AP_BattMonitor: remove PX4 driver

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -172,11 +172,7 @@ AP_BattMonitor::init()
                 break;
             case BattMonitor_TYPE_SOLO:
                 state[instance].instance = instance;
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-                drivers[instance] = new AP_BattMonitor_SMBus_PX4(*this, instance, state[instance]);
-#else
                 drivers[instance] = new AP_BattMonitor_SMBus_Solo(*this, instance, state[instance],
-#endif
                                                                  hal.i2c_mgr->get_device(AP_BATTMONITOR_SMBUS_BUS_INTERNAL, AP_BATTMONITOR_SMBUS_I2C_ADDR));
                 _num_instances++;
                 break;

libraries/AP_BattMonitor/AP_BattMonitor.h

@@ -19,7 +19,6 @@ class AP_BattMonitor_Backend;
 class AP_BattMonitor_Analog;
 class AP_BattMonitor_SMBus;
 class AP_BattMonitor_SMBus_Solo;
-class AP_BattMonitor_SMBus_PX4;
 class AP_BattMonitor_SMBus_Maxell;
 
 class AP_BattMonitor
@@ -28,7 +27,6 @@ class AP_BattMonitor
     friend class AP_BattMonitor_Analog;
     friend class AP_BattMonitor_SMBus;
     friend class AP_BattMonitor_SMBus_Solo;
-    friend class AP_BattMonitor_SMBus_PX4;
     friend class AP_BattMonitor_SMBus_Maxell;
 
 public:

libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h

@@ -25,6 +25,5 @@ public:
 };
 
 // include specific implementations
-#include "AP_BattMonitor_SMBus_PX4.h"
 #include "AP_BattMonitor_SMBus_Solo.h"
 #include "AP_BattMonitor_SMBus_Maxell.h"

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.cpp

@@ -1,102 +0,0 @@
-/*
-  Battery SMBus PX4 driver
-*/
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <AP_HAL/AP_HAL.h>
-#include <AP_Notify/AP_Notify.h>
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-
-#include <AP_BoardConfig/AP_BoardConfig.h>
-#include "AP_BattMonitor_SMBus_PX4.h"
-
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <drivers/drv_batt_smbus.h>
-#include <uORB/topics/battery_status.h>
-
-extern const AP_HAL::HAL& hal;
-
-extern "C" int batt_smbus_main(int, char **);
-
-// Constructor
-AP_BattMonitor_SMBus_PX4::AP_BattMonitor_SMBus_PX4(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) :
-        AP_BattMonitor_SMBus(mon, instance, mon_state),
-        _batt_fd(-1),
-        _capacity_updated(false)
-{
-    // orb subscription for battery status
-    _batt_sub = orb_subscribe(ORB_ID(battery_status));
-}
-
-void AP_BattMonitor_SMBus_PX4::init()
-{
-    if (!AP_BoardConfig::px4_start_driver(batt_smbus_main, "batt_smbus", "-b 2 start")) {
-        hal.console->printf("Unable to start batt_smbus driver\n");
-    } else {
-        // give it time to initialise
-        hal.scheduler->delay(500);
-    }
-    // open the device
-    _batt_fd = open(BATT_SMBUS0_DEVICE_PATH, O_RDWR);
-    if (_batt_fd == -1) {
-        hal.console->printf("Unable to open " BATT_SMBUS0_DEVICE_PATH);
-        _state.healthy = false;
-    }
-}
-
-// read - read latest voltage and current
-void AP_BattMonitor_SMBus_PX4::read()
-{
-    bool updated = false;
-    struct battery_status_s batt_status;
-
-    // check if new info has arrived from the orb
-    orb_check(_batt_sub, &updated);
-
-    // retrieve latest info
-    if (updated) {
-        if (OK == orb_copy(ORB_ID(battery_status), _batt_sub, &batt_status)) {
-            _state.voltage = batt_status.voltage_v;
-            _state.current_amps = batt_status.current_a;
-            _state.last_time_micros = AP_HAL::micros();
-            _state.current_total_mah = batt_status.discharged_mah;
-            _state.healthy = true;
-            _state.is_powering_off = batt_status.is_powering_off;
-            AP_Notify::flags.powering_off = batt_status.is_powering_off;
-
-            // read capacity
-            if ((_batt_fd >= 0) && !_capacity_updated) {
-                uint16_t tmp;
-                if (ioctl(_batt_fd, BATT_SMBUS_GET_CAPACITY, (unsigned long)&tmp) == OK) {
-                    _capacity_updated = true;
-                    set_capacity(tmp);
-                }
-            }
-        }
-    } else if (_state.healthy) {
-        // timeout after 5 seconds
-        if ((AP_HAL::micros() - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
-            _state.healthy = false;
-        }
-    }
-}
-
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.h

@@ -1,41 +0,0 @@
-/*
-  Battery SMBus PX4 driver
-*/
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-#pragma once
-
-#include <AP_Common/AP_Common.h>
-#include <AP_Param/AP_Param.h>
-#include <AP_Math/AP_Math.h>
-#include "AP_BattMonitor_SMBus.h"
-
-class AP_BattMonitor_SMBus_PX4 : public AP_BattMonitor_SMBus
-{
-public:
-    // Constructor
-    AP_BattMonitor_SMBus_PX4(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state);
-
-    /// init
-    void init();
-
-    /// read - read the battery voltage and current
-    void read();
-
-private:
-    int         _batt_sub;          // orb subscription description
-    int         _batt_fd;           // file descriptor
-    bool        _capacity_updated;  // capacity info read
-};