Commit Graph

862 Commits

Author SHA1 Message Date
Lucas De Marchi 26650049c0 AP_HAL_Linux: UARTDriver: fix writting/reading with failures
When the buffer wraps and we do it in 2 steps, we can't actually do the
second part if it fails or if we wrote less bytes than we intended,
otherwise we will corrupt the data being sent.
2016-10-27 14:23:42 +11:00
Murilo Belluzzo ce81c45f80 AP_HAL_Linux: UARTDriver: Make use of ByteBuffer class
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.

Although the exchange opens opportunities for improvement and
simplification of this class.
2016-10-27 14:23:42 +11:00
Lucas De Marchi 539b727e5e AP_HAL_Linux: Remove misleading constant
The constant passed to cflag is BOTHER, meaning the actual baud is set
in the other specific members.  Don't define B* constants as they are
misleading here and this is why it doesn't work with e.g.
cfset[io]speed()... that function expect a B* constant which in Linux
is not the speed, but an index to an array with speeds.
2016-10-25 16:55:33 +11:00
Martin Evans 6f6112d7c2 AP_HAL_Linux: Add setting for GPIO for Dark board
Just like other RPI-based boards.
2016-10-24 10:00:24 -02:00
Martin Evans d2d3119b66 AP_HAL_Linux: PCA9685: Add quinary address 2016-10-24 10:00:06 -02:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Julien Beraud 20dcd6e082 RCOutput_Bebop: fix motor order
Accidentally pushed in commit 298f7bffb9
The order of the motors shouldn't have been changed on version 5 because
it is specific to older versions of the ESC controller firmware
2016-10-17 20:55:49 +11:00
Andrew Tridgell 33bff3c79c HAL_Linux: fixed transmitter failsafe with SBUS RCInput 2016-10-17 06:53:33 +11:00
Andrew Tridgell 110355f14e HAL_Linux: fixed SRXL and DSM
fixed default decoder state and fixed mic-recognition of SRXL as DSM
2016-10-16 21:31:37 +11:00
Andrew Tridgell e9633553fb HAL_Linux: update for changed SRXL API 2016-10-16 19:05:19 +11:00
Andrew Tridgell 03f9496549 HAL_Linux: lock onto a single decoder on the 115200 port 2016-10-16 19:05:19 +11:00
Andrew Tridgell 513156a4cc HAL_Linux: make 115200 R/C decoders return a bool 2016-10-16 19:05:19 +11:00
Andrew Tridgell 710d08da6d HAL_Linux: support SRXL R/C input 2016-10-16 19:05:19 +11:00
Andrew Tridgell 7f09d20e3b HAL_Linux: implement cork and push for remaining RCOutput backends 2016-10-13 10:00:04 +11:00
Andrew Tridgell c8179a0887 HAL_Linux: implement cork/push for RCOutput_AioPRU 2016-10-13 10:00:04 +11:00
Andrew Tridgell 0640b6539c HAL_Linux: implement cork()/push() for Raspilot 2016-10-13 10:00:04 +11:00
Andrew Tridgell a80eea5de4 HAL_Linux: implement cork()/push() for HAL_Linux RCOutput_Sysfs 2016-10-13 10:00:04 +11:00
Andrew Tridgell 0cd3054a4c HAL_Linux: document the Disco PWM pinout 2016-10-12 21:41:49 +11:00
Lucas De Marchi ae53920e5b build: don't build examples with old build system
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file.  Having the makefiles
there is misleading since people try to build and realize the build is
broken.
2016-10-11 13:03:08 +11:00
Andrew Tridgell 3eb8b5e99f HAL_Linux: added RCInput_Multi
this allows for multiple RCInput methods on one board. On Disco it
combines RCInput_115200 with RCInput_SBUS
2016-09-21 10:33:15 -03:00
Andrew Tridgell 5909552f67 HAL_Linux: added RCInput_115200
this is a RCInput module for multiple R/C uart protocols running at
115200 baud 8-bit. We can decode multiple protocols in parallel with
this module, relying on frame timing and CRCs to get the right
protocol
2016-09-21 10:33:15 -03:00
Andrew Tridgell e913b9a8f7 HAL_Linux: fixed incorrect include 2016-09-21 10:33:15 -03:00
Andrew Tridgell a4c1bc3fd3 HAL_Linux: avoiding setting the SPI mode on every transfer
This was causing the Disco kernel to print a debug message on every
SPI transfer, which makes for a very noisy kernel and large kernel logs
2016-09-17 00:35:00 -03:00
William Liu b1a62d6c8e AP_HAL_Linux: RCOutput_Bebop: fixed potential deadlock 2016-09-09 09:59:17 -07:00
Gustavo Jose de Sousa 025082b280 AP_HAL_Linux: add port to Intel Aero
Contributions from:
 - Gustavo Jose de Sousa <gustavo.sousa@intel.com>
 - José Roberto de Souza <jose.souza@intel.com>
 - Lucas De Marchi <lucas.demarchi@intel.com>
 - Patrick J.P <patrick.pereira@intel.com>
2016-09-03 01:03:07 -03:00
Patrick J.P c32dc3bc37 AP_HAL_Linux: Add AeroIO communication module
Signed-off-by: Patrick J.P <patrick.pereira@intel.com>
2016-09-03 01:03:07 -03:00
Ralf Ramsauer 71212942da AP_HAL: AP_HAL_Linux: align I2CDevice::read_registers_multiple()
25c7e8b changed the logic of transfer(). Align
I2CDevice::read_registers_multiple() in the same way.

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
2016-08-31 00:18:50 -03:00
Ralf Ramsauer 5b81920737 AP_HAL: AP_HAL_Linux: add comment to I2CDevice::transfer()
If I2CDevice::transfer() has to do nothing it returns false. This can be
misleading, as this might feel contradictory.

Let's spend a comment on that.

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
2016-08-29 15:20:14 -03:00
Ralf Ramsauer 25c7e8bf60 AP_HAL: AP_HAL_Linux: perfect I2CDevice::transfer()
According to man 3 ioctl, ioctl returns other values than -1 on success.
So loop while ioctl returns -1.

Furthermore, there is no necessity to initialise r with -EINVAL,

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
2016-08-29 15:20:14 -03:00
Lucas De Marchi 833f565f09 AP_HAL_Linux: prefix threads with ap
This makes it consistent with bus threads and easier to grep from a `ps`
call.
2016-08-29 10:27:36 -03:00
Lucas De Marchi e1ab44f4a3 Global: remove get_fd() from Device API
This was there for compatibility with I2CDriver and SPIDriver. We don't
use them anymore so we can remove the compat method.
2016-08-29 10:27:36 -03:00
Murilo Belluzzo 077e03678f Global: Adapt Stream class to be used with Ringbuffer 2016-08-03 01:44:02 -03:00
Lucas De Marchi 8541d5339d AP_HAL_Linux: Implement threaded SPI 2016-07-30 00:55:27 -03:00
Lucas De Marchi ea0595c7ac AP_HAL_Linux: SPIDevice: move implementation to outside
As we add methods, it's becoming too complex to be implemented together
with the declaration.
2016-07-30 00:55:27 -03:00
Lucas De Marchi 590539f674 AP_HAL_Linux: implement threaded I2C 2016-07-30 00:55:27 -03:00
Lucas De Marchi 11ddbb8fb8 AP_HAL_Linux: add PollerThread
This is the infrastructure needed by both SPIDevice and I2CDevice to
start a poller thread per bus.
2016-07-30 00:55:27 -03:00
Lucas De Marchi 7d451ac876 AP_HAL_Linux: allow to check if thread is running 2016-07-30 00:55:27 -03:00
Lucas De Marchi eca6f45b68 AP_HAL_Linux: remove unused part of Poller infra
We aren't going to use all the poller infra for now and we need it's
behavior a little bit different for what we are going to use:

    - Do not use any "fair" time for each ready fd since we don't want
      to set a timeout
    - Allow to set the fd on Pollable after constructing it since we are
      likely to embed Pollable inside other structs and just later be
      able to open an fd.
    - Let caller use the epoll flags directly - this is not in AP_HAL,
      so there's no need to abstract them
2016-07-30 00:55:27 -03:00
Leandro Pereira 0f865a019a AP_HAL_Linux: Add Pollable/Poller
Add system's polling infrastructure to be notified whenever a
file descriptor is ready to be read from or written to.

