AP_HAL_Empty: more scaffolding complete

libraries/AP_HAL_Empty/AnalogIn.cpp

@@ -0,0 +1,35 @@
+
+#include "AnalogIn.h"
+
+using namespace Empty;
+
+EmptyAnalogSource::EmptyAnalogSource(float v) :
+    _v(v)
+{}
+
+float EmptyAnalogSource::read_average() {
+    return _v;
+}
+
+float EmptyAnalogSource::read_latest() {
+    return _v;
+}
+
+void EmptyAnalogSource::set_pin(uint8_t p)
+{}
+
+
+EmptyAnalogIn::EmptyAnalogIn()
+{}
+
+void EmptyAnalogIn::init(void* machtnichts)
+{}
+
+AP_HAL::AnalogSource* channel(int16_t n) {
+    return new EmptyAnalogSource(1.11);
+}
+
+AP_HAL::AnalogSource* channel(int16_t n, float scale) {
+    return new EmptyAnalogSource(scale/2);
+}
+

libraries/AP_HAL_Empty/AnalogIn.h

@@ -4,8 +4,21 @@
 
 #include <AP_HAL_Empty.h>
 
-class Empty::EmptyAnalogIn : public AP_HAL::AnalogIn {
-
+class Empty::EmptyAnalogSource : public AP_HAL::AnalogSource {
+public:
+    EmptyAnalogSource(float v);
+    float read_average();
+    float read_latest();
+    void set_pin(uint8_t p);
+private:
+    float _v;
 };
 
+class Empty::EmptyAnalogIn : public AP_HAL::AnalogIn {
+public:
+    EmptyAnalogIn();
+    void init(void* implspecific);
+    AP_HAL::AnalogSource* channel(int16_t n);
+    AP_HAL::AnalogSource* channel(int16_t n, float scale);
+};
 #endif // __AP_HAL_EMPTY_ANALOGIN_H__

libraries/AP_HAL_Empty/GPIO.cpp

@@ -0,0 +1,49 @@
+
+#include "GPIO.h"
+
+using namespace Empty;
+
+EmptyGPIO::EmptyGPIO()
+{}
+
+void EmptyGPIO::init()
+{}
+
+void EmptyGPIO::pinMode(uint8_t pin, uint8_t output)
+{}
+
+
+uint8_t EmptyGPIO::read(uint8_t pin) {
+    return 0;
+}
+
+void EmptyGPIO::write(uint8_t pin, uint8_t value)
+{}
+
+/* Alternative interface: */
+AP_HAL::DigitalSource* channel(uint16_t n) {
+    return new EmptyDigitalSource(0);
+}
+
+/* Interrupt interface: */
+bool EmptyGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
+        uint8_t mode) {
+    return true;
+}
+
+
+EmptyDigitalSource::EmptyDigitalSource(uint8_t v) :
+    _v(v)
+{}
+
+void EmptyDigitalSource::mode(uint8_t output)
+{}
+
+uint8_t EmptyDigitalSource::read() {
+    return _v;
+}
+
+void EmptyDigitalSource::write(uint8_t value) {
+    _v = value;
+}
+

libraries/AP_HAL_Empty/GPIO.h

@@ -5,7 +5,30 @@
 #include <AP_HAL_Empty.h>
 
 class Empty::EmptyGPIO : public AP_HAL::GPIO {
+public:
+    EmptyGPIO();
+    void    init();
+    void    pinMode(uint8_t pin, uint8_t output);
+    uint8_t read(uint8_t pin);
+    void    write(uint8_t pin, uint8_t value);
+
+    /* 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);
 
 };
 
+class Empty::EmptyDigitalSource : public AP_HAL::DigitalSource {
+public:
+    EmptyDigitalSource(uint8_t v);
+    void    mode(uint8_t output);
+    uint8_t read();
+    void    write(uint8_t value); 
+private:
+    uint8_t _v;
+};
+
 #endif // __AP_HAL_EMPTY_GPIO_H__

libraries/AP_HAL_Empty/HAL_Empty_Class.cpp

@@ -1,8 +1,6 @@
 
 #include <AP_HAL.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
-
 #include "HAL_Empty_Class.h"
 #include "AP_HAL_Empty_Private.h"
 
@@ -43,5 +41,3 @@ void HAL_Empty::init(int argc, const char * argv[]) const {
 
 const HAL_Empty AP_HAL_Empty;
 
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
-

libraries/AP_HAL_Empty/HAL_Empty_Class.h

@@ -4,21 +4,18 @@
 
 #include <AP_HAL.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
-
 #include "AP_HAL_Empty_Namespace.h"
 #include "PrivateMember.h"
 
 class HAL_Empty : public AP_HAL::HAL {
 public:
     HAL_Empty();
-    void init(int argc, const char * argv[]) const;
+    void init(int argc, char * const * argv) const;
 private:
     Empty::EmptyPrivateMember *_member;
 };
 
-//extern const HAL_Empty AP_HAL_Empty;
+extern const HAL_Empty AP_HAL_Empty;
 
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
 #endif // __AP_HAL_EMPTY_CLASS_H__
 

libraries/AP_HAL_Empty/SPIDriver.cpp

@@ -3,15 +3,36 @@
 
 using namespace Empty;
 
