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HAL_ChibiOS: rename classes to remove 'Chibi' 

it is redundent as all classes are in ChibiOS namespace, and makes the
code harder to read
This commit is contained in:
Andrew Tridgell 2018-01-13 15:02:05 +11:00
parent 25b68dc150
commit f14a847b97
21 changed files with 198 additions and 195 deletions
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23
libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h
View File

@ -1,22 +1,23 @@
#pragma once
namespace ChibiOS {
class ChibiAnalogIn;
class ChibiAnalogSource;
class ChibiDigitalSource;
class ChibiGPIO;
class ChibiI2CDevice;
class AnalogIn;
class AnalogSource;
class DigitalSource;
class GPIO;
class I2CDevice;
class I2CDeviceManager;
class OpticalFlow;
class PrivateMember;
class ChibiRCInput;
class ChibiRCOutput;
class ChibiScheduler;
class RCInput;
class RCOutput;
class Scheduler;
class Semaphore;
class SPIDevice;
class SPIDeviceDriver;
class SPIDeviceManager;
class ChibiStorage;
class ChibiUARTDriver;
class ChibiUtil;
class Storage;
class UARTDriver;
class Util;
class Shared_DMA;
}

48
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
View File

@ -45,7 +45,7 @@ using namespace ChibiOS;
scaling table between ADC count and actual input voltage, to account
for voltage dividers on the board.
*/
const ChibiAnalogIn::pin_info ChibiAnalogIn::pin_config[] = {
const AnalogIn::pin_info AnalogIn::pin_config[] = {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
{ ANALOG_VCC_5V_PIN, 0.007734 }, // VCC 5V rail sense
#else
@ -58,17 +58,17 @@ const ChibiAnalogIn::pin_info ChibiAnalogIn::pin_config[] = {
{ 15, VOLTAGE_SCALING*2 }, // analog airspeed sensor, 2:1 scaling
};
#define ADC_GRP1_NUM_CHANNELS ARRAY_SIZE_SIMPLE(ChibiAnalogIn::pin_config)
#define ADC_GRP1_NUM_CHANNELS ARRAY_SIZE_SIMPLE(AnalogIn::pin_config)
// samples filled in by ADC DMA engine
adcsample_t ChibiAnalogIn::samples[ADC_DMA_BUF_DEPTH*ADC_GRP1_NUM_CHANNELS];
uint32_t ChibiAnalogIn::sample_sum[ADC_GRP1_NUM_CHANNELS];
uint32_t ChibiAnalogIn::sample_count;
adcsample_t AnalogIn::samples[ADC_DMA_BUF_DEPTH*ADC_GRP1_NUM_CHANNELS];
uint32_t AnalogIn::sample_sum[ADC_GRP1_NUM_CHANNELS];
uint32_t AnalogIn::sample_count;
// special pin numbers
#define ANALOG_VCC_5V_PIN 4
ChibiAnalogSource::ChibiAnalogSource(int16_t pin, float initial_value) :
AnalogSource::AnalogSource(int16_t pin, float initial_value) :
_pin(pin),
_value(initial_value),
_value_ratiometric(initial_value),
@ -80,7 +80,7 @@ ChibiAnalogSource::ChibiAnalogSource(int16_t pin, float initial_value) :
}
float ChibiAnalogSource::read_average()
float AnalogSource::read_average()
{
if (_sum_count == 0) {
return _value;
@ -93,7 +93,7 @@ float ChibiAnalogSource::read_average()
return _value;
}
float ChibiAnalogSource::read_latest()
float AnalogSource::read_latest()
{
return _latest_value;
}
@ -101,12 +101,12 @@ float ChibiAnalogSource::read_latest()
/*
return scaling from ADC count to Volts
*/
float ChibiAnalogSource::_pin_scaler(void)
float AnalogSource::_pin_scaler(void)
{
float scaling = VOLTAGE_SCALING;
for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) {
if (ChibiAnalogIn::pin_config[i].channel == _pin) {
scaling = ChibiAnalogIn::pin_config[i].scaling;
if (AnalogIn::pin_config[i].channel == _pin) {
scaling = AnalogIn::pin_config[i].scaling;
break;
}
}
@ -116,7 +116,7 @@ float ChibiAnalogSource::_pin_scaler(void)
/*
return voltage in Volts
*/
float ChibiAnalogSource::voltage_average()
float AnalogSource::voltage_average()
{
return _pin_scaler() * read_average();
}
@ -125,7 +125,7 @@ float ChibiAnalogSource::voltage_average()
return voltage in Volts, assuming a ratiometric sensor powered by
the 5V rail
*/
float ChibiAnalogSource::voltage_average_ratiometric()
float AnalogSource::voltage_average_ratiometric()
{
voltage_average();
return _pin_scaler() * _value_ratiometric;
@ -134,12 +134,12 @@ float ChibiAnalogSource::voltage_average_ratiometric()
/*
return voltage in Volts
*/
float ChibiAnalogSource::voltage_latest()
float AnalogSource::voltage_latest()
{
return _pin_scaler() * read_latest();
}
void ChibiAnalogSource::set_pin(uint8_t pin)
void AnalogSource::set_pin(uint8_t pin)
{
if (_pin == pin) {
return;
@ -156,7 +156,7 @@ void ChibiAnalogSource::set_pin(uint8_t pin)
/*
apply a reading in ADC counts
*/
void ChibiAnalogSource::_add_value(float v, float vcc5V)
void AnalogSource::_add_value(float v, float vcc5V)
{
_latest_value = v;
_sum_value += v;
@ -176,7 +176,7 @@ void ChibiAnalogSource::_add_value(float v, float vcc5V)
}
ChibiAnalogIn::ChibiAnalogIn() :
AnalogIn::AnalogIn() :
_board_voltage(0),
_servorail_voltage(0),
_power_flags(0)
@ -186,7 +186,7 @@ ChibiAnalogIn::ChibiAnalogIn() :
/*
callback from ADC driver when sample buffer is filled
*/
void ChibiAnalogIn::adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n)
void AnalogIn::adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n)
{
if (buffer != &samples[0]) {
return;
@ -202,7 +202,7 @@ void ChibiAnalogIn::adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n)
/*
setup adc peripheral to capture samples with DMA into a buffer
*/
void ChibiAnalogIn::init()
void AnalogIn::init()
{
adcStart(&ADCD1, NULL);
memset(&adcgrpcfg, 0, sizeof(adcgrpcfg));
@ -235,7 +235,7 @@ void ChibiAnalogIn::init()
/*
calculate average sample since last read for all channels
*/
void ChibiAnalogIn::read_adc(uint32_t *val)
void AnalogIn::read_adc(uint32_t *val)
{
chSysLock();
for (uint8_t i = 0; i < ADC_GRP1_NUM_CHANNELS; i++) {
@ -249,7 +249,7 @@ void ChibiAnalogIn::read_adc(uint32_t *val)
/*
called at 1kHz
*/
void ChibiAnalogIn::_timer_tick(void)
void AnalogIn::_timer_tick(void)
{
// read adc at 100Hz
uint32_t now = AP_HAL::micros();
@ -277,7 +277,7 @@ void ChibiAnalogIn::_timer_tick(void)
(unsigned)pin_config[i].channel,
(unsigned)buf_adc[i]);
for (uint8_t j=0; j < ADC_GRP1_NUM_CHANNELS; j++) {
ChibiOS::ChibiAnalogSource *c = _channels[j];
ChibiOS::AnalogSource *c = _channels[j];
if (c != nullptr && pin_config[i].channel == c->_pin) {
// add a value
c->_add_value(buf_adc[i], _board_voltage);
@ -291,11 +291,11 @@ void ChibiAnalogIn::_timer_tick(void)
#endif
}
AP_HAL::AnalogSource* ChibiAnalogIn::channel(int16_t pin)
AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin)
{
for (uint8_t j=0; j<ANALOG_MAX_CHANNELS; j++) {
if (_channels[j] == nullptr) {
_channels[j] = new ChibiAnalogSource(pin, 0.0f);
_channels[j] = new AnalogSource(pin, 0.0f);
return _channels[j];
}
}