Adds a few classes:
  * Poller, as an interface to epoll()
  * Pollable, as an interface to a file descriptor
2016-07-30 00:55:27 -03:00
Lucas De Marchi eaa1c39a15 AP_HAL_Linux: update Device interface 2016-07-30 00:55:27 -03:00
Lucas De Marchi 8e5aba8653 AP_HAL_Linux: I2CDevice: move implementation to outside
As we add methods, it's becoming too complex to be implemented together
with the declaration.
2016-07-30 00:55:27 -03:00
Lucas De Marchi 7b39f3d0a7 AP_HAL_Linux: do not warn for empty table
../../libraries/AP_HAL_Linux/SPIDevice.cpp: In member function ‘virtual AP_HAL::OwnPtr<AP_HAL::SPIDevice> Linux::SPIDeviceManager::get_device(const char*)’:
../../libraries/AP_HAL_Linux/SPIDevice.cpp:337:27: warning: comparison is always false due to limited range of data type [-Wtype-limits]
     for (uint8_t i = 0; i < _n_device_desc; i++) {
                         ~~^~~~~~~~~~~~~~~~

Define a dummy device to remove warning.
2016-07-30 00:03:23 -03:00
Lucas De Marchi f37a560295 AP_HAL_Linux: remove private headers
This centralized private header encourages centralizing things on
umbrella headers that are a pain to maintain. Force each part of
AP_HAL_Linux to include what is used.
2016-07-29 20:29:46 -03:00
Lucas De Marchi e8f71a5bd2 AP_HAL_Linux: change define and members visibility
Make some member variables protected to follow what we do in other
places (and there's no reason to be private).

Move defines to .cpp to reduce their visibility.
2016-07-29 20:27:12 -03:00
Lucas De Marchi f36e8d9c05 AP_HAL_Linux: remove AP_HAL_Linux_Namespace header
This centralized namespace header encourages centralizing things on
umbrella headers that are a pain to maintain. Force each part of
AP_HAL_Linux to include what is used.

While at it, do some whitespace cleanups and minor changes to adhere to
coding style.
2016-07-29 20:25:03 -03:00
Lucas De Marchi b044fac4b6 AP_HAL_Linux: rename variable to follow I2CDevice convention 2016-07-29 15:01:15 -03:00
Lucas De Marchi 7b140da6d1 AP_HAL_Linux: remove SPIDriver
SPIDevice now controls all accesses to SPI bus.
2016-07-29 15:01:15 -03:00
Lucas De Marchi 945556bbc3 AP_HAL_Linux: remove id for SPIDevice_Ublox and RASPIO 2016-07-29 15:01:15 -03:00
Lucas De Marchi 065592e7df AP_HAL_Linux: SPIUARTDriver: add some cosmetic changes
Mainly changes to follow the coding style and reduce the complexity a
little bit.
2016-07-29 15:01:15 -03:00
Lucas De Marchi e3c0476b8a AP_HAL_Linux: SPIUARTDriver: initialize device once 2016-07-29 15:01:14 -03:00
Lucas De Marchi 418cc817a3 AP_HAL_Linux: SPIUARTDriver: fix conversion to SPIDevice
We need to use the fullduplex method to transfer both tx and rx at the
same time.
2016-07-29 15:01:14 -03:00
Lucas De Marchi cbbd6f9d78 AP_HAL_Linux: SPIDevice: implement fullduplex transfer 2016-07-29 15:01:14 -03:00
Luiz Ywata 7ded01cf24 AP_HAL_Linux: SPIUARTDriver: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata c8bb5e6469 AP_HAL_Linux: RCInput_Raspilot use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata e8d3229492 AP_HAL_Linux: RPIOUARTDriver: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Luiz Ywata bfd840c5ca AP_HAL_Linux: RCOutput_Raspilot: use SPIDevice interface 2016-07-29 15:01:14 -03:00
Lucas De Marchi 86ac9bc367 AP_HAL_Linux: AnalogIn_Raspilot: use SPIDevice interface 2016-07-29 14:47:04 -03:00
Lucas De Marchi 8681d23cbd AP_HAL_Linux: remove unused Dataflash
This is selectable by a define and is never changed. Just remove
everything referencing it: we can come up with a better solution if it
is actually used later.
2016-07-29 14:47:04 -03:00
Lucas De Marchi 73bb371918 AP_HAL_Linux: remove I2CDriver
I2CDevice now serves for the same purpose.
2016-07-28 18:08:56 -03:00
Lucas De Marchi 84f45f09a3 AP_HAL_Linux: convert CameraSensor_Mt9v117 to I2CDevice 2016-07-28 18:03:09 -03:00
Lucas De Marchi 9acffc8868 AP_HAL_Linux: use Empty version if not implemented
There's little point in having the Linux::AnalogIn just to implement and
empty interface. All implementations inside AP_HAL_Linux are already
inheriting directly from AP_HAL, so just remove it.
2016-07-28 16:42:38 -03:00
Lucas De Marchi 47d2f8dc6d AP_HAL_Linux: AnalogIn_ADS1115: return 5V on board_voltage
board voltage is not available - don't return 0V since that prevents
arming.
2016-07-28 16:42:38 -03:00
Staroselskii Georgii 4ca1b58408 AP_HAL_Linux: add ConsoleDevice a handler for TTIN signal
In a case ArduPilot is launched as a background process without
detaching with *nohup* like this ./arduplane -C /dev/ttyAMA0 ConsoleDevice
is created and an attempt to read from it is made. This yields in a stopped
process. This is an endeavour to overcome this problem.
2016-07-27 21:30:19 +10:00
Staroselskii Georgii 8d2b587f71 AP_HAL_Linux: RPI: set signal handler iff nobody has already done it before 2016-07-27 21:30:19 +10:00
Staroselskii Georgii 5e8edcb1db AP_HAL_Linux: use NSIG instead of a hardcoded number in RCInput_RPI 2016-07-27 21:30:19 +10:00
hiro2233 3ae36c4a6c AP_HAL_Linux:RCInput: Minimun input channels defined 2016-07-27 00:55:55 -03:00
Lucas De Marchi cfb3124f2c AP_HAL_Linux: remove types for spi drivers
Those drivers using SPIDevice interface don't need a global id for each
of them. Remove those that were already converted.
2016-07-21 16:05:03 -03:00
Lucas De Marchi b23f7a8be4 AP_HAL_Linux: examples: remove BusTest
This needs to be rewritten using the probe methods.
2016-07-21 16:05:03 -03:00
Andrew Tridgell 96095b0942 HAL_Linux: fixed comment typo for SBUS input 2016-07-20 13:38:17 +10:00
Andrew Tridgell b69170febd HAL_Linux: fixed build for Disco with I2C changes 2016-07-20 13:38:17 +10:00
Andrew Tridgell f5a20d28bc HAL_Linux: fixed comment in SBUS 2016-07-20 13:38:17 +10:00
Andrew Tridgell a78b875ec3 HAL_Linux: fixed ULTRASOUND GPIO for Disco 2016-07-20 13:38:17 +10:00
Andrew Tridgell 1d8e4cdea9 HAL_Linux: added debugging line for Heat_Pwm 2016-07-20 13:38:17 +10:00
Andrew Tridgell 55d692708b HAL_Linux: fixed set_esc_scaling on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 298f7bffb9 HAL_Linux: fixed motor output for Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 9b057ee4f1 HAL_Linux: separate out the GPIO table for Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell 677a38a10a HAL_Linux: make SBUS input much more robust
use inter-frame gap to resync after byte loss
2016-07-20 13:38:16 +10:00
Andrew Tridgell 29135a0158 HAL_Linux: use termios2 for SBUS RCOUT on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell a40d704126 HAL_Linux: added RCOutput_Disco
combines Sysfs and Bebop RCOutput code
2016-07-20 13:38:16 +10:00
Andrew Tridgell cf83a43b56 HAL_Linux: support SBUS input on Disco 2016-07-20 13:38:16 +10:00
Andrew Tridgell aaaa6d38c7 HAL_Linux: initial support for Disco 2016-07-20 13:35:51 +10:00
Staroselskii Georgii a1f151a79b AP_HAL_Linux: do not create unnecessary consoles in UARTDriver 2016-07-15 15:31:19 -03:00
Staroselskii Georgii 7b3a5e3158 AP_HAL_Linux: use factory method for creation of UARTDriver backends
Using factory method maked it easier to grasp the lifetime of all object
that get created and destroyed. Instead of spanning this thoughout whole
source file we have it nicely encapsulated in this a little horrendeous
_parseDevicePath that is of course to improve more.
2016-07-15 15:29:05 -03:00
Staroselskii Georgii 0ca635bfb8 AP_HAL_Linux: close() console in dtor 2016-07-15 15:28:10 -03:00
Staroselskii Georgii e7a5945056 AP_HAL_Linux: make flow_control a property of SerialDevice rather than UARTDriver's
Make it possible to change flow control settings for individual devices.
2016-07-15 15:26:49 -03:00
Staroselskii Georgii 897d2fb1fb AP_HAL_Linux: use OwnPtr for _device in UARTDriver
Otherwise we're going to leak memory without any need.
Before this fix we've created ConsoleDevice 4 times in case -A switch hadn't been supplied,
but we hadn't ever deleted those. Now there's no memory leak here.
2016-07-15 15:22:51 -03:00
Staroselskii Georgii 3f1e999fc8 AP_HAL_Linux: remove ConsoleDevice construction from UARTDriver constructor
Since we're going to create ConsoleDevice in UARTDriver either way,
there's no need to do anything except setting the console flag.
2016-07-15 14:56:00 -03:00
Lucas De Marchi 24cdef24b8 AP_HAL_Linux: remove wrong ifdef
This was added when the support for navio2 went in, but the same ifdef
is already on the lines above.
2016-07-14 17:32:33 -03:00
Luiz Ywata 3e765e23a9 AP_HAL_Linux: RCOutput_PCA9685: use I2CDevice interface 2016-07-14 17:32:33 -03:00
Lucas De Marchi 08ea1ea263 AP_HAL_Linux: RCOutput_Bebop: follow coding style
Minor changes to follow coding style and improve readability:

