gyrosim and adcsim now compile with DriverFramework enabled

Only the posix build is tested for compilation

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

CMakeLists.txt

@@ -121,6 +121,9 @@
 # and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
+SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
+SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
+
 #=============================================================================
 # parameters
 #
@@ -320,6 +323,7 @@ foreach(module ${config_module_list})
 endforeach()
 
 add_subdirectory(src/firmware/${OS})
+add_subdirectory(src/lib/DriverFramework)
 
 if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)

src/firmware/posix/CMakeLists.txt

@@ -14,7 +14,8 @@ if (NOT ${CMAKE_C_COMPILER_ID} STREQUAL "Clang" OR NOT APPLE)
 	target_link_libraries(mainapp
 		-Wl,--start-group
 		${module_libraries}
-		${driver_framework_libraries}
+		df_driver_framework
+		${df_driver_libraries}
 		pthread m rt
 		-Wl,--end-group
 		)

src/lib/DriverFramework

@@ -1 +1 @@
-Subproject commit 3ddb6b5e34d870b487dbd57949a7d9c718730701
+Subproject commit c2afd878071e8fb0b1d80070e44ba98780492fc1

src/platforms/posix/drivers/adcsim/adcsim.cpp

@@ -78,10 +78,9 @@ public:
 	ADCSIM(uint32_t channels);
 	virtual ~ADCSIM();
 
-	virtual ssize_t		read(void *buffer, ssize_t len);
+	virtual ssize_t		devRead(void *buffer, size_t len);
 
 private:
-	WorkHandle		_call;
 	perf_counter_t		_sample_perf;
 
 	unsigned		_channel_count;
@@ -144,7 +143,7 @@ ADCSIM::~ADCSIM()
 }
 
 ssize_t
-ADCSIM::read(void *buffer, ssize_t len)
+ADCSIM::devRead(void *buffer, size_t len)
 {
 	const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
  

src/platforms/posix/drivers/gyrosim/gyrosim.cpp

@@ -69,10 +69,10 @@
 #include <board_config.h>
 #include <drivers/drv_hrt.h>
 
-//#include <drivers/device/device.h>
+#include <drivers/device/device.h>
 #include <drivers/device/ringbuffer.h>
-//#include <drivers/drv_accel.h>
+#include <drivers/drv_accel.h>
-//#include <drivers/drv_gyro.h>
+#include <drivers/drv_gyro.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 
@@ -277,11 +277,11 @@ private:
 /**
  * Helper class implementing the gyro driver node.
  */
-class GYROSIM_gyro : public VirtDevObj
+class GYROSIM_gyro  : public VirtDevObj
 {
 public:
 	GYROSIM_gyro(GYROSIM *parent, const char *path);
-	virtual ~GYROSIM_gyro();
+	virtual ~GYROSIM_gyro() {}
 
 	virtual ssize_t		devRead(void *buffer, size_t buflen);
 	virtual int		devIOCTL(unsigned long cmd, void *arg);
@@ -293,12 +293,11 @@ protected:
 
 	void			parent_poll_notify();
 
-	virtual void 		_measure();
+	virtual void 		_measure() {};
 private:
 	GYROSIM			*_parent;
 	orb_advert_t		_gyro_topic;
 	int			_gyro_orb_class_instance;
-	int			_gyro_class_instance;
 
 	/* do not allow to copy this class due to pointer data members */
 	GYROSIM_gyro(const GYROSIM_gyro &);
@@ -385,7 +384,7 @@ GYROSIM::~GYROSIM()
 int
 GYROSIM::init()
 {
-	int ret;
+	int ret = 1;
 
 	struct accel_report arp = {};
 
@@ -1102,9 +1101,8 @@ GYROSIM::_measure()
 
 
 	/* notify anyone waiting for data */
-	// FIXME 
+	updateNotify();
-	//poll_notify(POLLIN);
+	_gyro->parent_poll_notify();
-	//_gyro->parent_poll_notify();
 
 	if (!(_pub_blocked)) {
 		/* log the time of this report */
@@ -1162,27 +1160,26 @@ GYROSIM::print_registers()
 
 
 GYROSIM_gyro::GYROSIM_gyro(GYROSIM *parent, const char *path) :
+	// Set sample interval to 0 since device is read by parent
 	VirtDevObj("GYROSIM_gyro", path, 0),
 	_parent(parent),
 	_gyro_topic(nullptr),
-	_gyro_orb_class_instance(-1),
+	_gyro_orb_class_instance(-1)
-	_gyro_class_instance(-1)
 {
 }
 
+
 int
 GYROSIM_gyro::init()
 {
 	return start();
 }
 
-#if 0
 void
 GYROSIM_gyro::parent_poll_notify()
 {
-	poll_notify(POLLIN);
+	updateNotify();
 }
-#endif
 
 ssize_t
 GYROSIM_gyro::devRead(void *buffer, size_t buflen)