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HAL_SMACCM: removed SMACCM HAL port

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this port is no longer maintained or used. Pat asked me to remove it
This commit is contained in:
Andrew Tridgell 2013-09-26 09:58:04 +10:00
parent 5cac1b3c92
commit 58f9349af4
33 changed files with 0 additions and 2016 deletions
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33
libraries/AP_HAL_SMACCM/AP_HAL_SMACCM.h
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#ifndef __AP_HAL_SMACCM_H__
#define __AP_HAL_SMACCM_H__
/* Your layer exports should depend on AP_HAL.h ONLY. */
#include <AP_HAL.h>
/**
* Umbrella header for AP_HAL_SMACCM module.
* The module header exports singleton instances which must conform the
* AP_HAL::HAL interface. It may only expose implementation details (class
* names, headers) via the SMACCM namespace.
* The class implementing AP_HAL::HAL should be called HAL_SMACCM and exist
* in the global namespace. There should be a single const instance of the
* HAL_SMACCM class called AP_HAL_SMACCM, instantiated in the HAL_SMACCM_Class.cpp
* and exported as `extern const HAL_SMACCM AP_HAL_SMACCM;` in HAL_SMACCM_Class.h
*
* All declaration and compilation should be guarded by CONFIG_HAL_BOARD macros.
* In this case, we're using CONFIG_HAL_BOARD == HAL_BOARD_SMACCM.
* When creating a new HAL, declare a new HAL_BOARD_ in AP_HAL/AP_HAL_Boards.h
*
* The module should also export an appropriate AP_HAL_MAIN() macro iff the
* appropriate CONFIG_HAL_BOARD value is set.
* The AP_HAL_MAIN macro expands to a main function (either an `int main (void)`
* or `int main (int argc, const char * argv[]), depending on platform) of an
* ArduPilot application, whose entry points are the c++ functions
* `void setup()` and `void loop()`, ala Arduino.
*/
#include "HAL_SMACCM_Class.h"
#include "AP_HAL_SMACCM_Main.h"
#endif //__AP_HAL_SMACCM_H__

49
libraries/AP_HAL_SMACCM/AP_HAL_SMACCM_Main.cpp
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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* AP_HAL_SMACCM_Main.cpp --- AP_HAL_SMACCM main task implementation.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <AP_HAL_SMACCM.h>
#include <AP_HAL_SMACCM_Main.h>
#include <FreeRTOS.h>
#include <task.h>
static xTaskHandle g_main_task;
// These must be defined in the main ".pde" file.
extern const AP_HAL::HAL& hal;
extern void setup();
extern void loop();
static void main_task(void *arg)
{
hal.init(0, NULL);
setup();
hal.scheduler->system_initialized();
for (;;)
loop();
}
void SMACCM::hal_main()
{
xTaskCreate(main_task, (signed char *)"main", 1024, NULL, 0, &g_main_task);
vTaskStartScheduler();
for (;;)
;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

22
libraries/AP_HAL_SMACCM/AP_HAL_SMACCM_Main.h
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#ifndef __AP_HAL_SMACCM_MAIN_H__
#define __AP_HAL_SMACCM_MAIN_H__
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
namespace SMACCM
{
void hal_main();
}
#define AP_HAL_MAIN() \
extern "C" int main (void) \
{ \
SMACCM::hal_main(); \
return 0; \
}
#endif // HAL_BOARD_SMACCM */
#endif // __AP_HAL_SMACCM_MAIN_H__

30
libraries/AP_HAL_SMACCM/AP_HAL_SMACCM_Namespace.h
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#ifndef __AP_HAL_SMACCM_NAMESPACE_H__
#define __AP_HAL_SMACCM_NAMESPACE_H__
/* While not strictly required, names inside the SMACCM namespace are prefixed
* with SMACCM for clarity. (Some of our users aren't familiar with all of the
* C++ namespace rules.)
*/
namespace SMACCM {
class SMACCMUARTDriver;
class SMACCMI2CDriver;
class SMACCMSPIDeviceManager;
class SMACCMSPIDeviceDriver;
class SMACCMAnalogSource;
class SMACCMAnalogIn;
class SMACCMStorage;
class SMACCMConsoleDriver;
class SMACCMGPIO;
class SMACCMDigitalSource;
class SMACCMRCInput;
class SMACCMRCOutput;
class SMACCMSemaphore;
class SMACCMScheduler;
class SMACCMUtil;
class SMACCMPrivateMember;
}
#endif // __AP_HAL_SMACCM_NAMESPACE_H__

24
libraries/AP_HAL_SMACCM/AP_HAL_SMACCM_Private.h
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#ifndef __AP_HAL_SMACCM_PRIVATE_H__
#define __AP_HAL_SMACCM_PRIVATE_H__
/* Umbrella header for all private headers of the AP_HAL_SMACCM module.
* Only import this header from inside AP_HAL_SMACCM
*/
#include "UARTDriver.h"
#include "I2CDriver.h"
#include "SPIDriver.h"
#include "AnalogIn.h"
#include "Storage.h"
#include "Console.h"
#include "GPIO.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "Semaphores.h"
#include "Scheduler.h"
#include "Util.h"
#include "PrivateMember.h"
#endif // __AP_HAL_SMACCM_PRIVATE_H__

41
libraries/AP_HAL_SMACCM/AnalogIn.cpp
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#include "AnalogIn.h"
using namespace SMACCM;
SMACCMAnalogSource::SMACCMAnalogSource(float v) :
_v(v)
{}
float SMACCMAnalogSource::read_average() {
return _v;
}
float SMACCMAnalogSource::voltage_average() {
// this assumes 5.0V scaling and 1024 range
return (5.0/1024.0) * read_average();
}
float SMACCMAnalogSource::voltage_latest() {
// this assumes 5.0V scaling and 1024 range
return (5.0/1024.0) * read_latest();
}
float SMACCMAnalogSource::read_latest() {
return _v;
}
void SMACCMAnalogSource::set_pin(uint8_t p)
{}
SMACCMAnalogIn::SMACCMAnalogIn()
{}
void SMACCMAnalogIn::init(void* machtnichts)
{}
AP_HAL::AnalogSource* SMACCMAnalogIn::channel(int16_t n) {
return new SMACCMAnalogSource(1.11);
}