    - sort headers
    - move struct definition to compilation unit rather than header
    - Add braces to if, for, etc
2016-07-14 17:32:33 -03:00
Luiz Ywata 7fb5db8077 AP_HAL_Linux: RCOutput_Bebop: use I2CDevice interface 2016-07-14 17:32:33 -03:00
Andrew Tridgell 847bfda48a HAL_Linux: adjust include ordering 2016-07-14 13:39:47 +10:00
Andrew Tridgell dd5d0ffbad HAL_Linux: use default module directory 2016-07-14 13:39:47 +10:00
Andrew Tridgell 107f76828d HAL_Linux: added AP_Module support 2016-07-14 13:39:46 +10:00
Andrew Tridgell f090e9b27c HAL_Linux: fixed makefile build with PRIu64 2016-07-07 15:10:59 +10:00
Andrew Tridgell 461c159b22 HAL_Linux: use set_imu_target_temp() API 2016-07-01 15:29:52 +10:00
Andrew Tridgell beb3591f67 HAL_Linux: improved help output and errors for udp and bcast 2016-06-28 21:01:45 +10:00
Andrew Tridgell 72b5cecdb2 HAL_Linux: added udpin support to HAL_Linux
useful for setting up ardupilot as a mavlink UDP listener
2016-06-28 21:01:43 +10:00
Gustavo Jose de Sousa d35cf60ce1 AP_HAL_Linux: I2CDevice: use read flag in read_registers_multiple
Use the generic support in Device interface for read flag when we are
using read_registers_multiple() method.
2016-06-27 17:20:46 -03:00
Lucas De Marchi b70b9ed8d1 AP_HAL_Linux: fix warning on 64b printf
../../libraries/AP_HAL_Linux/Perf.cpp: In member function ‘void Linux::Perf::_debug_counters()’:
../../libraries/AP_HAL_Linux/Perf.cpp:85:36: warning: format ‘%llu’ expects argument of type ‘long long unsigned int’, but argument 4 has type ‘uint64_t {aka long unsigned int}’ [-Wformat=]
                     c.name, c.count);
                                    ^
2016-06-25 12:05:55 -03:00
Lucas De Marchi 4a18108600 AP_HAL_Linux: rename min, max and avg fields
These were probably named otherwise in order not to conflict with
min/max macros from math.h. We don't have this problem anymore.
2016-06-23 19:08:14 -03:00
Lucas De Marchi b8e3e549c7 AP_HAL_Linux: Perf: add debug method
Test code for integration with another thread to pull data from internal
perf counters.  Since we are using the timer thread here, there's no
retry mechanism and we only print that data can be corrupted.
2016-06-23 19:08:14 -03:00
Lucas De Marchi 1727418dc9 AP_HAL_Linux: Perf: make lttng use internal fields
Instead of creating a new object Perf_Lttng copying the necessaries
fields, just make a tighter integration with the internal perf counters
and re-use the same fields.
2016-06-23 19:06:30 -03:00
Lucas De Marchi 619ce23799 AP_HAL_Linux: Perf: rework integration with other tools
The idea is to leave the internal perf enabled all the time, like it is
in PX4, and then allow the integration with lttng on top. Next step
would be to runtime enable/disable only the perf counters we are
interested in.

This also changes the structure so it's easy to allow another thread to
pull data from the Perf object. A rw lock protects from addition of new
counters and an atomic unsigned int allows other threads to do a
lockless copy of the data.