14
libraries/AP_HAL_ChibiOS/AnalogIn.h
View File

@ -24,10 +24,10 @@
// number of samples on each channel to gather on each DMA callback
#define ADC_DMA_BUF_DEPTH 8
class ChibiOS::ChibiAnalogSource : public AP_HAL::AnalogSource {
class ChibiOS::AnalogSource : public AP_HAL::AnalogSource {
public:
friend class ChibiOS::ChibiAnalogIn;
ChibiAnalogSource(int16_t pin, float initial_value);
friend class ChibiOS::AnalogIn;
AnalogSource(int16_t pin, float initial_value);
float read_average();
float read_latest();
void set_pin(uint8_t p);
@ -50,11 +50,11 @@ private:
float _pin_scaler();
};
class ChibiOS::ChibiAnalogIn : public AP_HAL::AnalogIn {
class ChibiOS::AnalogIn : public AP_HAL::AnalogIn {
public:
friend class ChibiAnalogSource;
friend class AnalogSource;
ChibiAnalogIn();
AnalogIn();
void init() override;
AP_HAL::AnalogSource* channel(int16_t pin) override;
void _timer_tick(void);
@ -69,7 +69,7 @@ private:
int _system_power_handle;
uint64_t _battery_timestamp;
uint64_t _servorail_timestamp;
ChibiOS::ChibiAnalogSource* _channels[ANALOG_MAX_CHANNELS];
ChibiOS::AnalogSource* _channels[ANALOG_MAX_CHANNELS];
uint32_t _last_run;
float _board_voltage;

32
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -118,10 +118,10 @@ static const uint32_t irq_port_list[] = {
EXT_MODE_GPIOD //Chan 15
};
ChibiGPIO::ChibiGPIO()
GPIO::GPIO()
{}
void ChibiGPIO::init()
void GPIO::init()
{
extStart(&EXTD1, &extcfg);
uint8_t pwm_count = AP_BoardConfig::get_pwm_count();
@ -138,7 +138,7 @@ void ChibiGPIO::init()
}
}
void ChibiGPIO::pinMode(uint8_t pin, uint8_t output)
void GPIO::pinMode(uint8_t pin, uint8_t output)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
@ -146,13 +146,13 @@ void ChibiGPIO::pinMode(uint8_t pin, uint8_t output)
}
}
int8_t ChibiGPIO::analogPinToDigitalPin(uint8_t pin)
int8_t GPIO::analogPinToDigitalPin(uint8_t pin)
{
return -1;
}
uint8_t ChibiGPIO::read(uint8_t pin)
uint8_t GPIO::read(uint8_t pin)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
@ -161,7 +161,7 @@ uint8_t ChibiGPIO::read(uint8_t pin)
return 0;
}
void ChibiGPIO::write(uint8_t pin, uint8_t value)
void GPIO::write(uint8_t pin, uint8_t value)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
@ -173,7 +173,7 @@ void ChibiGPIO::write(uint8_t pin, uint8_t value)
}
}
void ChibiGPIO::toggle(uint8_t pin)
void GPIO::toggle(uint8_t pin)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
@ -182,12 +182,12 @@ void ChibiGPIO::toggle(uint8_t pin)
}
/* Alternative interface: */
AP_HAL::DigitalSource* ChibiGPIO::channel(uint16_t n) {
return new ChibiDigitalSource(0);
AP_HAL::DigitalSource* GPIO::channel(uint16_t n) {
return new DigitalSource(0);
}
/* Interrupt interface: */
bool ChibiGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) {
bool GPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) {
extStop(&EXTD1);
switch(mode) {
case HAL_GPIO_INTERRUPT_LOW:
@ -211,27 +211,27 @@ bool ChibiGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t
return true;
}
bool ChibiGPIO::usb_connected(void)
bool GPIO::usb_connected(void)
{
return _usb_connected;
}
ChibiDigitalSource::ChibiDigitalSource(uint8_t v) :
DigitalSource::DigitalSource(uint8_t v) :
_v(v)
{}
void ChibiDigitalSource::mode(uint8_t output)
void DigitalSource::mode(uint8_t output)
{}
uint8_t ChibiDigitalSource::read() {
uint8_t DigitalSource::read() {
return _v;
}
void ChibiDigitalSource::write(uint8_t value) {
void DigitalSource::write(uint8_t value) {
_v = value;
}
void ChibiDigitalSource::toggle() {
void DigitalSource::toggle() {
_v = !_v;
}

