Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/libraries/AP_HAL/AP_HAL.h

34 lines
608 B
C
Raw Normal View History

AP_HAL: create AP_HAL namespace and use for some HAL functionality For certain basic functionality, there aren't much benefit to be able to vary the implementation easily at runtime. So instead of using virtual functions, use regular functions that are "resolved" at link time. The implementation of such functions is provided per board/platform. Examples of functions that fit this include: getting the current time (since boot), panic'ing, getting system information, rebooting. These functions are less likely to benefit from the indirection provided by virtual interfaces. For more complex hardware access APIs the indirection makes more sense and ease the testing (when we have it!). The idea is that instead of calling hal.scheduler->panic("on the streets of london"); now use AP_HAL::panic("on the streets of london"); A less important side-effect is that call-site code gets smaller. Currently the compiler needs to get the hal, get the scheduler pointer, get the right function pointer in the vtable for that scheduler. And the call must include an extra parameter ("this"). Now it will be just a function call, with the address resolved at link time. This patch introduces the first functions that will be in the namespace, further patches will implementations for each board and then switch the call-sites. The extra init() function allow any initial setup needed for the functions to work.
2015-11-19 23:24:56 -04:00
#pragma once
AP_HAL: Stub implementations of pure virtual AP_HAL classes
2012-08-20 15:37:46 -03:00
AP_HAL: include stdbool.h for ARM build
2013-01-01 23:22:36 -04:00
#include <stdint.h>
AP_HAL: Stub implementations of pure virtual AP_HAL classes
2012-08-20 15:37:46 -03:00
#include "AP_HAL_Namespace.h"
AP_HAL: preprocessor enum of HAL_BOARD
2012-12-11 19:19:52 -04:00
#include "AP_HAL_Boards.h"
AP_HAL: added AP_HAL_Macros.h this adds a define for constexpr, allowing code to build either with or without -std=gnu++0x
2013-01-15 18:12:55 -04:00
#include "AP_HAL_Macros.h"
AP_HAL: provide AP_HAL_MAIN() Move the macros to a single place and reduce the variations not based on board, but based on - The name of the entry-point function, specified by AP_MAIN; - Whether it contains argc/argv arguments or not. The goal here is that programs (vehicles and examples) don't need to include all possible boards to define a main function. Further patches will change the programs.
2015-10-19 15:01:24 -03:00
#include "AP_HAL_Main.h"
AP_HAL: added WARN_IF_UNUSED macro useful for key functions
2013-01-09 05:41:37 -04:00
AP_HAL: Stub implementations of pure virtual AP_HAL classes
2012-08-20 15:37:46 -03:00
/* HAL Module Classes (all pure virtual) */
#include "UARTDriver.h"
#include "AnalogIn.h"
#include "Storage.h"
#include "GPIO.h"
AP_HAL: global rename PPMInput -> RCInput, PWMOutput -> RCOutput * for clarity. nobody cares that PPM/PWM is the implementation, and with sbus etc it might not be
2012-08-27 15:44:50 -03:00
#include "RCInput.h"
#include "RCOutput.h"
AP_HAL: Add scheduler interface, move Arduino init code to implementation
2012-08-23 15:36:13 -03:00
#include "Scheduler.h"
AP_HAL: rename Sempahore.h to Semaphores.h this is needed to allow build on MacOS, as its case-insensitive filesystem picks up the NuttX semaphore.h
2013-01-02 03:22:07 -04:00
#include "Semaphores.h"
AP_HAL: Add Util member for string utilities
2012-12-18 20:09:24 -04:00
#include "Util.h"
AP_HAL: Add support for an Optflow driver This is meant to be used for onboard optical flow
2015-11-23 14:45:20 -04:00
#include "OpticalFlow.h"
AP_HAL: Stub implementations of pure virtual AP_HAL classes
2012-08-20 15:37:46 -03:00
AP_HAL: top level HAL definitions for CAN bus driver
2017-04-02 11:54:31 -03:00
#if HAL_WITH_UAVCAN
#include "CAN.h"
#endif
AP_HAL: add BetterStream, Stream, and Print interfaces * BetterStream Means AP_HAL depends on AP_Common, for now, in order to have the AVR specific pgm_char_t defined. I'll need to factor that out in the future but for now it can stay
2012-08-20 20:54:01 -03:00
#include "utility/Print.h"
#include "utility/Stream.h"
#include "utility/BetterStream.h"
AP_HAL: Stub implementations of pure virtual AP_HAL classes
2012-08-20 15:37:46 -03:00
/* HAL Class definition */
#include "HAL.h"
AP_HAL: create AP_HAL namespace and use for some HAL functionality For certain basic functionality, there aren't much benefit to be able to vary the implementation easily at runtime. So instead of using virtual functions, use regular functions that are "resolved" at link time. The implementation of such functions is provided per board/platform. Examples of functions that fit this include: getting the current time (since boot), panic'ing, getting system information, rebooting. These functions are less likely to benefit from the indirection provided by virtual interfaces. For more complex hardware access APIs the indirection makes more sense and ease the testing (when we have it!). The idea is that instead of calling hal.scheduler->panic("on the streets of london"); now use AP_HAL::panic("on the streets of london"); A less important side-effect is that call-site code gets smaller. Currently the compiler needs to get the hal, get the scheduler pointer, get the right function pointer in the vtable for that scheduler. And the call must include an extra parameter ("this"). Now it will be just a function call, with the address resolved at link time. This patch introduces the first functions that will be in the namespace, further patches will implementations for each board and then switch the call-sites. The extra init() function allow any initial setup needed for the functions to work.
2015-11-19 23:24:56 -04:00
#include "system.h"