In order for this to work the allocation was changed to use a single
memory pool instead of returning a calloc'ed data for each perf counter.
Since most of our counters are of ' elapsed' type, don't bother using a
smaller struct for the 'count' type
2016-06-23 19:06:30 -03:00
Lucas De Marchi b687473174 AP_HAL_Linux: ignore unused result on panic
There's not much we can do if the write() call inside a panic function
failed. Just ignore the failure.
2016-06-23 18:34:01 -03:00
Lucas De Marchi ab66e3a69a AP_HAL_Linux: Perf: simplify function to get current time 2016-06-21 13:09:00 -03:00
Lucas De Marchi 1d9d0a40db AP_HAL_Linux: GPIO: reduce macro and variable scopes
Also change the coding style in a few places.
2016-06-21 12:16:32 -03:00
Lucas De Marchi 4f14b9b7e2 AP_HAL_Linux: ToneAlarm_Raspilot: add fixme comment 2016-06-21 12:16:32 -03:00
Lucas De Marchi 0bb86ae498 AP_HAL_Linux: GPIO_RPI: remove unused functions
These functions to use pins as pwm are never used in the codebase, so
remove them.
2016-06-21 12:16:32 -03:00
dgrat 0b5ab7162d AP_HAL_Linux: Changes in RPi version detection
If the RPi version detection fails, the standard version is now RPi2/3 instead of RPi1.
I think this is useful, because the RPi1 is not really supported (performance reasons).
2016-06-08 11:50:43 -03:00
dgrat 15a915edd3 AP_HAL_Linux: Simplification of the code
I applied the ArduPilot coding style guide and additionally simplified the code where possible.
2016-06-08 11:50:43 -03:00
Lucas De Marchi 3457dbcdf8 AP_HAL_Linux: rename lttng define
Like others, use HAVE_ prefix and name it HAVE_LTTNG_UST to be the same
name as exported by pkg-config While at it remove wrong comment with
_HELLO_TP_H.
2016-05-23 12:06:42 -03:00
Lucas De Marchi 13722b8858 AP_HAL_Linux: support 16 RCInput channels on Navio2 2016-05-23 09:12:33 -03:00
Andrew Tridgell ef210217dd HAL_Linux: cope with MAVLink2 in UDP driver for packetising 2016-05-23 10:10:03 +10:00
Andrew Tridgell 6f7d6269a8 AP_HAL_Linux: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell 31f8d26784 HAL_Linux: support mavlink2 build 2016-05-21 15:25:11 +10:00
Gustavo Jose de Sousa 9a100afede AP_HAL_Linux: Thread: add doc about rounding function 2016-05-20 16:31:15 -03:00
Lucas De Marchi 359417d544 AP_HAL_Linux: Thread: make sure pointer is aligned
Implementation of alloca() is very much architecture and compiler
dependent. Avoid the case in which it could return a non-aligned
pointer, which would mean Thread::_poison_stack() would do the wrong
thing.
2016-05-20 16:31:15 -03:00
Lucas De Marchi 7e49d0c53f AP_HAL_Linux: Thread: fix alignment warning
../../libraries/AP_HAL_Linux/Thread.cpp: In member function ‘void Linux::Thread::_poison_stack()’:
../../libraries/AP_HAL_Linux/Thread.cpp:87:31: warning: cast from ‘uint8_t* {aka unsigned char*}’ to ‘uint32_t* {aka unsigned int*}’ increases required alignment of target type [-Wcast-align]
         for (p = (uint32_t *) end; p > curr; p--) {
                               ^
../../libraries/AP_HAL_Linux/Thread.cpp:93:31: warning: cast from ‘uint8_t* {aka unsigned char*}’ to ‘uint32_t* {aka unsigned int*}’ increases required alignment of target type [-Wcast-align]
         for (p = (uint32_t *) end; p < curr; p++) {
                               ^
../../libraries/AP_HAL_Linux/Thread.cpp:98:39: warning: cast from ‘uint8_t* {aka unsigned char*}’ to ‘uint32_t* {aka unsigned int*}’ increases required alignment of target type [-Wcast-align]
     _stack_debug.start = (uint32_t *) begin;
                                       ^
../../libraries/AP_HAL_Linux/Thread.cpp:99:37: warning: cast from ‘uint8_t* {aka unsigned char*}’ to ‘uint32_t* {aka unsigned int*}’ increases required alignment of target type [-Wcast-align]
     _stack_debug.end = (uint32_t *) end;
                                     ^
2016-05-20 16:31:15 -03:00
Lucas De Marchi 18af4da690 AP_HAL_Linux: Thread: fix warning regarding shadow member
../../libraries/AP_HAL_Linux/Thread.cpp: In member function ‘void Linux::Thread::_poison_stack()’:
../../libraries/AP_HAL_Linux/Thread.cpp:63:20: warning: declaration of ‘start’ shadows a member of 'this' [-Wshadow]
     uint8_t *end, *start, *curr;
                    ^
2016-05-20 16:31:15 -03:00
Leandro Pereira 3555e439a4 AP_HAL_Linux: Simplify I2C initialization in HAL_Linux_Class 2016-05-20 10:12:17 -03:00
Aaron Wang Shi cb9cd9008a AP_HAL_Linux: fix bhat spi device driver build error 2016-05-20 10:09:50 -03:00
Lucas De Marchi 71e10c9132 AP_HAL_Linux: fix include order
Sort include alphabetically and make them in order:

Main header
system headers
library headers
local headers

While reordering, change a include of endian.h to our sparse-endian.h
which is more reliant to toolchain changes.
2016-05-18 23:05:56 -03:00
Lucas De Marchi 45c6b750f2 AP_HAL_Linux: remove ifdef checks for HAL_BOARD_LINUX
Everything inside libraries/AP_HAL_Linux is for Linux boards, there's
not need to add the ifdefs.
2016-05-18 23:05:56 -03:00
Gustavo Jose de Sousa d615628367 AP_HAL_Linux: I2CDevice: add missing stdio.h include
This was probably being included by another header, but it's not on
gcc >= 6.1 and glibc 2.23.
2016-05-16 13:12:53 -03:00
Ricardo de Almeida Gonzaga 2236640f66 AP_HAL_Linux: Fix typos 2016-05-13 19:20:06 -03:00
Lucas De Marchi 37f6b51746 AP_HAL_Linux: Scheduler: set stack sizes to 256k
Running the vehicles we check the stack size doesn't grow too much by
enabling the DEBUG_STACK in the scheduler. Even on 64bit boards the
stack is consistent around 4k. Just to be a little conservative, let it
be a little bit more that that: 256kB.

