HAL_Linux: update to match plane 3.9.0beta6

libraries/AP_HAL_Linux/AnalogIn_ADS1115.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "AP_HAL_Linux.h"
-#include <AP_ADC/AP_ADC.h>
+#include <AP_ADC/AP_ADC_ADS1115.h>
 
 #define ADS1115_ADC_MAX_CHANNELS 6
 

libraries/AP_HAL_Linux/AnalogIn_IIO.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "AP_HAL_Linux.h"
-#include <AP_ADC/AP_ADC.h>
 
 #include <fcntl.h>
 #include <unistd.h>

libraries/AP_HAL_Linux/GPIO_BBB.cpp

@@ -77,12 +77,6 @@ void GPIO_BBB::pinMode(uint8_t pin, uint8_t output)
     }
 }
 
-int8_t GPIO_BBB::analogPinToDigitalPin(uint8_t pin)
-{
-    return -1;
-}
-
-
 uint8_t GPIO_BBB::read(uint8_t pin) {
 
     uint8_t bank = pin/32;

libraries/AP_HAL_Linux/GPIO_BBB.h

@@ -122,7 +122,6 @@ public:
     GPIO_BBB();
     void    init();
     void    pinMode(uint8_t pin, uint8_t output);
-    int8_t  analogPinToDigitalPin(uint8_t pin);
     uint8_t read(uint8_t pin);
     void    write(uint8_t pin, uint8_t value);
     void    toggle(uint8_t pin);

libraries/AP_HAL_Linux/GPIO_RPI.cpp

@@ -30,6 +30,7 @@
 #define GPIO_SET_HIGH       *(_gpio+7)  // sets   bits which are 1
 #define GPIO_SET_LOW        *(_gpio+10) // clears bits which are 1
 #define GPIO_GET(g)         (*(_gpio+13)&(1<<g)) // 0 if LOW, (1<<g) if HIGH
+#define GPIO_RPI_MAX_NUMBER_PINS 32
 
 using namespace Linux;
 
@@ -91,13 +92,11 @@ void GPIO_RPI::pinMode(uint8_t pin, uint8_t output, uint8_t alt)
     }
 }
 
-int8_t GPIO_RPI::analogPinToDigitalPin(uint8_t pin)
-{
-    return -1;
-}
-
 uint8_t GPIO_RPI::read(uint8_t pin)
 {
+    if (pin >= GPIO_RPI_MAX_NUMBER_PINS) {
+        return 0;
+    }
     uint32_t value = GPIO_GET(pin);
     return value ? 1: 0;
 }

libraries/AP_HAL_Linux/GPIO_RPI.h

@@ -49,7 +49,6 @@ public:
     void    init();
     void    pinMode(uint8_t pin, uint8_t output);
     void    pinMode(uint8_t pin, uint8_t output, uint8_t alt);
-    int8_t  analogPinToDigitalPin(uint8_t pin);
     uint8_t read(uint8_t pin);
     void    write(uint8_t pin, uint8_t value);
     void    toggle(uint8_t pin);

libraries/AP_HAL_Linux/GPIO_Sysfs.cpp

@@ -171,11 +171,6 @@ void GPIO_Sysfs::toggle(uint8_t vpin)
     write(vpin, !read(vpin));
 }
 
-int8_t GPIO_Sysfs::analogPinToDigitalPin(uint8_t vpin)
-{
-    return -1;
-}
-
 AP_HAL::DigitalSource* GPIO_Sysfs::channel(uint16_t vpin)
 {
     assert_vpin(vpin, n_pins, nullptr);

libraries/AP_HAL_Linux/GPIO_Sysfs.h

@@ -49,11 +49,6 @@ public:
      */
     AP_HAL::DigitalSource *channel(uint16_t vpin) override;
 
-    /*
-     * Currently this function always returns -1.
-     */
-    int8_t analogPinToDigitalPin(uint8_t vpin) override;
-
     /*
      * Currently this function always returns false.
      */

libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp

@@ -32,7 +32,7 @@ using namespace Linux;
 
 static void catch_sigbus(int sig)
 {
-    AP_HAL::panic("RCOutputAioPRU.cpp:SIGBUS error gernerated\n");
+    AP_HAL::panic("RCOutputAioPRU.cpp:SIGBUS error generated\n");
 }
 void RCOutput_AioPRU::init()
 {

libraries/AP_HAL_Linux/RCOutput_PRU.cpp

@@ -23,7 +23,7 @@ static const uint8_t chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0};
 
 static void catch_sigbus(int sig)
 {
-    AP_HAL::panic("RCOutput.cpp:SIGBUS error gernerated\n");
+    AP_HAL::panic("RCOutput.cpp:SIGBUS error generated\n");
 }
 void RCOutput_PRU::init()
 {

libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp

@@ -31,7 +31,7 @@ using namespace Linux;
 
 static void catch_sigbus(int sig)
 {
-    AP_HAL::panic("RCOutput.cpp:SIGBUS error gernerated\n");
+    AP_HAL::panic("RCOutput.cpp:SIGBUS error generated\n");
 }
 void RCOutput_ZYNQ::init()
 {