8
libraries/AP_HAL_ChibiOS/GPIO.h
View File

@ -33,9 +33,9 @@
#endif
#endif
class ChibiOS::ChibiGPIO : public AP_HAL::GPIO {
class ChibiOS::GPIO : public AP_HAL::GPIO {
public:
ChibiGPIO();
GPIO();
void init();
void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin);
@ -58,9 +58,9 @@ private:
bool _usb_connected = false;
};
class ChibiOS::ChibiDigitalSource : public AP_HAL::DigitalSource {
class ChibiOS::DigitalSource : public AP_HAL::DigitalSource {
public:
ChibiDigitalSource(uint8_t v);
DigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);

16
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -34,13 +34,13 @@ static HAL_UARTE_DRIVER;
static HAL_UARTF_DRIVER;
static ChibiOS::I2CDeviceManager i2cDeviceManager;
static ChibiOS::SPIDeviceManager spiDeviceManager;
static ChibiOS::ChibiAnalogIn analogIn;
static ChibiOS::ChibiStorage storageDriver;
static ChibiOS::ChibiGPIO gpioDriver;
static ChibiOS::ChibiRCInput rcinDriver;
static ChibiOS::ChibiRCOutput rcoutDriver;
static ChibiOS::ChibiScheduler schedulerInstance;
static ChibiOS::ChibiUtil utilInstance;
static ChibiOS::AnalogIn analogIn;
static ChibiOS::Storage storageDriver;
static ChibiOS::GPIO gpioDriver;
static ChibiOS::RCInput rcinDriver;
static ChibiOS::RCOutput rcoutDriver;
static ChibiOS::Scheduler schedulerInstance;
static ChibiOS::Util utilInstance;
static Empty::OpticalFlow opticalFlowDriver;
#ifdef USE_POSIX
static FATFS SDC_FS; // FATFS object
@ -105,7 +105,7 @@ static THD_FUNCTION(main_loop,arg)
{
daemon_task = chThdGetSelfX();
Shared_DMA::init();
ChibiOS::Shared_DMA::init();
hal.uartA->begin(115200);
hal.uartB->begin(38400);

20
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -28,7 +28,7 @@ extern AP_IOMCU iomcu;
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
void ChibiRCInput::init()
void RCInput::init()
{
#if HAL_USE_ICU == TRUE
ppm_init(1000000, true);
@ -37,7 +37,7 @@ void ChibiRCInput::init()
_init = true;
}
bool ChibiRCInput::new_input()
bool RCInput::new_input()
{
if (!_init) {
return false;
@ -65,7 +65,7 @@ bool ChibiRCInput::new_input()
return valid;
}
uint8_t ChibiRCInput::num_channels()
uint8_t RCInput::num_channels()
{
if (!_init) {
return 0;
@ -76,7 +76,7 @@ uint8_t ChibiRCInput::num_channels()
return n;
}
uint16_t ChibiRCInput::read(uint8_t channel)
uint16_t RCInput::read(uint8_t channel)
{
if (!_init) {
return 0;
@ -105,7 +105,7 @@ uint16_t ChibiRCInput::read(uint8_t channel)
return v;
}
uint8_t ChibiRCInput::read(uint16_t* periods, uint8_t len)
uint8_t RCInput::read(uint16_t* periods, uint8_t len)
{
if (!_init) {
return false;
@ -120,7 +120,7 @@ uint8_t ChibiRCInput::read(uint16_t* periods, uint8_t len)
return len;
}
bool ChibiRCInput::set_overrides(int16_t *overrides, uint8_t len)
bool RCInput::set_overrides(int16_t *overrides, uint8_t len)
{
if (!_init) {
return false;
@ -133,7 +133,7 @@ bool ChibiRCInput::set_overrides(int16_t *overrides, uint8_t len)
return res;
}
bool ChibiRCInput::set_override(uint8_t channel, int16_t override)
bool RCInput::set_override(uint8_t channel, int16_t override)
{
if (!_init) {
return false;
@ -153,7 +153,7 @@ bool ChibiRCInput::set_override(uint8_t channel, int16_t override)
return false;
}
void ChibiRCInput::clear_overrides()
void RCInput::clear_overrides()
{
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
@ -161,7 +161,7 @@ void ChibiRCInput::clear_overrides()
}
void ChibiRCInput::_timer_tick(void)
void RCInput::_timer_tick(void)
{
if (!_init) {
return;
@ -202,7 +202,7 @@ void ChibiRCInput::_timer_tick(void)
// and a timeout for the last valid input to handle failsafe
}
bool ChibiRCInput::rc_bind(int dsmMode)
bool RCInput::rc_bind(int dsmMode)
{
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio) {

2
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -25,7 +25,7 @@
#define RC_INPUT_MAX_CHANNELS 18
#endif
class ChibiOS::ChibiRCInput : public AP_HAL::RCInput {
class ChibiOS::RCInput : public AP_HAL::RCInput {
public:
void init() override;
bool new_input() override;