Since we have RT prio and we call mlock(), the memory for the stack of
each thread is locked in memory. This means we are effectively taking
that much memory. The default stack size varies per distro, but it's
common to have 8MB for 64 bit boards and 4MB for 32 bit boards. Here is
the output of ps -L -o 'comm,rtprio,rss $(pidof arducopter-quad)', showing the
RSS of arducopter-quad before and after this change:

Before:
	COMMAND         RTPRIO   RSS
	arducopter-quad     12 46960
	sched-timer         15 46960
	sched-uart          14 46960
	sched-rcin          13 46960
	sched-tonealarm     11 46960
	sched-io            10 46960

After:
	COMMAND         RTPRIO   RSS
	arducopter-quad     12  7320
	sched-timer         15  7320
	sched-uart          14  7320
	sched-rcin          13  7320
	sched-tonealarm     11  7320
	sched-io            10  7320
2016-05-12 13:35:23 -03:00
Lucas De Marchi b2d4da4b0a AP_HAL_Linux: Thread: allow to set stack size
This allows the code that is creating the thread to set the size of the
stack.
2016-05-12 13:35:23 -03:00
Lucas De Marchi d970451331 AP_HAL_Linux: Scheduler: debug stack usage 2016-05-12 13:35:23 -03:00
Lucas De Marchi f5f4aa7c21 AP_HAL_Linux: Thread: allow to debug stack usage 2016-05-12 13:35:23 -03:00
Staroselskii Georgii f7846403e1 AP_HAL_Linux: enabled SPI-driven LSM9DS1 for Navio 2 2016-05-10 17:24:43 -03:00
Lucas De Marchi 3315f46800 AP_HAL_Linux: inline I2C bus options for minlure
We don't need all the comments in the array declaration and we can
inline its declaration in the function call. This makes it easier to
copy it to other places.
2016-05-10 16:06:53 -03:00
Andrew Tridgell 2965e67d5d HAL_Linux: cope with non-root for Replay 2016-05-07 18:27:17 +10:00
Julien Beraud c22d791bfc AP_HAL_Linux: Add SPI driver for bebop 2016-05-03 16:43:39 -03:00
Julien Beraud 738096b3ae AP_HAL_Linux: Add support for Sonar GPIO 2016-05-03 16:43:39 -03:00
Staroselskii Georgii 60426faa52 AP_HAL_Linux: changed ADC logic a bit for Navio 2
- make voltage_average_ratiometric() the same as voltage_average()
- make read_latest() the same as voltage_average()

wip
2016-04-27 17:14:21 +03:00
Rustom Jehangir 4a10156b13 AP_HAL_Linux: Fix RCInput::read from stopping at any zero channel
This bug led to issues for us so it may help others to resolve it.
Currently, the AP_HAL_Linux RCInput::read(uint16_t*,uint8_t) function
only returns the first x nonzero channels. Once it hits a channel that
is set to zero, it stops and all remaining channels are returned as
zero, even if they are set. This causes discrepancies between the raw RC
input sent to the GCS and the RC input that is actually used on the
vehicle.

The fixes this issue and makes it behave exactly as it does on the
PX4_HAL code. We ran into this issue when sending rc_override messages
in which there were some channels set to zero.
2016-04-26 22:32:07 -03:00
mirkix 6e546ba181 AP_HAL_Linux: Fix compiler warning unused hal 2016-04-24 11:09:55 -03:00
mirkix 2aba5a4643 AP_HAL_Linux: BBBmini add second MPU9250 2016-04-24 10:57:57 -03:00
Randy Mackay 58e65c836f HAL_Linux: remove unused pru_chan_map from RCOutput 2016-04-23 23:06:24 -07:00
Randy Mackay d6d5bac419 RCInput_UART: remove unused _count, _direction
resolves a compiler warning
2016-04-23 23:06:23 -07:00
Andrew Tridgell c7dabad02c HAL_Linux: added uartF 2016-04-20 09:39:49 +10:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Andrew Tridgell 1e4fe7996e HAL_Linux: update URL 2016-03-25 20:47:53 +11:00
Lucas De Marchi 72b246e52c AP_HAL_Linux: fix use of 0-length array
0-length arrays are supported in C but forbidden in C++. GCC allows it
but clang is more strict:

../../libraries/AP_HAL_Linux/SPIDriver.cpp:75:35: fatal error: no matching constructor for initialization of 'Linux::SPIDeviceDriver [0]'
SPIDeviceDriver SPIDeviceManager::_device[0];
                                  ^
../../libraries/AP_HAL_Linux/SPIDriver.h:20:7: note: candidate constructor (the implicit move constructor) not viable: requires 1 argument, but 0 were provided
class SPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
      ^
../../libraries/AP_HAL_Linux/SPIDriver.h:20:7: note: candidate constructor (the implicit copy constructor) not viable: requires 1 argument, but 0 were provided
../../libraries/AP_HAL_Linux/SPIDriver.h:25:5: note: candidate constructor not viable: requires 9 arguments, but 0 were provided
    SPIDeviceDriver(const char *name, uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
    ^
1 error generated.
2016-03-20 00:17:02 -03:00
raspilot 9d787e44cc AP_HAL_Linux: update spi table for raspilot 2016-03-18 21:51:37 -03:00
Lucas De Marchi c1623c21cc AP_HAL_Linux: rename ToneAlarmDriver to follow other names
We don't add "Driver" to the name of the files anymore.
2016-03-18 21:51:37 -03:00
Lucas De Marchi d52ee7c0a1 AP_HAL_Linux: ToneAlarmDriver_Raspilot: cleanup driver
- Fix coding style
  - Remove unused variables and members
  - Add virtual as needed and override where needed
2016-03-18 21:51:36 -03:00
Pritam Ghanghas 6de5b52974 AP_HAL_Linux: separate class for tone alarm driver 2016-03-18 21:51:36 -03:00
Lucas De Marchi 6a6175df1c AP_HAL_Linux: move dirname to I2CDevice core
All entries would need the "devices/" prefix and it's more natural not
using it.
2016-03-17 02:55:31 -03:00
Staroselskii Georgii f93e790717 AP_HAL_Linux: make Ublox work on the higher frequency
The lower speed was only valid for very old Navio's. All new boards ship
with the GPSs that support higher frequencies.
2016-02-27 03:06:50 -03:00
Staroselskii Georgii a327a8779e AP_HAL_Linux: added Navio2 support 2016-02-27 03:06:50 -03:00
Staroselskii Georgii 7187f26220 AP_HAL_Linux: use Raspberry Pi GPIO for Navio2 2016-02-27 03:06:50 -03:00
Staroselskii Georgii 6680baf777 AP_HAL_Linux: use MPU9250 for Navio2 2016-02-27 03:06:50 -03:00
Staroselskii Georgii c9869e768a AP_HAL_Linux: use Util_RPI for Navio2 2016-02-27 03:06:50 -03:00
Staroselskii Georgii 23a2cf45aa AP_HAL_Linux: added RCInput for Navio2 2016-02-27 03:06:50 -03:00
Staroselskii Georgii a24e9df765 AP_HAL_Linux: added AnalogIn_Navio2
This is a shim driver around the temporarily interface that is exported via
sysfs entries.
2016-02-27 03:06:50 -03:00
Lucas De Marchi 69f6a73c19 Global: fix missing renames for HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
Commit b87fd58 (AP_HAL: ERLEBOARD legacy support) renamed the define but
forgot some around.
2016-02-19 12:35:18 -02:00
Lucas De Marchi 3ace8b52de AP_HAL_Linux: use AnalogIn_IIO for minlure 2016-02-19 11:55:31 -02:00
Lucas De Marchi 4e034cd2e1 AP_HAL_Linux: AnalogIn_IIO: add scale for minlure 2016-02-19 11:55:31 -02:00
Lucas De Marchi f56a80cd80 AP_HAL_Linux: AnalogIn_IIO: return fixed board voltage
Return board voltage as 5V so we don't fail prearm checks.
2016-02-19 11:55:31 -02:00
Lucas De Marchi 705393b30c AP_HAL_Linux: replace header guard with pragma once 2016-02-18 14:52:35 -02:00
mirkix 8da58226ae AP_HAL_Linux: Fix BBBmini IIO scaling 2016-02-18 00:00:07 -02:00
Lucas De Marchi 3060c3da3c AP_HAL_Linux: Add fake device to SPIDriver
This allows us to re-use SPIDevice from SPIDeviceDriver (the
to-become-SPIDeviceProperties) while the drivers are
converted.  We create a fake device by calling the temporary
SPIDeviceManager::get_device() method passing the descriptor. The
transfer and assert logic is still using the old code.