29
libraries/AP_HAL_SMACCM/AnalogIn.h
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#ifndef __AP_HAL_SMACCM_ANALOGIN_H__
#define __AP_HAL_SMACCM_ANALOGIN_H__
#include <AP_HAL_SMACCM.h>
class SMACCM::SMACCMAnalogSource : public AP_HAL::AnalogSource {
public:
SMACCMAnalogSource(float v);
float read_average();
float read_latest();
void set_pin(uint8_t p);
float voltage_average();
float voltage_latest();
float voltage_average_ratiometric() { return voltage_average(); }
void set_stop_pin(uint8_t p) {}
void set_settle_time(uint16_t settle_time_ms) {}
private:
float _v;
};
class SMACCM::SMACCMAnalogIn : public AP_HAL::AnalogIn {
public:
SMACCMAnalogIn();
void init(void* implspecific);
AP_HAL::AnalogSource* channel(int16_t n);
};
#endif // __AP_HAL_SMACCM_ANALOGIN_H__

158
libraries/AP_HAL_SMACCM/Console.cpp
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/*
* Console.cpp --- AP_HAL_SMACCM console driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*/
#include <stdarg.h>
#include <stdlib.h>
#include "Console.h"
using namespace SMACCM;
SMACCMConsoleDriver::SMACCMConsoleDriver(AP_HAL::BetterStream* delegate) :
_d(delegate), _user_backend(false)
{
}
void SMACCMConsoleDriver::init(void *args)
{
}
void SMACCMConsoleDriver::backend_open()
{
_txbuf.allocate(128);
_rxbuf.allocate(16);
_user_backend = true;
}
void SMACCMConsoleDriver::backend_close()
{
_user_backend = false;
}
size_t SMACCMConsoleDriver::backend_read(uint8_t *data, size_t len)
{
for (size_t i = 0; i < len; i++) {
int16_t b = _txbuf.pop();
if (b != -1) {
data[i] = (uint8_t) b;
} else {
return i;
}
}
return len;
}
size_t SMACCMConsoleDriver::backend_write(const uint8_t *data, size_t len)
{
for (size_t i = 0; i < len; i++) {
bool valid = _rxbuf.push(data[i]);
if (!valid) {
return i;
}
}
return len;
}
int16_t SMACCMConsoleDriver::available()
{
if (_user_backend) {
return _rxbuf.bytes_used();
} else {
return _d->available();
}
}
int16_t SMACCMConsoleDriver::txspace()
{
if (_user_backend) {
return _txbuf.bytes_free();
} else {
return _d->txspace();
}
}
int16_t SMACCMConsoleDriver::read()
{
if (_user_backend) {
return _rxbuf.pop();
} else {
return _d->read();
}
}
size_t SMACCMConsoleDriver::write(uint8_t c)
{
if (_user_backend) {
return (_txbuf.push(c) ? 1 : 0);
} else {
return _d->write(c);
}
}
/**
* SMACCMConsoleDriver::Buffer implementation.
* A synchronous nonblocking ring buffer, based on the AVRUARTDriver::Buffer
*/
bool SMACCMConsoleDriver::Buffer::allocate(uint16_t size)
{
_head = 0;
_tail = 0;
uint8_t shift;
/* Hardcoded max size of 1024. sue me. */
for ( shift = 1;
( 1U << shift ) < 1024 && ( 1U << shift) < size;
shift++
) ;
uint16_t tmpmask = (1U << shift) - 1;
if ( _bytes != NULL ) {
if ( _mask == tmpmask ) {
return true;
}
free(_bytes);
}
_mask = tmpmask;
_bytes = (uint8_t*) malloc(_mask+1);
return (_bytes != NULL);
}
bool SMACCMConsoleDriver::Buffer::push(uint8_t b)
{
uint16_t next = (_head + 1) & _mask;
if ( next == _tail ) {
return false;
}
_bytes[_head] = b;
_head = next;
return true;
}
int16_t SMACCMConsoleDriver::Buffer::pop()
{
if ( _tail == _head ) {
return -1;
}
uint8_t b = _bytes[_tail];
_tail = ( _tail + 1 ) & _mask;
return (int16_t) b;
}
uint16_t SMACCMConsoleDriver::Buffer::bytes_used()
{
return ((_head - _tail) & _mask);
}
uint16_t SMACCMConsoleDriver::Buffer::bytes_free()
{
return ((_mask+1) - ((_head - _tail) & _mask));
}

53
libraries/AP_HAL_SMACCM/Console.h
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/*
* Console.h --- AP_HAL_SMACCM console driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*/
#ifndef __AP_HAL_SMACCM_CONSOLE_H__
#define __AP_HAL_SMACCM_CONSOLE_H__
#include <AP_HAL_SMACCM.h>
class SMACCM::SMACCMConsoleDriver : public AP_HAL::ConsoleDriver {
public:
SMACCMConsoleDriver(AP_HAL::BetterStream* delegate);
void init(void *arg);
void backend_open();
void backend_close();
size_t backend_read(uint8_t *data, size_t len);
size_t backend_write(const uint8_t *data, size_t len);
int16_t available();
int16_t txspace();
int16_t read();
size_t write(uint8_t c);
private:
AP_HAL::BetterStream *_d;
// Buffer implementation copied from the AVR HAL.
struct Buffer {
/* public methods:*/
bool allocate(uint16_t size);
bool push(uint8_t b);
int16_t pop();
uint16_t bytes_free();
uint16_t bytes_used();
private:
uint16_t _head, _tail; /* Head and tail indicies */
uint16_t _mask; /* Buffer size mask for index wrap */
uint8_t *_bytes; /* Pointer to allocated buffer */
};
Buffer _txbuf;
Buffer _rxbuf;
bool _user_backend;
};
#endif // __AP_HAL_SMACCM_CONSOLE_H__