38
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -27,13 +27,13 @@ extern const AP_HAL::HAL& hal;
extern AP_IOMCU iomcu;
#endif
struct ChibiRCOutput::pwm_group ChibiRCOutput::pwm_group_list[] = { HAL_PWM_GROUPS };
struct RCOutput::pwm_group RCOutput::pwm_group_list[] = { HAL_PWM_GROUPS };
#define NUM_GROUPS ARRAY_SIZE_SIMPLE(pwm_group_list)
#define CHAN_DISABLED 255
void ChibiRCOutput::init()
void RCOutput::init()
{
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
//Start Pwm groups
@ -54,7 +54,7 @@ void ChibiRCOutput::init()
#endif
}
void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{
//check if the request spans accross any of the channel groups
uint8_t update_mask = 0;
@ -123,7 +123,7 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
/*
set default output rate
*/
void ChibiRCOutput::set_default_rate(uint16_t freq_hz)
void RCOutput::set_default_rate(uint16_t freq_hz)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
@ -146,7 +146,7 @@ void ChibiRCOutput::set_default_rate(uint16_t freq_hz)
}
}
uint16_t ChibiRCOutput::get_freq(uint8_t chan)
uint16_t RCOutput::get_freq(uint8_t chan)
{
if (chan >= total_channels) {
return 0;
@ -169,7 +169,7 @@ uint16_t ChibiRCOutput::get_freq(uint8_t chan)
return 50;
}
void ChibiRCOutput::enable_ch(uint8_t chan)
void RCOutput::enable_ch(uint8_t chan)
{
if (chan >= total_channels) {
return;
@ -188,7 +188,7 @@ void ChibiRCOutput::enable_ch(uint8_t chan)
}
}
void ChibiRCOutput::disable_ch(uint8_t chan)
void RCOutput::disable_ch(uint8_t chan)
{
if (chan >= total_channels) {
return;
@ -208,7 +208,7 @@ void ChibiRCOutput::disable_ch(uint8_t chan)
}
}
void ChibiRCOutput::write(uint8_t chan, uint16_t period_us)
void RCOutput::write(uint8_t chan, uint16_t period_us)
{
if (chan >= total_channels) {
return;
@ -236,7 +236,7 @@ void ChibiRCOutput::write(uint8_t chan, uint16_t period_us)
/*
push values to local channels from period[] array
*/
void ChibiRCOutput::push_local(void)
void RCOutput::push_local(void)
{
if (num_channels == 0) {
return;
@ -274,7 +274,7 @@ void ChibiRCOutput::push_local(void)
}
}
uint16_t ChibiRCOutput::read(uint8_t chan)
uint16_t RCOutput::read(uint8_t chan)
{
if (chan >= total_channels) {
return 0;
@ -288,7 +288,7 @@ uint16_t ChibiRCOutput::read(uint8_t chan)
return period[chan];
}
void ChibiRCOutput::read(uint16_t* period_us, uint8_t len)
void RCOutput::read(uint16_t* period_us, uint8_t len)
{
if (len > total_channels) {
len = total_channels;
@ -307,7 +307,7 @@ void ChibiRCOutput::read(uint16_t* period_us, uint8_t len)
memcpy(period_us, period, len*sizeof(uint16_t));
}
uint16_t ChibiRCOutput::read_last_sent(uint8_t chan)
uint16_t RCOutput::read_last_sent(uint8_t chan)
{
if (chan >= total_channels) {
return 0;
@ -315,7 +315,7 @@ uint16_t ChibiRCOutput::read_last_sent(uint8_t chan)
return last_sent[chan];
}
void ChibiRCOutput::read_last_sent(uint16_t* period_us, uint8_t len)
void RCOutput::read_last_sent(uint16_t* period_us, uint8_t len)
{
if (len > total_channels) {
len = total_channels;
@ -327,7 +327,7 @@ void ChibiRCOutput::read_last_sent(uint16_t* period_us, uint8_t len)
/*
setup output mode
*/
void ChibiRCOutput::set_output_mode(enum output_mode mode)
void RCOutput::set_output_mode(enum output_mode mode)
{
_output_mode = mode;
if (_output_mode == MODE_PWM_BRUSHED) {
@ -341,7 +341,7 @@ void ChibiRCOutput::set_output_mode(enum output_mode mode)
/*
force the safety switch on, disabling PWM output from the IO board
*/
bool ChibiRCOutput::force_safety_on(void)
bool RCOutput::force_safety_on(void)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
@ -354,7 +354,7 @@ bool ChibiRCOutput::force_safety_on(void)
/*
force the safety switch off, enabling PWM output from the IO board
*/
void ChibiRCOutput::force_safety_off(void)
void RCOutput::force_safety_off(void)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
@ -366,7 +366,7 @@ void ChibiRCOutput::force_safety_off(void)
/*
start corking output
*/
void ChibiRCOutput::cork(void)
void RCOutput::cork(void)
{
corked = true;
#if HAL_WITH_IO_MCU
@ -379,7 +379,7 @@ void ChibiRCOutput::cork(void)
/*
stop corking output
*/
void ChibiRCOutput::push(void)
void RCOutput::push(void)
{
corked = false;
push_local();
@ -393,7 +393,7 @@ void ChibiRCOutput::push(void)
/*
enable sbus output
*/
bool ChibiRCOutput::enable_px4io_sbus_out(uint16_t rate_hz)
bool RCOutput::enable_px4io_sbus_out(uint16_t rate_hz)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {

2
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -20,7 +20,7 @@
#include "ch.h"
#include "hal.h"
class ChibiOS::ChibiRCOutput : public AP_HAL::RCOutput {
class ChibiOS::RCOutput : public AP_HAL::RCOutput {
public:
void init();
void set_freq(uint32_t chmask, uint16_t freq_hz);