Now we can interoperate SPIDeviceDriver with the ones based in
SPIDevice since they are going to use the same semaphore and bus.
2016-02-16 19:49:09 -02:00
Lucas De Marchi 61ef653181 AP_HAL_Linux: implement SPIDevice
The way this code is structured is a little bit different from the
SPIDriver implementation:

 - We only open the bus once, no matter how many devices we have in it

 - There's a single transfer() method which uses half-duplex mode
   instead of full duplex. The reason is that for all cases in the
   codebase we are using half-duplex transfers using the full-duplex
   API, i.e. a single SPI msg with both tx and rx buffers. This is
   cumbersome because the buffers need to be of the same size and the
   receive buffer using an offset of the same length as the actux data
   being written. This means the high level APIs need to copy buffers
   around.

   If later we have uses for a real full duplex case it's just a matter
   of adding another transfer_fullduplex() method or something like
   this.

 - The methods are implemented in the SPIDevice class instead of having
   proxy methods to SPIDeviceManager as is the case of SPIDriver

Also from now on we refer to the SPIDriver objects as "descriptors"
because they have the parameters of each device in the
SPIDeviceManager::devices[] table. When SPIDeviceDriver is completely
replaced we can rename them to SPIDeviceProperties.
2016-02-16 19:49:09 -02:00
Lucas De Marchi 0d1bb7aa84 AP_HAL_Linux: export number of SPI devices
Save in the manager the number of devices so it can be used in other
places like the SPIDevice implementation. This is a temporary storage
while we migrate to SPIDevice.

While at it use protected rather than private.
2016-02-16 19:49:09 -02:00
Lucas De Marchi e40785b002 AP_HAL_Linux: Add fake device to I2CDriver
This allows us to re-use I2CDevice from I2CDriver while the drivers are
converted.  We create a fake device with addr = 0 for each I2CDriver but
we only use the register/unregister logic. The transfer logic still uses
the methods from I2CDriver in order to use the right address.

Now we can interoperate I2CDevice drivers with the ones base in
I2CDriver since they are going to use the same semaphore and bus.

The I2CDriver constructors were changed to re-use the logic in I2CDevice
(it uses a number rather than an string) and the semaphore doesn't live
outside anymore, its embedded in the fake I2CDevice, as well as the
bus's file descritor.
2016-02-16 19:49:09 -02:00
Lucas De Marchi 5194f7e5ce AP_HAL_Linux: I2CDevice: method to read multiple times 2016-02-16 19:49:09 -02:00
Lucas De Marchi c394de31a0 AP_HAL_Linux: register I2CManager instance 2016-02-16 19:49:09 -02:00
Lucas De Marchi bc2f7f2783 AP_HAL_Linux: implement function to transfer data
This is a similar function to what we have in I2CDriver, but it can
receive a nullptr to recv or send.  It will create 2 i2c_msg structs to
send and receive data to/from the I2C slave.
2016-02-16 19:49:08 -02:00
Lucas De Marchi 2fc534d18d AP_HAL_Linux: implement methods to open the bus
These are very similar to their counterparts in I2CDriver. The changes
were:
    - Don't use fixed buffer with PATH_MAX length: allocate the string
    - Change the interface to use std::vector so we can simplify the
      implementation
2016-02-16 19:49:08 -02:00
Lucas De Marchi cd0e1dff82 AP_HAL_Linux: Add skeleton for I2CDevice
This adds the logic to maintain the I2CDevice's managed by I2CManager.
2016-02-16 19:49:08 -02:00
Lucas De Marchi 7debd14683 AP_HAL_Linux: Scheduler: remove unused _in_io_proc 2016-02-12 23:42:34 -02:00
Lucas De Marchi fbb3bb2fd0 AP_HAL_Linux: Scheduler: remove unused _timer_event_missed 2016-02-12 23:42:34 -02:00
Lucas De Marchi f39a6745d1 Global: remove unused _timer_pending from scheduler 2016-02-12 23:42:34 -02:00
Lucas De Marchi 0ad436c337 AP_HAL_Linux: Scheduler: bring back scheduler table
Use a scheduler table to list threads' properties in a single place.
2016-02-12 23:42:34 -02:00
Lucas De Marchi a1b62b4984 AP_HAL_Linux: Scheduler: use PeriodicThread
Some tasks were not accounting for the time to execute the tasks. Now
that we are using the infra from PeriodicThread all of them are.
2016-02-12 23:42:34 -02:00
Lucas De Marchi 48e81c8589 AP_HAL_Linux: Thread: add PeriodicThread helper
This is a helper class to run a single periodic function like the ones
used in the scheduler.
2016-02-12 23:42:34 -02:00
Lucas De Marchi 860d5aaf84 AP_HAL_Linux: Scheduler: move rpcmem initialization to setup phase
This was the only piece remaining in the timer thread that was used only
to setup the thread.
2016-02-12 23:42:34 -02:00
Lucas De Marchi 0282ebb8ff AP_HAL_Linux: add method to check caller same as thread 2016-02-12 23:42:34 -02:00
Lucas De Marchi e3beef0f77 AP_HAL_Linux: Scheduler: remove unused parameter 2016-02-12 23:42:34 -02:00
Lucas De Marchi 2b61eaf9f2 Global: remove {begin,end}_atomic from scheduler
These are never used and largely not implemented.
2016-02-12 23:42:34 -02:00
Lucas De Marchi 9aa49cda93 Global: remove system_initializing() from scheduler
This is not used anymore.
2016-02-12 23:42:34 -02:00
Lucas De Marchi 9cf9fc152b AP_HAL_Linux: use pthread's barrier instead of polling
Use pthread's barrier so we don't keep waking up threads with possibly
higher priority during initialization phase.