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -10,6 +10,7 @@
 #include <unistd.h>
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #include "RCInput.h"
@@ -26,6 +27,7 @@ using namespace Linux;
 
 extern const AP_HAL::HAL& hal;
 
+#define APM_LINUX_MAX_PRIORITY          20
 #define APM_LINUX_TIMER_PRIORITY        15
 #define APM_LINUX_UART_PRIORITY         14
 #define APM_LINUX_RCIN_PRIORITY         13
@@ -146,17 +148,12 @@ void Scheduler::delay(uint16_t ms)
         return;
     }
 
-    if (!in_main_thread()) {
-        fprintf(stderr, "Scheduler::delay() called outside main thread\n");
-        return;
-    }
-
     uint64_t start = AP_HAL::millis64();
 
     while ((AP_HAL::millis64() - start) < ms) {
         // this yields the CPU to other apps
         microsleep(1000);
-        if (_min_delay_cb_ms <= ms) {
+        if (in_main_thread() && _min_delay_cb_ms <= ms) {
             call_delay_cb();
         }
     }
@@ -356,3 +353,52 @@ void Scheduler::teardown()
     _uart_thread.join();
     _tonealarm_thread.join();
 }
+
+/*
+  create a new thread
+*/
+bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
+{
+    Thread *thread = new Thread{(Thread::task_t)proc};
+    if (!thread) {
+        return false;
+    }
+
+    uint8_t thread_priority = APM_LINUX_IO_PRIORITY;
+    static const struct {
+        priority_base base;
+        uint8_t p;
+    } priority_map[] = {
+        { PRIORITY_BOOST, APM_LINUX_MAIN_PRIORITY},
+        { PRIORITY_MAIN, APM_LINUX_MAIN_PRIORITY},
+        { PRIORITY_SPI, AP_LINUX_SENSORS_SCHED_PRIO},
+        { PRIORITY_I2C, AP_LINUX_SENSORS_SCHED_PRIO},
+        { PRIORITY_CAN, APM_LINUX_TIMER_PRIORITY},
+        { PRIORITY_TIMER, APM_LINUX_TIMER_PRIORITY},
+        { PRIORITY_RCIN, APM_LINUX_RCIN_PRIORITY},
+        { PRIORITY_IO, APM_LINUX_IO_PRIORITY},
+        { PRIORITY_UART, APM_LINUX_UART_PRIORITY},
+        { PRIORITY_STORAGE, APM_LINUX_IO_PRIORITY},
+    };
+    for (uint8_t i=0; i<ARRAY_SIZE(priority_map); i++) {
+        if (priority_map[i].base == base) {
+            thread_priority = constrain_int16(priority_map[i].p + priority, 1, APM_LINUX_MAX_PRIORITY);
+            break;
+        }
+    }
+
+    thread->set_stack_size(stack_size);
+
+    /*
+     * We should probably store the thread handlers and join() when exiting,
+     * but let's the thread manage itself for now.
+     */
+    thread->set_auto_free(true);
+
+    if (!thread->start(name, SCHED_FIFO, thread_priority)) {
+        delete thread;
+        return false;
+    }
+
+    return true;
+}

libraries/AP_HAL_Linux/Scheduler.h

@@ -47,6 +47,11 @@ public:
 
     void teardown();
 
+    /*
+      create a new thread
+     */
+    bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
+    
 private:
     class SchedulerThread : public PeriodicThread {
     public:

libraries/AP_HAL_Linux/Thread.cpp

@@ -40,6 +40,10 @@ void *Thread::_run_trampoline(void *arg)
     thread->_poison_stack();
     thread->_run();
 
+    if (thread->_auto_free) {
+        delete thread;
+    }
+
     return nullptr;
 }
 

libraries/AP_HAL_Linux/Thread.h

@@ -45,6 +45,8 @@ public:
 
     bool set_stack_size(size_t stack_size);
 
+    void set_auto_free(bool auto_free) { _auto_free = auto_free; }
+
     virtual bool stop() { return false; }
 
     bool join();
@@ -64,6 +66,7 @@ protected:
     task_t _task;
     bool _started = false;
     bool _should_exit = false;
+    bool _auto_free = false;
     pthread_t _ctx = 0;
 
     struct stack_debug {