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REAME_AP_HAL: minor fixes

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reved date, fixed declaration of console, line wrapping issues
This commit is contained in:
Pat Hickey 2012-09-17 20:24:51 -07:00 committed by Andrew Tridgell
parent e932abb7b5
commit f63fb29d52
1 changed files with 25 additions and 12 deletions
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37
README_AP_HAL.md
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@ -4,7 +4,7 @@ Pat Hickey
Galois Inc
11 Sept 2011
17 Sept 2011
--------
Overview
@ -175,7 +175,7 @@ the `AP_HAL` namespace, left off for brevity.)
driver
* `Dataflash* dataflash` : Corresponds to ArduPilot `/libraries/DataFlash`
driver
* `BetterStream* console` : New utility for warning and error reporting
* `ConsoleDriver* console` : New utility for warning and error reporting
* `GPIO* gpio` : Corresponds to Arduino core `pinMode`,
`digitalRead`, and `digitalWrite` functionality
* `RCInput* rcin` : Corresponds to PPM input side of ArduPilot
@ -337,7 +337,9 @@ in a threaded environment.
AP\_HAL::ConsoleDriver
----------------------
The `AP_HAL::ConsoleDriver` class is pure virtual and can be found in `/libraries/AP_HAL/Console.h` . It is derived from the `AP_HAL::BetterStream` class.
The `AP_HAL::ConsoleDriver` class is pure virtual and can be found in
`/libraries/AP_HAL/Console.h` . It is derived from the `AP_HAL::BetterStream`
class.
In the existing ArduPilot code, there is no unified way to send debugging
messages, warnings, and errors to the user. A dedicated Console driver, is
@ -352,8 +354,13 @@ but right now I'm leaving it open ended.)
the UARTDrivers, but before all other drivers, in `AP_HAL::HAL::init`.
* `void backend_open()` : Start buffering reads and writes to user backend
* `void backend_close()` : Stop buffering reads and writes to user backend
* `int backend_read(uint8_t *data, int len)` : Read from user backend buffer. Data sent by `write` through the `BetterStream` interface will be available to `backend_read`, modulo oveflowing the internal buffers (undefined behavior).
* `int backend_write(const uint8_t *data, int len)` : Write to user backend buffer. Written data will be available by `read` through the `BetterStream` interface, modulo overflowing the internal buffers (undefined behavior).
* `int backend_read(uint8_t *data, int len)` : Read from user backend buffer.
Data sent by `write` through the `BetterStream` interface will be available
to `backend_read`, modulo oveflowing the internal buffers (undefined
behavior).
* `int backend_write(const uint8_t *data, int len)` : Write to user backend
buffer. Written data will be available by `read` through the `BetterStream`
interface, modulo overflowing the internal buffers (undefined behavior).
A few implementation guidelines:
* This is a low assurance data interface: it is more important to maintain the
@ -418,13 +425,19 @@ The following methods are exposed by the `AP_HAL::Scheduler` interface:
delay callback, if registered.
* `uint32_t millis()` : Duplicates Arduino core `millis`
* `uint32_t micros()` : Duplicates Arduino core `micros`
* `void delay_microseconds(uint16_t us)` : Duplicates Arduino core `delayMicros`
* `void register_delay_callback(AP_HAL::Proc)` : Register a callback to be
used during calls to `delay`. Callback will be called at a 1ms period.
* `void register_timer_process(AP_HAL::TimedProc, uint32_t period_us, uint16_t phase)` : Duplicates `AP_PeriodicProcess::register_process`
* `void register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us)` : Duplicates `AP_PeriodicProcess::set_failsafe`
* `void suspend_timer_procs()` : Duplicates `AP_PeriodicProcess::suspend_timer`
* `void resume_timer_procs()` : Duplicates `AP_PeriodicProcess:resume_timer`
* `void delay_microseconds(uint16_t us)` : Duplicates Arduino core
`delayMicros`
* `void register_delay_callback(AP_HAL::Proc)` : Register a callback
to be used during calls to `delay`. Callback will be called at a 1ms
period.
* `void register_timer_process(AP_HAL::TimedProc, uint32_t period_us,
uint16_t phase)` : Duplicates `AP_PeriodicProcess::register_process`
* `void register_timer_failsafe(AP_HAL::TimedProc,
uint32_t period_us)` : Duplicates `AP_PeriodicProcess::set_failsafe`
* `void suspend_timer_procs()` : Duplicates
`AP_PeriodicProcess::suspend_timer`
* `void resume_timer_procs()` : Duplicates
`AP_PeriodicProcess:resume_timer`
Remaining ArduPilot AVR dependencies