This also synchronizes all of them to a single point. With the previous
approach it was possible (but unlikely) that a thread hadn't reach the
synchronization point when main thread signalize "system initialized".
2016-02-12 23:42:34 -02:00
Lucas De Marchi 2b0e214168 AP_HAL_Linux: Scheduler: move synchronization to common method 2016-02-12 23:42:34 -02:00
Lucas De Marchi 66e6cd60d8 AP_HAL_Linux: Thread: allow to override run method 2016-02-12 23:42:34 -02:00
Lucas De Marchi a183ff8d32 AP_HAL_Linux: Scheduler: use Thread abstraction 2016-02-12 23:42:34 -02:00
Lucas De Marchi 3e0a83ede9 AP_HAL_Linux: add Thread abstraction class 2016-02-12 23:42:34 -02:00
Lucas De Marchi 5e9b45ebc2 AP_HAL_Linux: Scheduler: make microsleep() public
This will be used outside of scheduler class.
2016-02-12 23:42:34 -02:00
Lucas De Marchi 27999b339d AP_HAL_Linux: Scheduler: include cleanups
While at it also remove some wrong whitespaces.
2016-02-08 13:28:31 -02:00
mirkix 5b8de06beb AP_HAL_Linux: Enable optical flow onboard for BBBMINI 2016-02-08 08:52:10 -02:00
Lucas De Marchi 2296139516 AP_HAL_Linux: remove unused constant 2016-02-01 14:18:51 -02:00
Lucas De Marchi 21b2d5d34c AP_HAL_Linux: AnalogIn_Raspilot: rename classes to follow other names 2016-02-01 14:18:51 -02:00
Lucas De Marchi 87e7704b1c AP_HAL_Linux: ADS1115: rename classes to follow other names
While at it, remove some dead/commented-out code.
2016-02-01 14:18:51 -02:00
Lucas De Marchi 5bb2716081 AP_HAL_Linux: add name to SPI device table
A string name allows to more easily expand the table: the board is
responsible for the name and doesn't have to declare it as a enum or
define. It's also easier to add 2 sensors of the same type.
2016-02-01 14:18:50 -02:00
Lucas De Marchi 9d5fb97819 Global: rename enum SPIDevice to SPIDeviceType
Free the SPIDevice name so to have a consistent name for I2C/SPI device
classes.
2016-02-01 14:18:50 -02:00
mirkix c622ff1539 AP_HAL_Linux: Enable AnalogIN_IIO for BBBMINI 2016-01-28 13:44:43 -02:00
mirkix fe404c8a5d AP_HAL_Linux: AnalogIIO: Remove unused code, add scaling for BBBMINI, rework 2016-01-28 13:44:43 -02:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_
It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa a2d2661765 waf: use methods from bld instead of ardupilotwaf for the remaining 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
mirkix 86e335b6b6 AP_HAL_Linux: Prevent buffer overflow 2016-01-19 00:14:48 -02:00
Lucas De Marchi 2d3a62eae3 AP_HAL_Linux: RCInput_RPI: revert PWM support
This reverts support for RCInput via PWM. This is causing trouble in
some RPI-based boards, receiving a SIGSEGV. Let's revert it for now and
retry this later.

This reverts commit 5629f38b2c.
This reverts commit 51fd0b3d55.
This reverts commit 79d56073f7.
2016-01-18 20:07:42 -02:00
Lucas De Marchi c8947c3e9c AP_HAL_Linux: RCInput_RPI: provide signal information
Otherwise it's difficult to know what signal is causing the program to
exit.
2016-01-18 19:20:44 -02:00
Lucas De Marchi 5629f38b2c AP_HAL_Linux: RCInput_RPI: fix use of uninitiliazed value
../../libraries/AP_HAL_Linux/RCInput_RPI.cpp: In member function ‘virtual void Linux::RCInput_RPI::_timer_tick()’:
../../libraries/AP_HAL_Linux/RCInput_RPI.cpp:489:127: warning: ‘x’ may be used uninitialized in this function [-Wmaybe-uninitialized]
     counter = circle_buffer->bytes_available(curr_pointer, circle_buffer->get_offset(circle_buffer->_virt_pages, (uintptr_t)x));
                                                                                                                               ^
2016-01-18 19:19:36 -02:00
Julien BERAUD 4acc121bd6 AP_HAL_Linux: support for timesliced timers
In order for lower frequency timers not to be called at the same iteration
of the main timer loop. This improves scheduling.
2016-01-18 16:57:48 -02:00
Gustavo Jose de Sousa d281067bcc waf: make example binaries be placed in 'examples' dir
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
2016-01-15 16:46:41 -02:00
Ricardo de Almeida Gonzaga 4c60dd5e44 AP_HAL_Linux: improve yuyv_to_grey() performance
Based on gbenchmark metrics.

Before:
Benchmark             Time(ns)    CPU(ns) Iterations
----------------------------------------------------
BM_YuyvToGrey/4k          3109       3114     233334
BM_YuyvToGrey/75k        55777      55857      12353
BM_YuyvToGrey/300k      231829     232227       3043

After:
Benchmark             Time(ns)    CPU(ns) Iterations
----------------------------------------------------
BM_YuyvToGrey/4k          1713       1716     411765
BM_YuyvToGrey/75k        32124      32152      21875
BM_YuyvToGrey/300k      128530     128753       5385
2016-01-15 16:43:52 -02:00
Ricardo de Almeida Gonzaga 3748760ead AP_HAL_Linux: improve crop_8bpp() performance
Based on gbenchmark metrics.

Before:
Benchmark             Time(ns)    CPU(ns) Iterations
----------------------------------------------------
BM_Crop8bpp/64/64         3206       3197     198113
BM_Crop8bpp/240/240      38166      38181      18421
BM_Crop8bpp/640/480     193589     193317       3621

After:
Benchmark             Time(ns)    CPU(ns) Iterations
----------------------------------------------------
BM_Crop8bpp/64/64         2652       2657     232103
BM_Crop8bpp/240/240      33532      33506      20792
BM_Crop8bpp/640/480     187848     188201       3684
2016-01-15 16:43:52 -02:00
Ricardo de Almeida Gonzaga 210c90e784 AP_HAL_Linux: add benchmark for crop_8bpp() and yuyv_to_grey()
We had to check for board subtypes in the benchmark since VideoIn.cpp
does these checks.
2016-01-15 16:43:52 -02:00
Julien BERAUD 43307d95c8 OpticalFlow_Onboard: fix body rate calculation
The correct integral of the body rate is (rate + last_rate)/2*dt
and not rate * dt
2016-01-15 16:11:19 -02:00
Ricardo de Almeida Gonzaga 753f7d864a AP_HAL_Linux: add a shrink by software option in OpticalFlow
This shrink must be used when the output camera sizes doesn't fit
the expected output.

We don't need to crop it even when the camera sizes aren't squared since
the shrink_8bpp() function shrinks a selected area.
2016-01-15 16:05:47 -02:00
Ricardo de Almeida Gonzaga 553d36c860 AP_HAL_Linux: add shrink_8bpp() to VideoIn
This function shrinks a selected area on a 8bpp image.

The focus in this function was the performance, so this may not be the
clearer or the most understandable way to write it. The performance
was measured using GoogleBenchmark[1].