68
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -38,13 +38,13 @@ THD_WORKING_AREA(_storage_thread_wa, 2048);
THD_WORKING_AREA(_uart_thread_wa, 2048);
#if HAL_WITH_IO_MCU
extern ChibiOS::ChibiUARTDriver uart_io;
extern ChibiOS::UARTDriver uart_io;
#endif
ChibiScheduler::ChibiScheduler()
Scheduler::Scheduler()
{}
void ChibiScheduler::init()
void Scheduler::init()
{
// setup the timer thread - this will call tasks at 1kHz
_timer_thread_ctx = chThdCreateStatic(_timer_thread_wa,
@ -75,7 +75,7 @@ void ChibiScheduler::init()
this); /* Thread parameter. */
}
void ChibiScheduler::delay_microseconds(uint16_t usec)
void Scheduler::delay_microseconds(uint16_t usec)
{
if (usec == 0) { //chibios faults with 0us sleep
return;
@ -109,7 +109,7 @@ static void set_normal_priority()
microseconds when the time completes. This significantly improves
the regularity of timing of the main loop as it takes
*/
void ChibiScheduler::delay_microseconds_boost(uint16_t usec)
void Scheduler::delay_microseconds_boost(uint16_t usec)
{
delay_microseconds(usec); //Suspends Thread for desired microseconds
set_high_priority();
@ -117,7 +117,7 @@ void ChibiScheduler::delay_microseconds_boost(uint16_t usec)
set_normal_priority();
}
void ChibiScheduler::delay(uint16_t ms)
void Scheduler::delay(uint16_t ms)
{
if (!in_main_thread()) {
//chprintf("ERROR: delay() from timer process\n");
@ -135,14 +135,14 @@ void ChibiScheduler::delay(uint16_t ms)
}
}
void ChibiScheduler::register_delay_callback(AP_HAL::Proc proc,
void Scheduler::register_delay_callback(AP_HAL::Proc proc,
uint16_t min_time_ms)
{
_delay_cb = proc;
_min_delay_cb_ms = min_time_ms;
}
void ChibiScheduler::register_timer_process(AP_HAL::MemberProc proc)
void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
{
for (uint8_t i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i] == proc) {
@ -158,7 +158,7 @@ void ChibiScheduler::register_timer_process(AP_HAL::MemberProc proc)
}
}
void ChibiScheduler::register_io_process(AP_HAL::MemberProc proc)
void Scheduler::register_io_process(AP_HAL::MemberProc proc)
{
for (uint8_t i = 0; i < _num_io_procs; i++) {
if (_io_proc[i] == proc) {
@ -174,17 +174,17 @@ void ChibiScheduler::register_io_process(AP_HAL::MemberProc proc)
}
}
void ChibiScheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
{
_failsafe = failsafe;
}
void ChibiScheduler::suspend_timer_procs()
void Scheduler::suspend_timer_procs()
{
_timer_suspended = true;
}
void ChibiScheduler::resume_timer_procs()
void Scheduler::resume_timer_procs()
{
_timer_suspended = false;
if (_timer_event_missed == true) {
@ -193,7 +193,7 @@ void ChibiScheduler::resume_timer_procs()
}
}
extern void Reset_Handler();
void ChibiScheduler::reboot(bool hold_in_bootloader)
void Scheduler::reboot(bool hold_in_bootloader)
{
// disarm motors to ensure they are off during a bootloader upload
hal.rcout->force_safety_on();
@ -209,7 +209,7 @@ void ChibiScheduler::reboot(bool hold_in_bootloader)
NVIC_SystemReset();
}
void ChibiScheduler::_run_timers(bool called_from_timer_thread)
void Scheduler::_run_timers(bool called_from_timer_thread)
{
if (_in_timer_proc) {
return;
@ -233,14 +233,14 @@ void ChibiScheduler::_run_timers(bool called_from_timer_thread)
}
// process analog input
((ChibiAnalogIn *)hal.analogin)->_timer_tick();
((AnalogIn *)hal.analogin)->_timer_tick();
_in_timer_proc = false;
}
void ChibiScheduler::_timer_thread(void *arg)
void Scheduler::_timer_thread(void *arg)
{
ChibiScheduler *sched = (ChibiScheduler *)arg;
Scheduler *sched = (Scheduler *)arg;
sched->_timer_thread_ctx->name = "apm_timer";
while (!sched->_hal_initialized) {
@ -256,11 +256,11 @@ void ChibiScheduler::_timer_thread(void *arg)
//hal.rcout->timer_tick();
// process any pending RC input requests
((ChibiRCInput *)hal.rcin)->_timer_tick();
((RCInput *)hal.rcin)->_timer_tick();
}
}
void ChibiScheduler::_run_io(void)
void Scheduler::_run_io(void)
{
if (_in_io_proc) {
return;
@ -279,9 +279,9 @@ void ChibiScheduler::_run_io(void)
_in_io_proc = false;
}
void ChibiScheduler::_uart_thread(void* arg)
void Scheduler::_uart_thread(void* arg)
{
ChibiScheduler *sched = (ChibiScheduler *)arg;
Scheduler *sched = (Scheduler *)arg;
sched->_uart_thread_ctx->name = "apm_uart";
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
@ -290,21 +290,21 @@ void ChibiScheduler::_uart_thread(void* arg)
sched->delay_microseconds(1000);
// process any pending serial bytes
((ChibiUARTDriver *)hal.uartA)->_timer_tick();
((ChibiUARTDriver *)hal.uartB)->_timer_tick();
((ChibiUARTDriver *)hal.uartC)->_timer_tick();
/*((ChibiUARTDriver *)hal.uartD)->_timer_tick();
((ChibiUARTDriver *)hal.uartE)->_timer_tick();
((ChibiUARTDriver *)hal.uartF)->_timer_tick();*/
((UARTDriver *)hal.uartA)->_timer_tick();
((UARTDriver *)hal.uartB)->_timer_tick();
((UARTDriver *)hal.uartC)->_timer_tick();
/*((UARTDriver *)hal.uartD)->_timer_tick();
((UARTDriver *)hal.uartE)->_timer_tick();
((UARTDriver *)hal.uartF)->_timer_tick();*/
#if HAL_WITH_IO_MCU
uart_io._timer_tick();
#endif
}
}
void ChibiScheduler::_io_thread(void* arg)
void Scheduler::_io_thread(void* arg)
{
ChibiScheduler *sched = (ChibiScheduler *)arg;
Scheduler *sched = (Scheduler *)arg;
sched->_io_thread_ctx->name = "apm_io";
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
@ -317,9 +317,9 @@ void ChibiScheduler::_io_thread(void* arg)
}
}
void ChibiScheduler::_storage_thread(void* arg)
void Scheduler::_storage_thread(void* arg)
{
ChibiScheduler *sched = (ChibiScheduler *)arg;
Scheduler *sched = (Scheduler *)arg;
sched->_storage_thread_ctx->name = "apm_storage";
while (!sched->_hal_initialized) {
sched->delay_microseconds(10000);
@ -328,16 +328,16 @@ void ChibiScheduler::_storage_thread(void* arg)
sched->delay_microseconds(10000);
// process any pending storage writes
((ChibiStorage *)hal.storage)->_timer_tick();
((Storage *)hal.storage)->_timer_tick();
}
}
bool ChibiScheduler::in_main_thread() const
bool Scheduler::in_main_thread() const
{
return get_main_thread() == chThdGetSelfX();
}
void ChibiScheduler::system_initialized()
void Scheduler::system_initialized()
{
if (_initialized) {
AP_HAL::panic("PANIC: scheduler::system_initialized called"