76
libraries/AP_HAL_SMACCM/GPIO.cpp
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#include "GPIO.h"
using namespace SMACCM;
SMACCMGPIO::SMACCMGPIO()
{
}
void SMACCMGPIO::init()
{
}
void SMACCMGPIO::pinMode(uint8_t pin, uint8_t output)
{
}
int8_t SMACCMGPIO::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t SMACCMGPIO::read(uint8_t pin)
{
return 0;
}
void SMACCMGPIO::write(uint8_t pin, uint8_t value)
{
}
void SMACCMGPIO::toggle(uint8_t pin)
{
}
bool SMACCMGPIO::usb_connected(void)
{
return false;
}
/* Alternative interface: */
AP_HAL::DigitalSource* SMACCMGPIO::channel(uint16_t n)
{
return NULL;
}
/* Interrupt interface: */
bool SMACCMGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode)
{
return true;
}
SMACCMDigitalSource::SMACCMDigitalSource(uint8_t v) :
_v(v)
{
}
void SMACCMDigitalSource::mode(uint8_t output)
{
}
uint8_t SMACCMDigitalSource::read()
{
return _v;
}
void SMACCMDigitalSource::write(uint8_t value)
{
_v = value;
}
void SMACCMDigitalSource::toggle()
{
_v = !_v;
}

48
libraries/AP_HAL_SMACCM/GPIO.h
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#ifndef __AP_HAL_SMACCM_GPIO_H__
#define __AP_HAL_SMACCM_GPIO_H__
#include <AP_HAL_SMACCM.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
// XXX these are just copied, may not make sense
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#endif
class SMACCM::SMACCMGPIO : public AP_HAL::GPIO {
public:
SMACCMGPIO();
void init();
void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
};
class SMACCM::SMACCMDigitalSource : public AP_HAL::DigitalSource {
public:
SMACCMDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};
#endif // __AP_HAL_SMACCM_GPIO_H__

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libraries/AP_HAL_SMACCM/HAL_SMACCM_Class.cpp
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#include <AP_HAL.h>
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include "HAL_SMACCM_Class.h"
#include "AP_HAL_SMACCM_Private.h"
using namespace SMACCM;
// XXX make sure these are assigned correctly
static SMACCMUARTDriver uartADriver(usart1);
static SMACCMUARTDriver uartBDriver(usart6);
static SMACCMUARTDriver uartCDriver(NULL);
static SMACCMI2CDriver i2cDriver;
static SMACCMSPIDeviceManager spiDeviceManager;
static SMACCMAnalogIn analogIn;
static SMACCMStorage storageDriver;
static SMACCMConsoleDriver consoleDriver(&uartADriver);
static SMACCMGPIO gpioDriver;
static SMACCMRCInput rcinDriver;
static SMACCMRCOutput rcoutDriver;
static SMACCMScheduler schedulerInstance;
static SMACCMUtil utilInstance;
HAL_SMACCM::HAL_SMACCM() :
AP_HAL::HAL(
&uartADriver,
&uartBDriver,
&uartCDriver,
&i2cDriver,
&spiDeviceManager,
&analogIn,
&storageDriver,
&consoleDriver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance)
{
}
void HAL_SMACCM::init(int argc,char* const argv[]) const
{
/* initialize all drivers and private members here.
* up to the programmer to do this in the correct order.
* Scheduler should likely come first. */
scheduler->init(NULL);
uartA->begin(115200);
console->init(uartA);
i2c->begin();
spi->init(NULL);
storage->init(NULL);
rcin->init(NULL);
}
const HAL_SMACCM AP_HAL_SMACCM;
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

19
libraries/AP_HAL_SMACCM/HAL_SMACCM_Class.h
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#ifndef __AP_HAL_SMACCM_CLASS_H__
#define __AP_HAL_SMACCM_CLASS_H__
#include <AP_HAL.h>
#include "AP_HAL_SMACCM_Namespace.h"
#include "PrivateMember.h"
class HAL_SMACCM : public AP_HAL::HAL {
public:
HAL_SMACCM();
void init(int argc, char * const * argv) const;
};
extern const HAL_SMACCM AP_HAL_SMACCM;
#endif // __AP_HAL_SMACCM_CLASS_H__

96
libraries/AP_HAL_SMACCM/I2CDriver.cpp
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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* I2CDriver.cpp --- AP_HAL_SMACCM I2C driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <AP_HAL.h>
#include <hwf4/i2c.h>
#include <hwf4/gpio.h>
#include "I2CDriver.h"
using namespace SMACCM;
// For now, we are assuming all devices are on a single bus. This
// will need to be refactored at some point to use a device manager
// like SPI if we need support for multiple busses.
#define I2C_BUS i2c2
#define I2C_SDA pin_b11
#define I2C_SCL pin_b10
void SMACCMI2CDriver::begin()
{
i2c_init(I2C_BUS, I2C_SDA, I2C_SCL);
_semaphore.init();
}
// XXX hwf4 doesn't support de-initialization
void SMACCMI2CDriver::end()
{
}
// XXX hwf4 doesn't support non-blocking I2C
void SMACCMI2CDriver::setTimeout(uint16_t ms)
{
}
// XXX hwf4 always uses standard speed
void SMACCMI2CDriver::setHighSpeed(bool active)
{
}
AP_HAL::Semaphore* SMACCMI2CDriver::get_semaphore()
{
return &_semaphore;
}
uint8_t SMACCMI2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
{
return i2c_transfer(I2C_BUS, addr, data, len, NULL, 0) ? 0 : 1;
}
uint8_t SMACCMI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
{
return i2c_write_reg(I2C_BUS, addr, reg, val) ? 0 : 1;
}
uint8_t SMACCMI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data)
{
return i2c_write_regs(I2C_BUS, addr, reg, data, len) ? 0 : 1;
}
uint8_t SMACCMI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
{
return i2c_transfer(I2C_BUS, addr, NULL, 0, data, len) ? 0 : 1;
}
uint8_t SMACCMI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
{
return i2c_transfer(I2C_BUS, addr, &reg, 1, data, 1) ? 0 : 1;
}
uint8_t SMACCMI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data)
{
return i2c_transfer(I2C_BUS, addr, &reg, 1, data, len) ? 0 : 1;
}
uint8_t SMACCMI2CDriver::lockup_count()
{
return 0;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