-EmptySPIDeviceDriver::EmptySPIDeviceDriver() {}
-void EmptySPIDeviceDriver::init() {}
-AP_HAL::Semaphore* EmptySPIDeviceDriver::get_semaphore() {}
-void EmptySPIDeviceDriver::cs_assert() {}
-void EmptySPIDeviceDriver::cs_release() {}
-uint8_t EmptySPIDeviceDriver::transfer (uint8_t data) {return 0;}
+EmptySPIDeviceDriver::EmptySPIDeviceDriver()
+{}
+
+void EmptySPIDeviceDriver::init()
+{}
+
+AP_HAL::Semaphore* EmptySPIDeviceDriver::get_semaphore()
+{
+    return &_semaphore;
+}
+
+void EmptySPIDeviceDriver::cs_assert()
+{}
+
+void EmptySPIDeviceDriver::cs_release()
+{}
+
+uint8_t EmptySPIDeviceDriver::transfer (uint8_t data)
+{
+    return 0;
+}
+
+EmptySPIDeviceManager::EmptySPIDeviceManager()
+{}
+
+void EmptySPIDeviceManager::init(void *)
+{}
 
-EmptySPIDeviceManager::EmptySPIDeviceManager() {}
-void EmptySPIDeviceManager::init(void *) {}
 AP_HAL::SPIDeviceDriver* EmptySPIDeviceManager::device(enum AP_HAL::SPIDevice)
-{return &_device;}
+{
+    return &_device;
+}
 

libraries/AP_HAL_Empty/SPIDriver.h

@@ -3,7 +3,7 @@
 #define __AP_HAL_EMPTY_SPIDRIVER_H__
 
 #include <AP_HAL_Empty.h>
-
+#include "Semaphore.h"
 
 class Empty::EmptySPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
 public:
@@ -13,6 +13,8 @@ public:
     void cs_assert();
     void cs_release();
     uint8_t transfer (uint8_t data);
+private:
+    EmptySemaphore _semaphore;
 };
 
 class Empty::EmptySPIDeviceManager : public AP_HAL::SPIDeviceManager {

libraries/AP_HAL_Empty/Semaphore.cpp

@@ -0,0 +1,40 @@
+
+#include "Semaphore.h"
+
+using namespace Empty;
+
+EmptySemaphore::EmptySemaphore() :
+    _owner(NULL),
+    _k(NULL)
+{}
+
+
+bool EmptySemaphore::get(void* owner) {
+    if (_owner == NULL) {
+        _owner = owner;
+        return true;
+    } else {
+        return false;
+    }
+}
+
+bool EmptySemaphore::release(void* owner) {
+    if (_owner == NULL || _owner != owner) {
+        return false;
+    } else {
+        _owner = NULL;
+        if (_k){
+            _k();
+            _k = NULL;
+        }
+        return true;
+    }
+}
+
+bool EmptySemaphore::call_on_release(void* caller, AP_HAL::Proc k) {
+    /* idk what semantics randy was looking for here, honestly.
+     * seems like a bad idea. */
+    _k = k;
+    return true;
+}
+

libraries/AP_HAL_Empty/Semaphore.h

@@ -5,7 +5,18 @@
 #include <AP_HAL_Empty.h>
 
 class Empty::EmptySemaphore : public AP_HAL::Semaphore {
-
+public:
+    EmptySemaphore();
+    // get - to claim ownership of the semaphore
+    bool get(void* owner);
+    // release - to give up ownership of the semaphore
+    bool release(void* owner);
+    // call_on_release - returns true if caller successfully added to the
+    // queue to be called back
+    bool call_on_release(void* caller, AP_HAL::Proc k);
+private:
+    void* _owner;
+    AP_HAL::Proc _k;
 };
 
 #endif // __AP_HAL_EMPTY_SEMAPHORE_H__

libraries/AP_HAL_Empty/Storage.cpp

@@ -0,0 +1,40 @@
+
+#include <string.h>
+#include "Storage.h"
+
+using namespace Empty;
+
+EmptyStorage::EmptyStorage()
+{}
+
+void EmptyStorage::init(void*)
+{}
+
+uint8_t EmptyStorage::read_byte(uint16_t loc){
+    return 0;
+}
+
+uint16_t EmptyStorage::read_word(uint16_t loc){
+    return 0;
+}
+
+uint32_t EmptyStorage::read_dword(uint16_t loc){
+    return 0;
+}
+
+void EmptyStorage::read_block(void* dst, uint16_t src, size_t n) {
+    memset(dst, 0, n);
+}
+
+void EmptyStorage::write_byte(uint16_t loc, uint8_t value)
+{}
+
+void EmptyStorage::write_word(uint16_t loc, uint16_t value)
+{}
+
+void EmptyStorage::write_dword(uint16_t loc, uint32_t value)
+{}
+
+void EmptyStorage::write_block(uint16_t loc, void* src, size_t n)
+{}
+

libraries/AP_HAL_Empty/Storage.h

@@ -5,7 +5,18 @@
 #include <AP_HAL_Empty.h>
 
 class Empty::EmptyStorage : public AP_HAL::Storage {
+public:
+    EmptyStorage();
+    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, void* src, size_t n);
 };
 
 #endif // __AP_HAL_EMPTY_STORAGE_H__