4
libraries/AP_HAL_ChibiOS/Scheduler.h
View File

@ -52,9 +52,9 @@
#define APM_MAIN_THREAD_STACK_SIZE 8192
/* Scheduler implementation: */
class ChibiOS::ChibiScheduler : public AP_HAL::Scheduler {
class ChibiOS::Scheduler : public AP_HAL::Scheduler {
public:
ChibiScheduler();
Scheduler();
/* AP_HAL::Scheduler methods */

22
libraries/AP_HAL_ChibiOS/Storage.cpp
View File

@ -27,7 +27,7 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
void ChibiStorage::_storage_open(void)
void Storage::_storage_open(void)
{
if (_initialised) {
return;
@ -60,7 +60,7 @@ void ChibiStorage::_storage_open(void)
result is that a line is written more than once, but it won't result
in a line not being written.
*/
void ChibiStorage::_mark_dirty(uint16_t loc, uint16_t length)
void Storage::_mark_dirty(uint16_t loc, uint16_t length)
{
uint16_t end = loc + length;
for (uint16_t line=loc>>CH_STORAGE_LINE_SHIFT;
@ -70,7 +70,7 @@ void ChibiStorage::_mark_dirty(uint16_t loc, uint16_t length)
}
}
void ChibiStorage::read_block(void *dst, uint16_t loc, size_t n)
void Storage::read_block(void *dst, uint16_t loc, size_t n)
{
if (loc >= sizeof(_buffer)-(n-1)) {
return;
@ -79,7 +79,7 @@ void ChibiStorage::read_block(void *dst, uint16_t loc, size_t n)
memcpy(dst, &_buffer[loc], n);
}
void ChibiStorage::write_block(uint16_t loc, const void *src, size_t n)
void Storage::write_block(uint16_t loc, const void *src, size_t n)
{
if (loc >= sizeof(_buffer)-(n-1)) {
return;
@ -91,7 +91,7 @@ void ChibiStorage::write_block(uint16_t loc, const void *src, size_t n)
}
}
void ChibiStorage::_timer_tick(void)
void Storage::_timer_tick(void)
{
if (!_initialised || _dirty_mask.empty()) {
return;
@ -127,7 +127,7 @@ void ChibiStorage::_timer_tick(void)
/*
load all data from flash
*/
void ChibiStorage::_flash_load(void)
void Storage::_flash_load(void)
{
_flash_page = STORAGE_FLASH_PAGE;
@ -141,7 +141,7 @@ void ChibiStorage::_flash_load(void)
/*
write one storage line. This also updates _dirty_mask.
*/
void ChibiStorage::_flash_write(uint16_t line)
void Storage::_flash_write(uint16_t line)
{
if (_flash.write(line*CH_STORAGE_LINE_SIZE, CH_STORAGE_LINE_SIZE)) {
// mark the line clean
@ -152,7 +152,7 @@ void ChibiStorage::_flash_write(uint16_t line)
/*
callback to write data to flash
*/
bool ChibiStorage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
{
size_t base_address = stm32_flash_getpageaddr(_flash_page+sector);
bool ret = stm32_flash_write(base_address+offset, data, length) == length;
@ -173,7 +173,7 @@ bool ChibiStorage::_flash_write_data(uint8_t sector, uint32_t offset, const uint
/*
callback to read data from flash
*/
bool ChibiStorage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
{
size_t base_address = stm32_flash_getpageaddr(_flash_page+sector);
const uint8_t *b = ((const uint8_t *)base_address)+offset;
@ -184,7 +184,7 @@ bool ChibiStorage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *da
/*
callback to erase flash sector
*/
bool ChibiStorage::_flash_erase_sector(uint8_t sector)
bool Storage::_flash_erase_sector(uint8_t sector)
{
return stm32_flash_erasepage(_flash_page+sector);
}
@ -192,7 +192,7 @@ bool ChibiStorage::_flash_erase_sector(uint8_t sector)
/*
callback to check if erase is allowed
*/
bool ChibiStorage::_flash_erase_ok(void)
bool Storage::_flash_erase_ok(void)
{
// only allow erase while disarmed
return !hal.util->get_soft_armed();

10
libraries/AP_HAL_ChibiOS/Storage.h
View File

@ -32,7 +32,7 @@
#define CH_STORAGE_LINE_SIZE (1<<CH_STORAGE_LINE_SHIFT)
#define CH_STORAGE_NUM_LINES (CH_STORAGE_SIZE/CH_STORAGE_LINE_SIZE)
class ChibiOS::ChibiStorage : public AP_HAL::Storage {
class ChibiOS::Storage : public AP_HAL::Storage {
public:
void init() {}
void read_block(void *dst, uint16_t src, size_t n);
@ -58,10 +58,10 @@ private:
AP_FlashStorage _flash{_buffer,
stm32_flash_getpagesize(STORAGE_FLASH_PAGE),
FUNCTOR_BIND_MEMBER(&ChibiStorage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&ChibiStorage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&ChibiStorage::_flash_erase_sector, bool, uint8_t),
FUNCTOR_BIND_MEMBER(&ChibiStorage::_flash_erase_ok, bool)};
FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
void _flash_load(void);
void _flash_write(uint16_t line);