52
libraries/AP_HAL_SMACCM/I2CDriver.h
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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* I2CDriver.h --- AP_HAL_SMACCM I2C driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#ifndef __AP_HAL_SMACCM_I2CDRIVER_H__
#define __AP_HAL_SMACCM_I2CDRIVER_H__
#include <AP_HAL_SMACCM.h>
#include "Semaphores.h"
class SMACCM::SMACCMI2CDriver : public AP_HAL::I2CDriver {
public:
void begin();
void end();
void setTimeout(uint16_t ms);
void setHighSpeed(bool active);
/* write: for i2c devices which do not obey register conventions */
uint8_t write(uint8_t addr, uint8_t len, uint8_t* data);
/* writeRegister: write a single 8-bit value to a register */
uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val);
/* writeRegisters: write bytes to contigious registers */
uint8_t writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data);
/* read: for i2c devices which do not obey register conventions */
uint8_t read(uint8_t addr, uint8_t len, uint8_t* data);
/* readRegister: read from a device register - writes the register,
* then reads back an 8-bit value. */
uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data);
/* readRegister: read contigious device registers - writes the first
* register, then reads back multiple bytes */
uint8_t readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data);
uint8_t lockup_count();
AP_HAL::Semaphore* get_semaphore();
private:
SMACCMSemaphore _semaphore;
};
#endif // __AP_HAL_SMACCM_I2CDRIVER_H__

31
libraries/AP_HAL_SMACCM/LICENSE
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You may use this license for the AP_HAL_SMACCM library:
Copyright (C) 2012, Galois, Inc.
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 of the author 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
HOLDER 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.

11
libraries/AP_HAL_SMACCM/PrivateMember.cpp
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#include "PrivateMember.h"
using namespace SMACCM;
SMACCMPrivateMember::SMACCMPrivateMember(uint16_t foo) :
_foo(foo)
{}
void SMACCMPrivateMember::init() {}

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libraries/AP_HAL_SMACCM/PrivateMember.h
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#ifndef __AP_HAL_SMACCM_PRIVATE_MEMBER_H__
#define __AP_HAL_SMACCM_PRIVATE_MEMBER_H__
/* Just a stub as an example of how to implement a private member of an
* AP_HAL module */
#include "AP_HAL_SMACCM.h"
class SMACCM::SMACCMPrivateMember {
public:
SMACCMPrivateMember(uint16_t foo);
void init();
private:
uint16_t _foo;
};
#endif // __AP_HAL_SMACCM_PRIVATE_MEMBER_H__

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#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include "RCInput.h"
#include <hwf4/timer.h>
using namespace SMACCM;
/* Constrain captured pulse to be between min and max pulsewidth. */
static inline uint16_t constrain_pulse(uint16_t p)
{
if (p > RC_INPUT_MAX_PULSEWIDTH)
return RC_INPUT_MAX_PULSEWIDTH;
if (p < RC_INPUT_MIN_PULSEWIDTH)
return RC_INPUT_MIN_PULSEWIDTH;
return p;
}
SMACCMRCInput::SMACCMRCInput()
{
}
void SMACCMRCInput::init(void *unused)
{
clear_overrides();
}
uint8_t SMACCMRCInput::valid_channels()
{
// If any of the overrides are positive, we have valid data.
for (int i = 0; i < SMACCM_RCINPUT_CHANNELS; ++i)
if (_override[i] > 0)
return true;
return timer_is_ppm_valid();
}
// It looks like the APM2 driver clears the PPM sample after this
// function is called, so we do the same thing here for compatibility.
uint16_t SMACCMRCInput::read(uint8_t ch)
{
uint16_t result = 0;
if (_override[ch] != 0) {
result = _override[ch];
} else {
timer_get_ppm_channel(ch, &result);
result = constrain_pulse(result);
}
timer_clear_ppm();
return constrain_pulse(result);
}
// It looks like the APM2 driver clears the PPM sample after this
// function is called, so we do the same thing here for compatibility.
uint8_t SMACCMRCInput::read(uint16_t *periods, uint8_t len)
{
uint8_t result;
result = timer_get_ppm(periods, len, NULL);
for (int i = 0; i < result; ++i) {
periods[i] = constrain_pulse(periods[i]);
if (_override[i] != 0)
periods[i] = _override[i];
}
timer_clear_ppm();
return result;
}
bool SMACCMRCInput::set_overrides(int16_t *overrides, uint8_t len)
{
bool result = false;
for (int i = 0; i < len; ++i)
result |= set_override(i, overrides[i]);
return result;
}
bool SMACCMRCInput::set_override(uint8_t channel, int16_t override)
{
if (override < 0)
return false;
if (channel < SMACCM_RCINPUT_CHANNELS) {
_override[channel] = override;
if (override != 0) {
return true;
}
}
return false;
}
void SMACCMRCInput::clear_overrides()
{
for (int i = 0; i < SMACCM_RCINPUT_CHANNELS; ++i)
_override[i] = 0;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

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libraries/AP_HAL_SMACCM/RCInput.h
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#ifndef __AP_HAL_SMACCM_RCINPUT_H__
#define __AP_HAL_SMACCM_RCINPUT_H__
#include <AP_HAL_SMACCM.h>
#define SMACCM_RCINPUT_CHANNELS 8
class SMACCM::SMACCMRCInput : public AP_HAL::RCInput {
public:
SMACCMRCInput();
void init(void *unused);
uint8_t valid_channels();
uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len);
bool set_overrides(int16_t *overrides, uint8_t len);
bool set_override(uint8_t channel, int16_t override);
void clear_overrides();
private:
uint16_t _override[SMACCM_RCINPUT_CHANNELS];
};
#endif // __AP_HAL_SMACCM_RCINPUT_H__

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libraries/AP_HAL_SMACCM/RCOutput.cpp
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#include "RCOutput.h"
using namespace SMACCM;
void SMACCMRCOutput::init(void* machtnichts) {}
void SMACCMRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) {}
uint16_t SMACCMRCOutput::get_freq(uint8_t ch) {
return 50;
}
void SMACCMRCOutput::enable_ch(uint8_t ch)
{}
void SMACCMRCOutput::enable_mask(uint32_t chmask)
{}
void SMACCMRCOutput::disable_ch(uint8_t ch)
{}
void SMACCMRCOutput::disable_mask(uint32_t chmask)
{}
void SMACCMRCOutput::write(uint8_t ch, uint16_t period_us)
{}
void SMACCMRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
{}
uint16_t SMACCMRCOutput::read(uint8_t ch) {
return 900;
}
void SMACCMRCOutput::read(uint16_t* period_us, uint8_t len)
{}

