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AP_HAL: enable HAL_QURT

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This commit is contained in:
Andrew Tridgell 2015-03-24 16:28:26 -07:00
parent 0816937ab1
commit 7c431b40f2
4 changed files with 29 additions and 3 deletions
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21
libraries/AP_HAL/AP_HAL_Boards.h
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@ -15,6 +15,7 @@
#define HAL_BOARD_FLYMAPLE 6 #define HAL_BOARD_FLYMAPLE 6
#define HAL_BOARD_LINUX 7 #define HAL_BOARD_LINUX 7
#define HAL_BOARD_VRBRAIN 8 #define HAL_BOARD_VRBRAIN 8
#define HAL_BOARD_QURT 9
#define HAL_BOARD_EMPTY 99 #define HAL_BOARD_EMPTY 99
// default board subtype is -1 // default board subtype is -1
@ -66,6 +67,7 @@
#define HAL_INS_MPU9250_I2C 13 #define HAL_INS_MPU9250_I2C 13
#define HAL_INS_BH 14 #define HAL_INS_BH 14
#define HAL_INS_QFLIGHT 15 #define HAL_INS_QFLIGHT 15
#define HAL_INS_QURT 16
// barometer driver types // barometer driver types
#define HAL_BARO_BMP085 1 #define HAL_BARO_BMP085 1
@ -77,6 +79,7 @@
#define HAL_BARO_VRBRAIN 7 #define HAL_BARO_VRBRAIN 7
#define HAL_BARO_MS5637_I2C 8 #define HAL_BARO_MS5637_I2C 8
#define HAL_BARO_QFLIGHT 9 #define HAL_BARO_QFLIGHT 9
#define HAL_BARO_QURT 10
// compass driver types // compass driver types
#define HAL_COMPASS_HMC5843 1 #define HAL_COMPASS_HMC5843 1
@ -90,6 +93,7 @@
#define HAL_COMPASS_AK8963_MPU9250_I2C 9 #define HAL_COMPASS_AK8963_MPU9250_I2C 9
#define HAL_COMPASS_BH 10 #define HAL_COMPASS_BH 10
#define HAL_COMPASS_QFLIGHT 11 #define HAL_COMPASS_QFLIGHT 11
#define HAL_COMPASS_QURT 12
// Heat Types // Heat Types
#define HAL_LINUX_HEAT_PWM 1 #define HAL_LINUX_HEAT_PWM 1
@ -336,6 +340,20 @@
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL #define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE #define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
#elif CONFIG_HAL_BOARD == HAL_BOARD_QURT
#define AP_HAL_BOARD_DRIVER AP_HAL_QURT
#define HAL_BOARD_NAME "QURT"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_STORAGE_SIZE 16384
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_INS_DEFAULT HAL_INS_QURT
#define HAL_BARO_DEFAULT HAL_BARO_QURT
#define HAL_COMPASS_DEFAULT HAL_COMPASS_QURT
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
#define HAL_BOARD_LOG_DIRECTORY "/dev/fs/logs"
#define HAL_OS_POSIX_IO 1
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define HAL_BOARD_NAME "VRBRAIN" #define HAL_BOARD_NAME "VRBRAIN"
#define HAL_CPU_CLASS HAL_CPU_CLASS_150 #define HAL_CPU_CLASS HAL_CPU_CLASS_150
@ -383,5 +401,8 @@
#error "No CONFIG_HAL_BOARD_SUBTYPE set" #error "No CONFIG_HAL_BOARD_SUBTYPE set"
#endif #endif
#ifndef HAL_OS_POSIX_IO
#define HAL_OS_POSIX_IO 0
#endif
#endif // __AP_HAL_BOARDS_H__ #endif // __AP_HAL_BOARDS_H__

4
libraries/AP_HAL/AP_HAL_Main.h
View File

@ -3,7 +3,7 @@
#include "HAL.h" #include "HAL.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE || CONFIG_HAL_BOARD == HAL_BOARD_QURT
#define CONFIG_MAIN_WITHOUT_ARGC_ARGV 1 #define CONFIG_MAIN_WITHOUT_ARGC_ARGV 1
#endif #endif
@ -20,7 +20,7 @@
#define AP_HAL_MAIN() extern "C" { \ #define AP_HAL_MAIN() extern "C" { \
int AP_MAIN(void); \ int AP_MAIN(void); \
int AP_MAIN(void) { \ int AP_MAIN(void) { \
AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \ AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
hal.run(0, NULL, &callbacks); \ hal.run(0, NULL, &callbacks); \
return 0; \ return 0; \
} \ } \

2
libraries/AP_HAL/utility/RingBuffer.h
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@ -18,7 +18,7 @@
*/ */
#define BUF_AVAILABLE(buf) ((buf##_head > (_tail=buf##_tail))? (buf##_size - buf##_head) + _tail: _tail - buf##_head) #define BUF_AVAILABLE(buf) ((buf##_head > (_tail=buf##_tail))? (buf##_size - buf##_head) + _tail: _tail - buf##_head)
#define BUF_SPACE(buf) (((_head=buf##_head) > buf##_tail)?(_head - buf##_tail) - 1:((buf##_size - buf##_tail) + _head) - 1) #define BUF_SPACE(buf) (((_head=buf##_head) > buf##_tail)?(_head - buf##_tail) - 1:((buf##_size - buf##_tail) + _head) - 1)
#define BUF_EMPTY(buf) (buf##_head == buf##_tail) #define BUF_EMPTY(buf) buf##_head == buf##_tail
#define BUF_ADVANCETAIL(buf, n) buf##_tail = (buf##_tail + n) % buf##_size #define BUF_ADVANCETAIL(buf, n) buf##_tail = (buf##_tail + n) % buf##_size
#define BUF_ADVANCEHEAD(buf, n) buf##_head = (buf##_head + n) % buf##_size #define BUF_ADVANCEHEAD(buf, n) buf##_head = (buf##_head + n) % buf##_size

5
libraries/AP_HAL/utility/getopt_cpp.cpp
View File

@ -35,6 +35,9 @@
* SUCH DAMAGE. * SUCH DAMAGE.
*/ */
#include <AP_HAL/AP_HAL.h>
#if HAL_OS_POSIX_IO && CONFIG_HAL_BOARD != HAL_BOARD_QURT
#include "getopt_cpp.h" #include "getopt_cpp.h"
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
@ -201,3 +204,5 @@ int GetOptLong::getoption(void)
return optopt; return optopt;
} }
#endif // HAL_OS_POSIX_IO