58
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -31,12 +31,12 @@ using namespace ChibiOS;
#define HAVE_USB_SERIAL
#endif
const ChibiUARTDriver::SerialDef ChibiUARTDriver::_serial_tab[] = { HAL_UART_DEVICE_LIST };
const UARTDriver::SerialDef UARTDriver::_serial_tab[] = { HAL_UART_DEVICE_LIST };
// event used to wake up waiting thread
#define EVT_DATA EVENT_MASK(0)
ChibiUARTDriver::ChibiUARTDriver(uint8_t serial_num) :
UARTDriver::UARTDriver(uint8_t serial_num) :
tx_bounce_buf_ready(true),
sdef(_serial_tab[serial_num]),
_baudrate(57600),
@ -46,7 +46,7 @@ _initialised(false)
chMtxObjectInit(&_write_mutex);
}
void ChibiUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
hal.gpio->pinMode(2, HAL_GPIO_OUTPUT);
hal.gpio->pinMode(3, HAL_GPIO_OUTPUT);
@ -135,8 +135,8 @@ void ChibiUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
// cannot be shared
dma_handle = new Shared_DMA(sdef.dma_tx_stream_id,
SHARED_DMA_NONE,
FUNCTOR_BIND_MEMBER(&ChibiUARTDriver::dma_tx_allocate, void),
FUNCTOR_BIND_MEMBER(&ChibiUARTDriver::dma_tx_deallocate, void));
FUNCTOR_BIND_MEMBER(&UARTDriver::dma_tx_allocate, void),
FUNCTOR_BIND_MEMBER(&UARTDriver::dma_tx_deallocate, void));
}
}
sercfg.speed = _baudrate;
@ -186,7 +186,7 @@ void ChibiUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
set_flow_control(_flow_control);
}
void ChibiUARTDriver::dma_tx_allocate(void)
void UARTDriver::dma_tx_allocate(void)
{
osalDbgAssert(txdma == nullptr, "double DMA allocation");
txdma = STM32_DMA_STREAM(sdef.dma_tx_stream_id);
@ -198,7 +198,7 @@ void ChibiUARTDriver::dma_tx_allocate(void)
dmaStreamSetPeripheral(txdma, &((SerialDriver*)sdef.serial)->usart->DR);
}
void ChibiUARTDriver::dma_tx_deallocate(void)
void UARTDriver::dma_tx_deallocate(void)
{
chSysLock();
dmaStreamRelease(txdma);
@ -206,18 +206,18 @@ void ChibiUARTDriver::dma_tx_deallocate(void)
chSysUnlock();
}
void ChibiUARTDriver::tx_complete(void* self, uint32_t flags)
void UARTDriver::tx_complete(void* self, uint32_t flags)
{
ChibiUARTDriver* uart_drv = (ChibiUARTDriver*)self;
UARTDriver* uart_drv = (UARTDriver*)self;
uart_drv->dma_handle->unlock_from_IRQ();
uart_drv->_last_write_completed_us = AP_HAL::micros();
uart_drv->tx_bounce_buf_ready = true;
}
void ChibiUARTDriver::rx_irq_cb(void* self)
void UARTDriver::rx_irq_cb(void* self)
{
ChibiUARTDriver* uart_drv = (ChibiUARTDriver*)self;
UARTDriver* uart_drv = (UARTDriver*)self;
if (!uart_drv->sdef.dma_rx) {
return;
}
@ -230,9 +230,9 @@ void ChibiUARTDriver::rx_irq_cb(void* self)
}
}
void ChibiUARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
void UARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
{
ChibiUARTDriver* uart_drv = (ChibiUARTDriver*)self;
UARTDriver* uart_drv = (UARTDriver*)self;
if (uart_drv->_lock_rx_in_timer_tick) {
return;
}
@ -258,12 +258,12 @@ void ChibiUARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
}
}
void ChibiUARTDriver::begin(uint32_t b)
void UARTDriver::begin(uint32_t b)
{
begin(b, 0, 0);
}
void ChibiUARTDriver::end()
void UARTDriver::end()
{
_initialised = false;
while (_in_timer) hal.scheduler->delay(1);
@ -280,7 +280,7 @@ void ChibiUARTDriver::end()
_writebuf.set_size(0);
}
void ChibiUARTDriver::flush()
void UARTDriver::flush()
{
if (sdef.is_usb) {
#ifdef HAVE_USB_SERIAL
@ -292,20 +292,20 @@ void ChibiUARTDriver::flush()
}
}
bool ChibiUARTDriver::is_initialized()
bool UARTDriver::is_initialized()
{
return _initialised;
}
void ChibiUARTDriver::set_blocking_writes(bool blocking)
void UARTDriver::set_blocking_writes(bool blocking)
{
_nonblocking_writes = !blocking;
}
bool ChibiUARTDriver::tx_pending() { return false; }
bool UARTDriver::tx_pending() { return false; }
/* Empty implementations of Stream virtual methods */
uint32_t ChibiUARTDriver::available() {
uint32_t UARTDriver::available() {
if (!_initialised) {
return 0;
}
@ -320,7 +320,7 @@ uint32_t ChibiUARTDriver::available() {
return _readbuf.available();
}
uint32_t ChibiUARTDriver::txspace()
uint32_t UARTDriver::txspace()
{
if (!_initialised) {
return 0;
@ -328,7 +328,7 @@ uint32_t ChibiUARTDriver::txspace()
return _writebuf.space();
}
int16_t ChibiUARTDriver::read()
int16_t UARTDriver::read()
{
if (_uart_owner_thd != chThdGetSelfX()){
return -1;
@ -349,7 +349,7 @@ int16_t ChibiUARTDriver::read()
}
/* Empty implementations of Print virtual methods */
size_t ChibiUARTDriver::write(uint8_t c)
size_t UARTDriver::write(uint8_t c)
{
if (!chMtxTryLock(&_write_mutex)) {
return -1;
@ -372,7 +372,7 @@ size_t ChibiUARTDriver::write(uint8_t c)
return ret;
}
size_t ChibiUARTDriver::write(const uint8_t *buffer, size_t size)
size_t UARTDriver::write(const uint8_t *buffer, size_t size)
{
if (!_initialised) {
return 0;
@ -404,7 +404,7 @@ size_t ChibiUARTDriver::write(const uint8_t *buffer, size_t size)
wait for data to arrive, or a timeout. Return true if data has
arrived, false on timeout
*/
bool ChibiUARTDriver::wait_timeout(uint16_t n, uint32_t timeout_ms)
bool UARTDriver::wait_timeout(uint16_t n, uint32_t timeout_ms)
{
chEvtGetAndClearEvents(EVT_DATA);
if (available() >= n) {
@ -421,7 +421,7 @@ bool ChibiUARTDriver::wait_timeout(uint16_t n, uint32_t timeout_ms)
1kHz in the timer thread. Doing it this way reduces the system call
overhead in the main task enormously.
*/
void ChibiUARTDriver::_timer_tick(void)
void UARTDriver::_timer_tick(void)
{
int ret;
uint32_t n;
@ -463,7 +463,7 @@ void ChibiUARTDriver::_timer_tick(void)
}
if(sdef.is_usb) {
#ifdef HAVE_USB_SERIAL
((ChibiGPIO *)hal.gpio)->set_usb_connected();
((GPIO *)hal.gpio)->set_usb_connected();
#endif
}
_in_timer = true;
@ -578,7 +578,7 @@ end:
/*
change flow control mode for port
*/
void ChibiUARTDriver::set_flow_control(enum flow_control flow_control)
void UARTDriver::set_flow_control(enum flow_control flow_control)
{
if (sdef.rts_line == 0 || sdef.is_usb) {
// no hw flow control available
@ -623,7 +623,7 @@ void ChibiUARTDriver::set_flow_control(enum flow_control flow_control)
software update of rts line. We don't use the HW support for RTS as
it has no hysteresis, so it ends up toggling RTS on every byte
*/
void ChibiUARTDriver::update_rts_line(void)
void UARTDriver::update_rts_line(void)
{
if (sdef.rts_line == 0 || _flow_control == FLOW_CONTROL_DISABLE) {
return;