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libraries/AP_HAL_SMACCM/RCOutput.h
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#ifndef __AP_HAL_SMACCM_RCOUTPUT_H__
#define __AP_HAL_SMACCM_RCOUTPUT_H__
#include <AP_HAL_SMACCM.h>
class SMACCM::SMACCMRCOutput : public AP_HAL::RCOutput {
void init(void* machtnichts);
void set_freq(uint32_t chmask, uint16_t freq_hz);
uint16_t get_freq(uint8_t ch);
void enable_ch(uint8_t ch);
void enable_mask(uint32_t chmask);
void disable_ch(uint8_t ch);
void disable_mask(uint32_t chmask);
void write(uint8_t ch, uint16_t period_us);
void write(uint8_t ch, uint16_t* period_us, uint8_t len);
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
};
#endif // __AP_HAL_SMACCM_RCOUTPUT_H__

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libraries/AP_HAL_SMACCM/SPIDriver.cpp
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/*
* SPIDriver.cpp --- AP_HAL_SMACCM SPI driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*/
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include "SPIDriver.h"
#include <FreeRTOS.h>
#include <hwf4/spi.h>
using namespace SMACCM;
extern const AP_HAL::HAL& hal;
//////////////////////////////////////////////////////////////////////
// SPI Device Driver
SMACCMSPIDeviceDriver::SMACCMSPIDeviceDriver(spi_bus *bus, spi_device *device)
: _bus(bus), _device(device)
{
}
void SMACCMSPIDeviceDriver::init()
{
_semaphore.init();
}
AP_HAL::Semaphore* SMACCMSPIDeviceDriver::get_semaphore()
{
return &_semaphore;
}
void SMACCMSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{
if (spi_transfer(_bus, _device, 1000, tx, rx, len) < 0) {
hal.scheduler->panic("PANIC: SPI transaction timeout.");
}
}
// XXX these methods are not implemented
void SMACCMSPIDeviceDriver::cs_assert()
{
}
void SMACCMSPIDeviceDriver::cs_release()
{
}
uint8_t SMACCMSPIDeviceDriver::transfer (uint8_t data)
{
return 0;
}
void SMACCMSPIDeviceDriver::transfer (const uint8_t *data, uint16_t len)
{
}
//////////////////////////////////////////////////////////////////////
// SPI Device Instances
// SPIDevice_Dataflash (I2C device in PX4FMU)
// SPIDevice_ADS7844 (not present in PX4FMU)
// SPIDevice_MS5611 (I2C device in PX4FMU)
// SPIDevice_MPU6000 (on SPI1)
static spi_device g_mpu6000_spi_dev = {
pin_b0, // chip_select
false, // chip_select_active
SPI_BAUD_DIV_128, // baud XXX check frequency
SPI_CLOCK_POLARITY_LOW, // clock_polarity
SPI_CLOCK_PHASE_1, // clock_phase
SPI_BIT_ORDER_MSB_FIRST // bit_order
};
static SMACCMSPIDeviceDriver g_mpu6000_dev(spi1, &g_mpu6000_spi_dev);
// SPIDevice_ADNS3080_SPI0 (not present in PX4FMU)
// SPIDevice_ADNS3080_SPI3 (not present in PX4FMU)
//////////////////////////////////////////////////////////////////////
// SPI Device Manager
SMACCMSPIDeviceManager::SMACCMSPIDeviceManager()
{
}
// Initialize all SPI busses and devices.
void SMACCMSPIDeviceManager::init(void *)
{
spi_init(spi1);
spi_device_init(&g_mpu6000_spi_dev);
g_mpu6000_dev.init();
}
AP_HAL::SPIDeviceDriver* SMACCMSPIDeviceManager::device(AP_HAL::SPIDevice dev)
{
switch (dev) {
case AP_HAL::SPIDevice_MPU6000:
return &g_mpu6000_dev;
default:
return NULL;
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

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/*
* SPIDriver.h --- AP_HAL_SMACCM SPI driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*/
#ifndef __AP_HAL_SMACCM_SPIDRIVER_H__
#define __AP_HAL_SMACCM_SPIDRIVER_H__
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <AP_HAL_SMACCM.h>
#include "Semaphores.h"
#include <hwf4/spi.h>
class SMACCM::SMACCMSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
public:
SMACCMSPIDeviceDriver(spi_bus *bus, spi_device *device);
void init();
AP_HAL::Semaphore* get_semaphore();
void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
void cs_assert();
void cs_release();
uint8_t transfer (uint8_t data);
void transfer (const uint8_t *data, uint16_t len);
private:
SMACCMSemaphore _semaphore;
struct spi_bus *_bus;
struct spi_device *_device;
};
class SMACCM::SMACCMSPIDeviceManager : public AP_HAL::SPIDeviceManager {
public:
SMACCMSPIDeviceManager();
void init(void *);
AP_HAL::SPIDeviceDriver* device(AP_HAL::SPIDevice);
};
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#endif // __AP_HAL_SMACCM_SPIDRIVER_H__

