This include some minor changes on all methods of PWM_Sysfs:
- Sort headers
- Add code inside Linux namespace rather than just use the namespace
- Declare a union pwm_params, that's only used to calculate at compile
time the maximum stack space we need in our methods: this is a bit
safer for future extensions
- Standardize error messages to include the useful params first and
then the error message
- Remove log message from hot path
- Don't abuse macros for checking error - convert the SNPRINTF_CHECK
macro into proper code, ignoring errors for not enough space since
they can't happen
- Fix call to read_file() passing uint8_t for "%u" in get_period()
- Fix passing char** instead of char* to write_file() in set_polarity()
- Use strncmp() instead of strncasecmp() since the kernel API uses
lowercase.
- Add comments on the 2 main methods of this class
With commit 24f4153 ("AP_HAL_Linux: RCOutput_PCA9685: group writes") a
log was introduced when we can't get the bus semaphore. However since we
are calling the non blocking method, failing there is not that unlikely
if the bus is shared. Return back to the previous behavior of not
logging.
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.
AVR-specific places were not changed.
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
ardupilot/libraries/AP_HAL_Linux/Storage_FRAM.cpp: In member
function 'int32_t Linux::Storage_FRAM::read(uint16_t, uint8_t*, uint16_t)':
/home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Storage_FRAM.cpp:183:24: war
ning: comparison is always false due to limited range of data type [-Wtype-limits]
if(Buff[i-fptr]==-1){
^
This commit adds the class Linux::GPIO_Sysfs. This class provides a generic
implementation of AP_HAL::GPIO on Linux by using GPIO Sysfs Interface
(https://www.kernel.org/doc/Documentation/gpio/sysfs.txt).
The channel() interface should be preferred in places that need to be
fast. Since it maintains the file descriptor open this is much faster
than opening and closing it.
We are using a microcontroller to read the PWM input from RC. The read
values are sent to our board using a simple serial protocol through the
UART interface.
This patch interprets these values and passes them forward to the APM.
Move the macros to a single place and reduce the variations not based on
board, but based on
- The name of the entry-point function, specified by AP_MAIN;
- Whether it contains argc/argv arguments or not.
The goal here is that programs (vehicles and examples) don't need to
include all possible boards to define a main function. Further patches
will change the programs.
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
This warning happens because of the difference of datatypes between
32 and 64 bits processors.
%% libraries/AP_HAL_Linux/RCInput_UDP.o
/home/zehortigoza/dev/ardupilot/libraries/AP_HAL_Linux/RCInput_UDP.cpp: In member function 'virtual void Linux::LinuxRCInput_UDP::_timer_tick()':
/home/zehortigoza/dev/ardupilot/libraries/AP_HAL_Linux/RCInput_UDP.cpp:42:72: warning: format '%llu' expects argument of type 'long long unsigned int', but argument 3 has type 'uint64_t {aka long unsigned int}' [-Wformat=]
hal.console->printf("no rc cmds received for %llu\n", delay);
It uses a heating resistor controlled by a pwm.
By changing the duty cycle of the pwm, we can control the temperature.
A simple PI algorithm is used in order to get to the correct temperature
fast enough and without too much overshoot
It is implemented as a member of the Util class in order not to make to much
modification to the current codebase
Fix warning and use htole16 instead of trying to implement it.
The current code does nothing on little endian platforms.
Moreover, the status variable was unused.
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
It's possible to use the internal clock in PCA96895 if we account for
the drift it contains. This is a bit different from solutions in other
projects like the Adafruit library and the PX4 firmware: instead of
applying a correction to the final frequency we apply the correction to
the clock since this is the source of the error.
With this fix we arrived to much better results across different lots of
sensors.
The Navio board continues to use the external clock and should have no
difference behavior.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
this makes it possible to bootup ardupilot before the desired network
interface is available. This is very useful for when using 3G dongles
in aircraft
The current implementation doesn't throw an error on a malformed path string.
i.e. udp:192.168.1.1.14550 instead of udp:192.168.1.1:14550 may result in a memory leak or whatsoever.
The commit fixes the issue and outputs a nice error message if anything's wrong.
DMA is getting stopped in the separate method now. This is the best we
can get at the current time. It does yield slightly better experience
and works in the majority of cases.
The patch is a no bulletproof solution, though.
There's a possibility of corruption in case of e.g. a SIGKILL. There's
no signal framework at the time and the commit doesn't add one. That's
why all signals are handled in the same erroneous way. This is not a
good nor a final solution to the issue.
For the issue at hand a better fix might be porting the code to kernel
space but it's a rather tediuos task that we cannot undertake in the
couple of weeks.
The issue has already come up. There's no deinitialization mechanisms at the moment. As APM is rather software than firmware on Linux, there're some clean-up work that needs to be done. This commit triggers deinitialization of RCInput on a panic.
Allowing to change the SPI device state allows us to save the
information whether the device was already initialized and avoid 2
separate drivers to initialize it.
The value for LINUX_STORAGE_SIZE was defined inconsistently against the one
defined for Linux boards in HAL_STORAGE_SIZE. That led to some values not
being written to the storage when running the test binary built at
libraries/StorageManager/examples/StorageTest.
The device number in /dev may not be reliable from one boot to another
due to the initialization order of each bus.
For example, in Minnow Board Max, the exposed I2C buses may be i2c-7 and
i2c-8 or i2c-8 and i2c-9 depending if the platform driver in the kernel
is initialized before or after the PCI.
It also may change with different version and configuration of the DT or
UEFI used making another kernel driver to bind to the device. This means that
for Minnow Board Max we need to use something like below to pass to the
constructor:
static const char * const i2c_devpaths[] = {
/* UEFI with lpss set to ACPI */
"/devices/platform/80860F41:05",
/* UEFI with lpss set to PCI */
"/devices/pci0000:00/0000:00:18.6",
NULL
};
The devpath here is the one returned by udev with the following command:
udevadm info -q path /dev/<i2c-device>
In contrary to the device number in /dev/i2c-N, this path in sysfs is
stable across reboots and can only change if there's a change in the
UEFI firmware or the board's device tree.
This patch assumes the currently supported boards don't have this
problem so it's not touching them.
Instead of hardcoding 8 as the limit for I2C msgs, use whatever the
kernel exported to us. In upstream this is 42 so it means we can group
together 21 addr/data pair instead of only 8.
Lucas De Marchi
José Roberto de Souza
Andrew Tridgell
Víctor Mayoral Vilches
Víctor Mayoral Vilches
Gustavo Jose de Sousa
Fabio Mello
Caio Marcelo de Oliveira Filho
Julien BERAUD
raspilot
dgrat
mirkix
Fredrik Hedberg
Staroselskii Georgii
Jean-Baptiste Dubois
Vladislav Zakharov