4
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -24,9 +24,9 @@
#define RX_BOUNCE_BUFSIZE 128
#define TX_BOUNCE_BUFSIZE 64
class ChibiOS::ChibiUARTDriver : public AP_HAL::UARTDriver {
class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
public:
ChibiUARTDriver(uint8_t serial_num);
UARTDriver(uint8_t serial_num);
void begin(uint32_t b);
void begin(uint32_t b, uint16_t rxS, uint16_t txS);

14
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -37,7 +37,7 @@ extern "C" {
/**
how much free memory do we have in bytes.
*/
uint32_t ChibiUtil::available_memory(void)
uint32_t Util::available_memory(void)
{
// from malloc.c in hwdef
return mem_available();
@ -47,7 +47,7 @@ uint32_t ChibiUtil::available_memory(void)
Special Allocation Routines
*/
void* ChibiUtil::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
void* Util::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
{
if (mem_type == AP_HAL::Util::MEM_FAST) {
return try_alloc_from_ccm_ram(size);
@ -56,7 +56,7 @@ void* ChibiUtil::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
}
}
void ChibiUtil::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
{
if (ptr != NULL) {
chHeapFree(ptr);
@ -64,7 +64,7 @@ void ChibiUtil::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_
}
void* ChibiUtil::try_alloc_from_ccm_ram(size_t size)
void* Util::try_alloc_from_ccm_ram(size_t size)
{
void *ret = malloc_ccm(size);
if (ret == nullptr) {
@ -77,7 +77,7 @@ void* ChibiUtil::try_alloc_from_ccm_ram(size_t size)
/*
get safety switch state
*/
ChibiUtil::safety_state ChibiUtil::safety_switch_state(void)
Util::safety_state Util::safety_switch_state(void)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
@ -87,7 +87,7 @@ ChibiUtil::safety_state ChibiUtil::safety_switch_state(void)
return SAFETY_NONE;
}
void ChibiUtil::set_imu_temp(float current)
void Util::set_imu_temp(float current)
{
#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
if (!heater.target || *heater.target == -1 || !AP_BoardConfig::io_enabled()) {
@ -130,7 +130,7 @@ void ChibiUtil::set_imu_temp(float current)
#endif // HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
}
void ChibiUtil::set_imu_target_temp(int8_t *target)
void Util::set_imu_target_temp(int8_t *target)
{
#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
heater.target = target;

2
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -23,7 +23,7 @@
// this checks an address is in main memory and 16 bit aligned
#define IS_DMA_SAFE(addr) ((uint32_t(addr) & 0xF0000001) == 0x20000000)
class ChibiOS::ChibiUtil : public AP_HAL::Util {
class ChibiOS::Util : public AP_HAL::Util {
public:
bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
AP_HAL::Semaphore *new_semaphore(void) override { return new ChibiOS::Semaphore; }

4
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -419,7 +419,7 @@ def write_UART_config(f):
devnames = "ABCDEFGH"
for dev in uart_list:
idx = uart_list.index(dev)
f.write('#define HAL_UART%s_DRIVER ChibiOS::ChibiUARTDriver uart%sDriver(%u)\n' % (devnames[idx], devnames[idx], idx))
f.write('#define HAL_UART%s_DRIVER ChibiOS::UARTDriver uart%sDriver(%u)\n' % (devnames[idx], devnames[idx], idx))
for idx in range(len(uart_list), 6):
f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' % (devnames[idx], devnames[idx]))
@ -427,7 +427,7 @@ def write_UART_config(f):
f.write('#define HAL_WITH_IO_MCU 1\n')
idx = len(uart_list)
f.write('#define HAL_UART_IOMCU_IDX %u\n' % idx)
f.write('#define HAL_UART_IO_DRIVER ChibiOS::ChibiUARTDriver uart_io(HAL_UART_IOMCU_IDX)\n')
f.write('#define HAL_UART_IO_DRIVER ChibiOS::UARTDriver uart_io(HAL_UART_IOMCU_IDX)\n')
uart_list.append(config['IOMCU_UART'][0])
else:
f.write('#define HAL_WITH_IO_MCU 0\n')

2
libraries/AP_HAL_ChibiOS/shared_dma.cpp
View File

@ -20,6 +20,8 @@
code to handle sharing of DMA channels between peripherals
*/
using namespace ChibiOS;
Shared_DMA::dma_lock Shared_DMA::locks[SHARED_DMA_MAX_STREAM_ID];
void Shared_DMA::init(void)

2
libraries/AP_HAL_ChibiOS/shared_dma.h
View File

@ -23,7 +23,7 @@
// DMA stream ID for stream_id2 when only one is needed
#define SHARED_DMA_NONE 255
class Shared_DMA
class ChibiOS::Shared_DMA
{
public:
FUNCTOR_TYPEDEF(dma_allocate_fn_t, void);