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libraries/AP_HAL_SMACCM/Scheduler.cpp
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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* Scheduler.cpp --- AP_HAL_SMACCM scheduler.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <hwf4/gpio.h>
#include <hwf4/timer.h>
#include <FreeRTOS.h>
#include <task.h>
#include <semphr.h>
#include "Scheduler.h"
using namespace SMACCM;
extern const AP_HAL::HAL& hal;
/** Rate in milliseconds of timed process execution. (1kHz) */
#define SCHEDULER_TICKS (1 / (portTICK_RATE_MS))
/** Stack size of the scheduler thread. */
#define SCHEDULER_STACK_SIZE 1536
/** Priority of the scheduler timer process task. */
#define SCHEDULER_PRIORITY (configMAX_PRIORITIES - 1)
/** Rate in milliseconds of the delay callback task. */
#define DELAY_CB_TICKS (1 / (portTICK_RATE_MS))
/** Stack size of the delay callback task. */
#define DELAY_CB_STACK_SIZE 512
/** Priority of the delay callback task. */
#define DELAY_CB_PRIORITY 0
/**
* Recursive mutex used to block "scheduler_task" during atomic
* sections.
*/
static xSemaphoreHandle g_atomic;
/** High-priority thread managing timer procedures. */
static void scheduler_task(void *arg)
{
SMACCMScheduler *sched = (SMACCMScheduler *)arg;
portTickType last_wake_time;
portTickType now;
vTaskSetApplicationTaskTag(NULL, (pdTASK_HOOK_CODE)3);
last_wake_time = xTaskGetTickCount();
for (;;) {
/* If "vTaskDelayUntil" would return immediately without blocking,
* call the failsafe callback to notify the client that we've
* missed our deadline, and reset the wakeup time to the current
* time. */
now = xTaskGetTickCount();
if (last_wake_time + SCHEDULER_TICKS <= now) {
sched->run_failsafe_cb();
last_wake_time = now;
} else {
vTaskDelayUntil(&last_wake_time, SCHEDULER_TICKS);
xSemaphoreTakeRecursive(g_atomic, portMAX_DELAY);
sched->run_callbacks();
xSemaphoreGiveRecursive(g_atomic);
}
}
}
/** Count of the number of threads in "delay". */
static uint32_t g_delay_count;
/** Binary semaphore given when a thread enters "delay". */
static xSemaphoreHandle g_delay_event;
/**
* Low-priority thread that calls the delay callback every 1ms.
*
* Whenever any thread enters a call to "delay", it unblocks this
* task.
*
* We use a count of the number of threads currently in "delay"
* because there could be more than one.
*/
static void delay_cb_task(void *arg)
{
SMACCMScheduler *sched = (SMACCMScheduler *)arg;
portTickType last_wake_time;
portTickType now;
vTaskSetApplicationTaskTag(NULL, (pdTASK_HOOK_CODE)4);
last_wake_time = xTaskGetTickCount();
for (;;) {
portENTER_CRITICAL();
uint32_t delay_count = g_delay_count;
portEXIT_CRITICAL();
if (delay_count > 0) {
/* If some thread is in "delay", call the delay callback. */
sched->run_delay_cb();
/* If "vTaskDelayUntil" would return immediately without
* blocking, that means we've missed our deadline. However,
* this thread is best-effort, so we'll just readjust our
* schedule accordingly and run 1ms from now.
*
* Without this, the thread runs many times to "catch up" if
* something takes too long in a higher priority thread. */
now = xTaskGetTickCount();
if (last_wake_time + DELAY_CB_TICKS <= now) {
last_wake_time = now;
} else {
vTaskDelayUntil(&last_wake_time, DELAY_CB_TICKS);
}
} else {
/* Wait for a thread to enter a delay. */
xSemaphoreTake(g_delay_event, portMAX_DELAY);
last_wake_time = xTaskGetTickCount();
}
}
}
SMACCMScheduler::SMACCMScheduler()
: m_delay_cb(NULL), m_task(NULL), m_delay_cb_task(NULL),
m_failsafe_cb(NULL), m_num_procs(0), m_initializing(true)
{
}
void SMACCMScheduler::init(void *arg)
{
timer_init();
g_atomic = xSemaphoreCreateRecursiveMutex();
vSemaphoreCreateBinary(g_delay_event);
xSemaphoreTake(g_delay_event, portMAX_DELAY);
xTaskCreate(scheduler_task, (signed char *)"scheduler",
SCHEDULER_STACK_SIZE, this, SCHEDULER_PRIORITY,
&m_task);
xTaskCreate(delay_cb_task, (signed char *)"delay_cb",
DELAY_CB_STACK_SIZE, this, DELAY_CB_PRIORITY,
&m_delay_cb_task);
}
void SMACCMScheduler::delay(uint16_t ms)
{
/* Wake up the delay callback thread. */
portENTER_CRITICAL();
++g_delay_count;
portEXIT_CRITICAL();
xSemaphoreGive(g_delay_event);
timer_msleep(ms);
/* Put the delay callback thread back to sleep. */
portENTER_CRITICAL();
--g_delay_count;
portEXIT_CRITICAL();
}
uint32_t SMACCMScheduler::millis()
{
return (uint32_t)(timer_get_ticks() / 1000ULL);
}
// XXX this is going to wrap every 1.1 hours
uint32_t SMACCMScheduler::micros()
{
return (uint32_t)timer_get_ticks();
}
void SMACCMScheduler::delay_microseconds(uint16_t us)
{
timer_usleep(us);
}
void SMACCMScheduler::register_delay_callback(AP_HAL::Proc k, uint16_t)
{
m_delay_cb = k;
}
void SMACCMScheduler::register_timer_process(AP_HAL::TimedProc k)
{
for (int i = 0; i < m_num_procs; ++i) {
if (m_procs[i] == k)
return;
}
if (m_num_procs < SMACCM_SCHEDULER_MAX_TIMER_PROCS) {
portENTER_CRITICAL();
m_procs[m_num_procs] = k;
++m_num_procs;
portEXIT_CRITICAL();
}
}
void SMACCMScheduler::register_timer_failsafe(AP_HAL::TimedProc k, uint32_t)
{
m_failsafe_cb = k;
}
void SMACCMScheduler::suspend_timer_procs()
{
xSemaphoreTakeRecursive(g_atomic, portMAX_DELAY);
}
void SMACCMScheduler::resume_timer_procs()
{
xSemaphoreGiveRecursive(g_atomic);
}
void SMACCMScheduler::begin_atomic()
{
}
void SMACCMScheduler::end_atomic()
{
}
void SMACCMScheduler::panic(const prog_char_t *errormsg)
{
hal.console->println_P(errormsg);
// Try to grab "g_atomic" to suspend timer processes, but with a
// timeout in case a timer proc is locked up.
xSemaphoreTakeRecursive(g_atomic, 10);
for(;;)
;
}
void SMACCMScheduler::reboot(bool hold_in_bootloader)
{
for(;;)
;
}
void SMACCMScheduler::run_callbacks()
{
uint32_t now = micros();
// Run timer processes if not suspended.
portENTER_CRITICAL();
uint8_t num_procs = m_num_procs;
portEXIT_CRITICAL();
for (int i = 0; i < num_procs; ++i) {
if (m_procs[i] != NULL) {
m_procs[i](now);
}
}
}
void SMACCMScheduler::run_failsafe_cb()
{
if (m_failsafe_cb)
m_failsafe_cb(micros());
}
void SMACCMScheduler::run_delay_cb()
{
if (m_delay_cb)
m_delay_cb();
}
/** Return true if in the context of a timer process. */
bool SMACCMScheduler::in_timerprocess()
{
return (xTaskGetCurrentTaskHandle() == m_task);
}
/** Return true if the system is initializing. */
bool SMACCMScheduler::system_initializing()
{
return m_initializing;
}
/** Set the system initializing flag to false. */
void SMACCMScheduler::system_initialized()
{
m_initializing = false;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* Scheduler.h --- AP_HAL_SMACCM scheduler.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#ifndef __AP_HAL_SMACCM_SCHEDULER_H__
#define __AP_HAL_SMACCM_SCHEDULER_H__
#include <AP_HAL_SMACCM.h>
#define SMACCM_SCHEDULER_MAX_TIMER_PROCS 4
class SMACCM::SMACCMScheduler : public AP_HAL::Scheduler
{
public:
SMACCMScheduler();
/**
* Initialize the scheduler. This initializes the HWF4 timer
* driver.
*
* @param arg reserved, pass NULL
*/
void init(void *arg);
/** Delay for "ms" milliseconds. */
void delay(uint16_t ms);
/** Delay for "us" microseconds. */
void delay_microseconds(uint16_t us);
/** Return the time since init in milliseconds. */
uint32_t millis();
/** Return the time since init in microseconds. */
uint32_t micros();
/**
* Register a callback to run every millisecond during a call to
* "delay" as long as the delay remaining is at least "min_time_ms".
*
* The callback is executed in the thread that calls "delay".
*/
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
/** Register a callback to run every 1ms (1kHz). */
void register_timer_process(AP_HAL::TimedProc);
/**
* Register a callback to run if a timer process takes too long to
* execute. The second argument is ignored.
*/
void register_timer_failsafe(AP_HAL::TimedProc, uint32_t);
/**
* Suspend execution of timed procedures. Calls to this function do
* not nest.
*/
void suspend_timer_procs();
/**
* Resume execution of timed procedures. Calls to this function do
* not nest.
*/
void resume_timer_procs();
/**
* Enter a critical section where timed processes will not be run.
* Calls to this function nest.
*/
void begin_atomic();
/**
* Leave a critical section, re-enabling timed processes. Calls to
* this function nest.
*/
void end_atomic();
/** Print an error message and halt execution. */
void panic(const prog_char_t *errormsg);
/** Reboot the firmware. Not implemented. */
void reboot(bool hold_in_bootloader);
/**
* Run timed and deferred processes. This should not be called from
* client code.
*/
void run_callbacks();
/**
* Run the failsafe callback. This should not be called from client
* code.
*/
void run_failsafe_cb();
/**
* Run the delay callback. This should not be called from client
* code.
*/
void run_delay_cb();
/** Return true if in the context of a timer process. */
bool in_timerprocess();
/** Return true if the system is initializing. */
bool system_initializing();
/** Set the system initializing flag to false. */
void system_initialized();
private:
AP_HAL::Proc m_delay_cb; /* delay callback */
void *m_task; /* opaque scheduler task handle */
void *m_delay_cb_task; /* opaque delay cb task handle */
AP_HAL::TimedProc m_procs[SMACCM_SCHEDULER_MAX_TIMER_PROCS];
AP_HAL::TimedProc m_failsafe_cb;
uint8_t m_num_procs; /* number of entries in "m_procs" */
bool m_initializing; /* true if initializing */
};
#endif // __AP_HAL_SMACCM_SCHEDULER_H__

