instance->irq_timeout();
-    return 0;
-}
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 void AP_Radio_cypress::irq_handler_thd(void *arg)
 {
     _irq_handler_ctx = chThdGetSelfX();

libraries/AP_Radio/AP_Radio_cypress.h

@@ -24,11 +24,7 @@
  */
 
 #include "AP_Radio_backend.h"
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-#include <nuttx/arch.h>
-#include <systemlib/systemlib.h>
-#include <drivers/drv_hrt.h>
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include "hal.h"
 #endif
 #include "telem_structure.h"
@@ -114,10 +110,7 @@ private:
     static const config cyrf_bind_config[];
     static const config cyrf_transfer_config[];
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-    sem_t irq_sem;
-    struct hrt_call wait_call;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     virtual_timer_t timeout_vt;
     static thread_t *_irq_handler_ctx;
 #endif
@@ -136,10 +129,7 @@ private:
     
     // trampoline functions to take us from static IRQ function to class functions
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-    static int irq_radio_trampoline(int irq, void *context);
-    static int irq_timeout_trampoline(int irq, void *context);
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     static void irq_handler_thd(void* arg);
     static void trigger_irq_radio_event(void);
     static void trigger_timeout_event(void *arg);