[1] - https://github.com/google/benchmark.git
2016-01-15 16:05:47 -02:00
Lucas De Marchi 51fd0b3d55 AP_HAL_Linux: RCInput_RPI: fix coding style
- Remove trailing whitespaces
 - Remove some uneeded comments
 - Fix indentation
 - Replace some breaks inside the loop by checking in the loop itself
2016-01-15 00:16:14 -02:00
Aaron Wang Shi 79d56073f7 AP_HAL_Linux: support PWM input for BH hat 2016-01-15 00:16:14 -02:00
Julien BERAUD f449107563 AP_HAL_Linux: Add Perf Lttng
Support for perf api using lttng.
Some additional build tricks needed for bebop because lttng uses dl_open
which is not compatible with a static link on a different libc as used
on the bebop
2016-01-14 19:13:35 -02:00
Lucas De Marchi a3cac102cd AP_HAL_Linux: AnalogIn_Raspilot: rename misleading variables
We are not doing any dma here, it's just an SPI transaction. Name them
only rx/tx (although io_packet_tx/io_packet_rx could be another option).
This also zero-initialize the struct to keep valgrind happy about not
calling ioctl() with uninitialized variables.
2016-01-11 16:03:28 -02:00
Lucas De Marchi 0cff40ed7b AP_HAL_Linux: AnalogIn_Raspilot: remove unused debug 2016-01-11 15:58:49 -02:00
Pritam Ghanghas 60636c1653 AP_HAL_Linux: rename RaspilotAnalogIn.cpp to AnalogIn_Raspilot.cpp 2016-01-11 15:56:20 -02:00
Lucas De Marchi 1fde473afc AP_HAL_Linux: AnalogIn_IIO: normalize names
Use same name for file and classes, preferring AnalogIn_IIO over
IIOAnalogIn.
2016-01-11 15:44:24 -02:00
Lucas De Marchi be2af0877c AP_HAL_Linux: AnalogIn_IIO: formatting fixes
- remove trailing whitespaces
  - use pragma 0 for header guard
2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches 8195631fac HAL_Linux: AnalogIn_IIO update reopen_pin 2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches b9c83da8c6 HAL_Linux: AnalogIn_IIO, replace reopen by select
A new select_pin method has been implemented and
set that changes solely the file descriptor (avoids
reopening the file every time we call set_pin).
2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches da1b529415 HAL_Linux: AnalogIn_IIO add init_pins
initializes all the available analog
sources and stores the corresponding file descriptors
in fd_analog_sources.
2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches 546fbd1f25 HAL_Linux: mv AnalogIn_PXF to AnalogIn_IIO
Initial implementation used for the PXF moved for
a wider use. The implementation uses the Linux Industrial
I/O Subsystem (IIO) to get Analog Input.
2016-01-11 15:44:24 -02:00
Víctor Mayoral Vilches 4820e0b2c7 HAL_Linux: AnalogIn_PXF changes in AnalogIn
Recent changes in AP_HAL::AnalogIn have made the previous
code not valid anymore. This commit fixes the init()
method and adds common headers.
2016-01-11 15:44:24 -02:00
pkancir 506db4eaf5 AP_HAL_Linux: add ADC support for PXF cape 2016-01-11 15:44:24 -02:00
Lucas De Marchi 0817fe6033 AP_HAL_Linux: default USE_FRAM to 0 for all boards
This disables FRAM usage in PXF and erleboard. The reason is it's
failing and not being used. Right now we get this on startup:

	root@beaglebone:~# ./ArduCopter.elf
	FRAM: Online
	Storage: FRAM is getting reset to default values
	Failed to read FRAM

Testing with valgrind also reveals some invalid memory reads. Let's
disable it for now to be common with other boards.
2016-01-11 15:44:24 -02:00
Lucas De Marchi 2a33b6bf33 AP_HAL_Linux: OpticalFlow: remove unneeded panic
There's already a panic() below.
2016-01-11 15:34:14 -02:00
Ricardo de Almeida Gonzaga 7adbccac9a AP_HAL_Linux: add support for OpticalFlow to MinnowBoardMax
This commit adds support for OpticalFlow to MinnowBoardMax trying to
leave the OpticalFlow implementation as generic as it already is.

We had to add some format conversion and software crop to the cameras that
do not have this features.
2016-01-11 15:31:27 -02:00
Ricardo de Almeida Gonzaga 8aded390e7 AP_HAL_Linux: add yuyv_to_grey() and crop_8bpp() to VideoIn
Most cameras do not support NV12 or GREY formats, we are adding in this commit
a conversion from YUYV format, that seems pretty common in cameras, to GREY
format (since we do not use Cb and Cr data on OpticalFlow).

Also we are adding a software crop for 8bpp images, such as GREY format. For
the same reason, most cameras do not have support for overlaying (crop, resize
and so on).

These functions are being added in order to be used in the next commits,
where we will add support for OpticalFlow on MinnowBoardMax.
2016-01-11 15:31:27 -02:00
Ricardo de Almeida Gonzaga 27f909319e AP_HAL_Linux: add get_pixel_formats() to VideoIn
This function is being added in order to be used in the next commits,
where we will add support for OpticalFlow on MinnowBoardMax.
2016-01-11 15:31:26 -02:00
Julien BERAUD 979184607d OpticalFlow_Onboard: fix comment
Copy-paste mistake
2016-01-11 14:54:51 -02:00
Lucas De Marchi a803cfd1e8 AP_HAL_Linux: RCInput: use GPIO5 for PPMSUM in bhat 2016-01-07 10:28:16 -02:00
Lucas De Marchi 321803919c Revert "AP_HAL_Linux: support PWM input for BH hat"
This reverts commit 8cca0beba9.

The PWM input using the RPI DMA is causing trouble with RPI boards using
PPMSUM. Let's revert it until the solution is found. We still leave the
ifdef in RCInput for BH hat.
2016-01-07 10:27:07 -02:00
Víctor Mayoral Vilches fa3dad928b HAL_Linux: Add PXFmini to Linux_Class 2016-01-05 15:35:56 -02:00
Víctor Mayoral Vilches e1de1f5f80 HAL_Linux: Util, add PXFmini support 2016-01-05 15:35:56 -02:00
Víctor Mayoral Vilches a0b9181198 HAL_Linux: Scheduler add PXFmini support 2016-01-05 15:35:55 -02:00
Víctor Mayoral Vilches 1c49b086eb HAL_Linux: SPIDriver add PXFmini support 2016-01-05 15:35:55 -02:00
Lucas De Marchi e0d19dc87d AP_HAL_Linux: RCInput_RPI: fix coding style 2016-01-05 15:35:34 -02:00
Víctor Mayoral Vilches fdf490dad1 HAL_Linux: RCInput support for PXFmini 2016-01-05 15:34:50 -02:00
Lucas De Marchi 4e883e033f AP_HAL_Linux: GPIO: remove ifdef comment
It just clutters the source code and review process when a new similar
board is added.
2016-01-05 15:34:49 -02:00
Víctor Mayoral Vilches 8ce8045033 HAL_Linux: GPIO, add support for PXFmini 2016-01-05 15:31:43 -02:00
Lucas De Marchi 47f25a0aa0 AP_HAL_Linux: remove _export_pins() method
The initial idea was to export all pins to be used at once, so we
created _export_pins() to take all of them and a wrapper method,
_export_pin() to export a single one. However we never export more than
one pin at once.
2016-01-04 15:12:49 -02:00
José Roberto de Souza ba0ed84039 AP_HAL_Linux: Refactor GPIO_Sysfs
- Replaced PATH_MAX by the maximum stack memory it will use for GPIO
  paths
- Added more information to error logs
- Removed the '/n' when writing to GPIO sysfs files
- Using Linux Util write_file() on _pinMode()
2016-01-04 15:12:49 -02:00
José Roberto de Souza 0c0d595b55 AP_HAL_Linux: Export GPIO pin inside of pinMode()
Make sure pinMode() method exports the pin before using it. Otherwise
the export method would need to be called, differently from other GPIO
implementations.

Since now export_pin and export_pins are called only internally, reduce
their visibility to protected.
2016-01-04 15:12:49 -02:00
Ricardo de Almeida Gonzaga 7033e4d8ed AP_HAL_Linux: OpticalFlow swap crop and scale order
In order to be easier to understand the image manipulation for the ones
who read this part, since the order makes no difference in this stage.
2016-01-04 09:24:01 -02:00
Ricardo de Almeida Gonzaga cbb313ec2c AP_HAL_Linux: Fix OpticalFlow crop calculation
'left' value should be the lateral edges size
2016-01-04 09:24:01 -02:00
Julien BERAUD e46f23f538 RCOutput_Bebop: Increase max_rpm on Bebop 2
Bebop 2 can go as high as 12200 rpm. Use get_hw_arm32 method to see
if we are on a bebop or bebop 2
2015-12-27 16:11:36 -02:00
Julien BERAUD b6f51233db AP_HAL_Linux: Make RPI get_hw method public
Valid also on Bebop
2015-12-27 16:11:36 -02:00