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#include "Semaphores.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <task.h>
using namespace SMACCM;
extern const AP_HAL::HAL& hal;
/** Return true if this thread already holds "sem". */
static bool already_held(xSemaphoreHandle sem)
{
xTaskHandle self = xTaskGetCurrentTaskHandle();
return xSemaphoreGetMutexHolder(sem) == self;
}
SMACCMSemaphore::SMACCMSemaphore()
: m_semaphore(NULL)
{
}
void SMACCMSemaphore::init()
{
m_semaphore = xSemaphoreCreateMutex();
}
bool SMACCMSemaphore::take(uint32_t timeout_ms)
{
portTickType delay;
if (already_held(m_semaphore))
hal.scheduler->panic("PANIC: Recursive semaphore take.");
if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER)
delay = portMAX_DELAY;
else
delay = timeout_ms / portTICK_RATE_MS;
return xSemaphoreTake(m_semaphore, delay);
}
bool SMACCMSemaphore::take_nonblocking()
{
if (already_held(m_semaphore))
hal.scheduler->panic("PANIC: Recursive semaphore take.");
return xSemaphoreTake(m_semaphore, 0);
}
bool SMACCMSemaphore::give()
{
return xSemaphoreGive(m_semaphore);
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

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#ifndef __AP_HAL_SMACCM_SEMAPHORE_H__
#define __AP_HAL_SMACCM_SEMAPHORE_H__
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <AP_HAL_SMACCM.h>
#include <FreeRTOS.h>
#include <semphr.h>
class SMACCM::SMACCMSemaphore : public AP_HAL::Semaphore {
public:
SMACCMSemaphore();
void init();
virtual bool take(uint32_t timeout_ms);
virtual bool take_nonblocking();
virtual bool give();
private:
xSemaphoreHandle m_semaphore;
};
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#endif // __AP_HAL_SMACCM_SEMAPHORE_H__

