AP_HAL: re-sync APIs for 4.0 update

libraries/AP_HAL/GPIO.h

@@ -65,6 +65,12 @@ public:
         return attach_interrupt(pin, (AP_HAL::Proc)nullptr, AP_HAL::GPIO::INTERRUPT_NONE);
     }
 
+    /*
+      block waiting for a pin to change. A timeout of 0 means wait
+      forever. Return true on pin change, false on timeout
+     */
+    virtual bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) { return false; }
+
     /* return true if USB cable is connected */
     virtual bool    usb_connected(void) = 0;
 };

libraries/AP_HAL/UARTDriver.h

@@ -49,7 +49,7 @@ public:
     virtual int16_t read_locked(uint32_t key) { return -1; }
     
     // control optional features
-    virtual bool set_options(uint8_t options) { return options==0; }
+    virtual bool set_options(uint16_t options) { return options==0; }
     virtual uint8_t get_options(void) const { return 0; }
 
     enum {
@@ -57,6 +57,12 @@ public:
         OPTION_TXINV=(1U<<1),  // invert TX line
         OPTION_HDPLEX=(1U<<2), // half-duplex (one-wire) mode
         OPTION_SWAP=(1U<<3), // swap RX and TX pins
+        OPTION_PULLDOWN_RX  = (1U<<4), // apply pulldown to RX
+        OPTION_PULLUP_RX    = (1U<<5), // apply pullup to RX
+        OPTION_PULLDOWN_TX  = (1U<<6), // apply pulldown to TX
+        OPTION_PULLUP_TX    = (1U<<7), // apply pullup to TX
+        OPTION_NODMA_RX     = (1U<<8), // don't use DMA for RX
+        OPTION_NODMA_TX     = (1U<<9), // don't use DMA for TX
     };
 
     enum flow_control {

libraries/AP_HAL/Util.h

@@ -42,7 +42,7 @@ public:
     // commands
     virtual bool run_debug_shell(AP_HAL::BetterStream *stream) = 0;
 
-    enum safety_state {
+    enum safety_state : uint8_t {
         SAFETY_NONE, SAFETY_DISARMED, SAFETY_ARMED
     };
 
@@ -55,25 +55,30 @@ public:
     struct PersistentData {
         float roll_rad, pitch_rad, yaw_rad; // attitude
         int32_t home_lat, home_lon, home_alt_cm; // home position
-        bool armed; // true if vehicle was armed
+        uint32_t fault_addr;
-        enum safety_state safety_state;
+        uint32_t fault_icsr;
+        uint32_t fault_lr;
         uint32_t internal_errors;
-        uint32_t internal_error_count;
+        uint16_t internal_error_count;
-        uint16_t waypoint_num;
+        uint16_t internal_error_last_line;
-        int8_t scheduler_task;
-        uint16_t last_mavlink_msgid;
-        uint16_t last_mavlink_cmd;
-        uint16_t semaphore_line;
         uint32_t spi_count;
         uint32_t i2c_count;
         uint32_t i2c_isr_count;
+        uint16_t waypoint_num;
+        uint16_t last_mavlink_msgid;
+        uint16_t last_mavlink_cmd;
+        uint16_t semaphore_line;
         uint16_t fault_line;
         uint8_t fault_type;
         uint8_t fault_thd_prio;
-        uint32_t fault_addr;
+        char thread_name4[4];
-        uint32_t fault_icsr;
+        int8_t scheduler_task;
+        bool armed; // true if vehicle was armed
+        enum safety_state safety_state;
     };
     struct PersistentData persistent_data;
+    // last_persistent_data is only filled in if we've suffered a watchdog reset
+    struct PersistentData last_persistent_data;
 
     /*
       return state of safety switch, if applicable

libraries/AP_HAL/board/chibios.h

@@ -59,7 +59,7 @@
 // allow for static semaphores
 #include <AP_HAL_ChibiOS/Semaphores.h>
 #define HAL_Semaphore ChibiOS::Semaphore
-#define HAL_Semaphore_Recursive ChibiOS::Semaphore_Recursive
+#define HAL_Semaphore_Recursive ChibiOS::Semaphore
 
 /* string names for well known SPI devices */
 #define HAL_BARO_MS5611_NAME "ms5611"

libraries/AP_HAL/board/linux.h

@@ -335,4 +335,5 @@
 
 #include <AP_HAL_Linux/Semaphores.h>
 #define HAL_Semaphore Linux::Semaphore
-#define HAL_Semaphore_Recursive Linux::Semaphore_Recursive
+#define HAL_Semaphore_Recursive Linux::Semaphore
+

libraries/AP_HAL/board/sitl.h

@@ -26,7 +26,7 @@
 // allow for static semaphores
 #include <AP_HAL_SITL/Semaphores.h>
 #define HAL_Semaphore HALSITL::Semaphore
-#define HAL_Semaphore_Recursive HALSITL::Semaphore_Recursive
+#define HAL_Semaphore_Recursive HALSITL::Semaphore
 
 #ifndef HAL_BOARD_STORAGE_DIRECTORY
 #define HAL_BOARD_STORAGE_DIRECTORY "."