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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* Storage.cpp --- AP_HAL_SMACCM storage driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <string.h>
#include <hwf4/eeprom.h>
#include "Storage.h"
using namespace SMACCM;
#define EEPROM_I2C_ADDR 0x50
// Note: These functions write multi-byte integers to the EEPROM in
// the native byte order, and so the format will depend on the
// endianness of the machine.
SMACCMStorage::SMACCMStorage()
{
}
void SMACCMStorage::init(void*)
{
eeprom_init(i2c2, EEPROM_I2C_ADDR);
}
uint8_t SMACCMStorage::read_byte(uint16_t loc)
{
uint8_t result = 0;
eeprom_read_byte(loc, &result);
return result;
}
uint16_t SMACCMStorage::read_word(uint16_t loc)
{
uint16_t result = 0;
eeprom_read(loc, (uint8_t*)&result, sizeof(result));
return result;
}
uint32_t SMACCMStorage::read_dword(uint16_t loc)
{
uint32_t result = 0;
eeprom_read(loc, (uint8_t*)&result, sizeof(result));
return result;
}
void SMACCMStorage::read_block(void* dst, uint16_t src, size_t n)
{
eeprom_read(src, (uint8_t*)dst, n);
}
void SMACCMStorage::write_byte(uint16_t loc, uint8_t value)
{
eeprom_write_byte(loc, value);
}
void SMACCMStorage::write_word(uint16_t loc, uint16_t value)
{
eeprom_write(loc, (uint8_t*)&value, sizeof(value));
}
void SMACCMStorage::write_dword(uint16_t loc, uint32_t value)
{
eeprom_write(loc, (uint8_t*)&value, sizeof(value));
}
void SMACCMStorage::write_block(uint16_t loc, const void* src, size_t n)
{
eeprom_write(loc, (const uint8_t *)src, n);
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* Storage.h --- AP_HAL_SMACCM storage driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#ifndef __AP_HAL_SMACCM_STORAGE_H__
#define __AP_HAL_SMACCM_STORAGE_H__
#include <AP_HAL_SMACCM.h>
class SMACCM::SMACCMStorage : public AP_HAL::Storage
{
public:
SMACCMStorage();
void init(void *);
uint8_t read_byte(uint16_t loc);
uint16_t read_word(uint16_t loc);
uint32_t read_dword(uint16_t loc);
void read_block(void *dst, uint16_t src, size_t n);
void write_byte(uint16_t loc, uint8_t value);
void write_word(uint16_t loc, uint16_t value);
void write_dword(uint16_t loc, uint32_t value);
void write_block(uint16_t dst, const void* src, size_t n);
};
#endif // __AP_HAL_SMACCM_STORAGE_H__

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libraries/AP_HAL_SMACCM/UARTDriver.cpp
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/*
* UARTDriver.cpp --- AP_HAL_SMACCM UART driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*/
#include "UARTDriver.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <stdio.h> // for vsnprintf
using namespace SMACCM;
// XXX the AVR driver enables itself in the constructor. This seems
// like a very bad idea, since it will run somewhere in the startup
// code before our clocks are all set up and such.
SMACCMUARTDriver::SMACCMUARTDriver(struct usart *dev)
: m_dev(dev), m_initialized(false), m_blocking(true)
{
}
void SMACCMUARTDriver::begin(uint32_t baud)
{
if (m_dev != NULL) {
usart_init(m_dev, baud);
usart_enable(m_dev);
}
m_initialized = true;
}
// XXX buffer sizes ignored
void SMACCMUARTDriver::begin(uint32_t baud, uint16_t rxS, uint16_t txS)
{
begin(baud);
}
// XXX hwf4 doesn't support de-initializing a USART
void SMACCMUARTDriver::end()
{
}
// XXX hwf4 doesn't support flushing, could be tricky to get the
// synchronization right. Would we just force the TX/RX queues to
// empty?
void SMACCMUARTDriver::flush()
{
}
bool SMACCMUARTDriver::is_initialized()
{
return m_initialized;
}
void SMACCMUARTDriver::set_blocking_writes(bool blocking)
{
m_blocking = blocking;
}
bool SMACCMUARTDriver::tx_pending()
{
if (m_dev != NULL) {
return usart_is_tx_pending(m_dev);
}
return false;
}
/* SMACCM implementations of Stream virtual methods */
int16_t SMACCMUARTDriver::available()
{
if (m_dev != NULL)
return (int16_t)usart_available(m_dev);
return 0;
}
int16_t SMACCMUARTDriver::txspace()
{
if (m_dev != NULL)
return (int16_t)usart_txspace(m_dev);
return 0;
}
// It looks like this should always be a non-blocking read, so return
// -1 if there is nothing to receive immediately.
int16_t SMACCMUARTDriver::read()
{
uint8_t c;
if (m_dev == NULL)
return -1;
if (usart_read_timeout(m_dev, 0, &c, 1) == 0)
return -1;
return (int16_t)c;
}
/* SMACCM implementations of Print virtual methods */
size_t SMACCMUARTDriver::write(uint8_t c)
{
if (m_dev == NULL)
return 1;
portTickType delay = m_blocking ? portMAX_DELAY : 0;
return usart_write_timeout(m_dev, delay, &c, 1);
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM

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libraries/AP_HAL_SMACCM/UARTDriver.h
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#ifndef __AP_HAL_SMACCM_UARTDRIVER_H__
#define __AP_HAL_SMACCM_UARTDRIVER_H__
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include <AP_HAL_SMACCM.h>
#include <hwf4/usart.h>
class SMACCM::SMACCMUARTDriver : public AP_HAL::UARTDriver
{
public:
SMACCMUARTDriver(struct usart *dev);
/* SMACCM implementations of UARTDriver virtual methods */
void begin(uint32_t b);
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
void end();
void flush();
bool is_initialized();
void set_blocking_writes(bool blocking);
bool tx_pending();
/* SMACCM implementations of Stream virtual methods */
int16_t available();
int16_t txspace();
int16_t read();
/* SMACCM implementations of Print virtual methods */
size_t write(uint8_t c);
private:
struct usart *m_dev;
bool m_initialized;
bool m_blocking;
};
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#endif // __AP_HAL_SMACCM_UARTDRIVER_H__

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libraries/AP_HAL_SMACCM/Util.h
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#ifndef __AP_HAL_SMACCM_UTIL_H__
#define __AP_HAL_SMACCM_UTIL_H__
#include <AP_HAL.h>
#include "AP_HAL_SMACCM_Namespace.h"
class SMACCM::SMACCMUtil : public AP_HAL::Util {
public:
bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
};
#endif // __AP_HAL_SMACCM_UTIL_H__