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830 Commits

Author SHA1 Message Date
Andrew Tridgell 8f280d212b HAL_Linux: don't use usleep() in suspend_timer_procs() 
usleep can cause a large delay with PREEMPT kernel
 2014-08-19 20:03:33 +10:00
Andrew Tridgell 94e14f5dcb HAL_Linux: split off RCOutput class to be specific to PXF and ERLE 
this fixes the Replay tool
 2014-08-19 20:03:33 +10:00
Andrew Tridgell 2ce219aeb8 HAL_Linux: split RCInput class into generic and PRU implementations 
this will make it easier for other boards (such as NAVIO) to implement
their own RCInput mechanism
 2014-08-19 20:03:33 +10:00
Andrew Tridgell b4be93113c HAL_Linux: prevent read past end of buffer 2014-08-19 10:08:17 +10:00
Andrew Tridgell b40bd479c4 HAL_Linux: moved FRAM vs FS choice into HAL_Linux headers 2014-08-19 10:08:17 +10:00
Andrew Tridgell 9fccb5f5ed HAL_Linux: clear more UART flags 
this fixes a major timing issue caused by bad UART flags (I suspect
the echo flags) and the GPS auto detection code
 2014-08-19 10:08:17 +10:00
Andrew Tridgell c87b0adc29 HAL_Linux: the MS5611 seems to be a bit happier at higher speed 
still getting some bogus data, but less
 2014-08-19 10:08:17 +10:00
Andrew Tridgell 6cc304e486 HAL_Linux: RCOutput should default to 50Hz on all boards 2014-08-19 10:08:16 +10:00
Andrew Tridgell 9d948d5a26 HAL_Linux: fixed name space collision in RCOutput 2014-08-19 10:08:16 +10:00
Andrew Tridgell 721d349922 HAL_Linux: fixed build of BusTest 2014-08-19 10:08:16 +10:00
Andrew Tridgell a4ef512f10 SPIDriver: fixed handling of 0 based SPI bus numbers 2014-08-19 10:08:16 +10:00
Andrew Tridgell 5fb2ad0068 HAL_Linux: fixed safety of RCInput code 
don't loop forever waiting for pulses
 2014-08-19 10:08:16 +10:00
bugobliterator ac11d282b5 HAL_Linux: Add support for PPM input to HAL_Linux 
rcin thread continuously scans for values inside ring buffer maintained by pru with rcinpru0 firmware.
 2014-08-19 10:08:16 +10:00
bugobliterator 4b2f7cd163 HAL_Linux: Add FRAM HAL driver support for non-volatile storage 
Support for File System starage mode is retained, appropriate Storage
mode can be set by defining USE_FS_STORAGE for File System storage
aand US_FRAM_STORAGE for FRAM storage.  Note: FS storage and FRAM
storage are never synced as of now.
 2014-08-19 10:08:16 +10:00
Victor Mayoral Vilches 8a71fdf092 HAL_Linux: minor syntax fix in UARTDriver 
Typo noticed by @hcervino.
 2014-08-19 10:08:16 +10:00
Silvia b6baf78e73 HAL_Linux:duplicate `#include <sys/types<`deleted 2014-08-19 10:08:16 +10:00
Silvia 7fd0e8345d HAL_Linux: Duplicate `#include <unistd.h>`deleted 2014-08-19 10:08:16 +10:00
Andrew Tridgell d40d0f6aec AP_HAL: removed old storage type read/write functions 
not needed any more
 2014-08-13 18:46:44 +10:00
Mikhail Avkhimenia a09fbb4171 HAL_Linux: Add SPI configuration for Navio 
This changes the SPI bus number to be zero based on Linux
 2014-08-12 22:13:00 +10:00
Andrew Tridgell 03e8e5f2b9 HAL_Linux: setup for all 6 SPI devices for PXF cape 2014-07-19 13:23:37 +10:00
Andrew Tridgell 05f5d91709 HAL_Linux: fixed BusTest build 2014-07-19 12:22:06 +10:00
Andrew Tridgell 9e921719ca HAL_Linux: added bus scanning test 2014-07-15 19:06:11 +10:00
Andrew Tridgell bcc8768358 HAL_Linux: fixed a build warning 2014-07-15 13:56:50 +10:00
Andrew Tridgell 1b85b12738 HAL_Linux: made I2C driver more portable 
this uses a typeof() to cope with different kernel data types for I2C
messages
 2014-07-15 13:56:50 +10:00
Andrew Tridgell 224515f3eb HAL_Linux: fixed indexing of device array for SPI 2014-07-14 11:31:55 +10:00
Andrew Tridgell 3292055af2 HAL_Linux: fixed dataflash SPI 2014-07-14 11:07:41 +10:00
Andrew Tridgell 6312b9f8c0 HAL_Linux: allow different SPI and GPIO devices on different boards 
this fixes the Replay utility, which uses subtype NONE, and will make
it easier to port to new boards
 2014-07-14 09:44:37 +10:00
bugobliterator 003806fcc1 HAL_Linux: pwmpru,HAL_Linux_RCOut code doesn't wait for magic flag to send data 
change pwmpru code to remove frequent wrong PWM outputs
Replace pru firmware with new modified pru firmware
 2014-07-14 09:44:37 +10:00
bugobliterator 8cf628e780 HAL_Linux_RCoutput:Add handler to catch SIGBUS error 2014-07-14 09:44:37 +10:00
bugobliterator 25e670d0cc HAL_LINUX_RCOutput: Change to reading hilo_read instead of periodhi 
use uint instead of int
 2014-07-14 09:44:36 +10:00
Andrew Tridgell a46d8dbd51 HAL_Linux: make the spi driver fd part of the manager, not device 
it should be one connection to the kernel per bus, not one per device
 2014-07-14 09:44:36 +10:00
Andrew Tridgell 9f8f27090a HAL_Linux: MPU9250 is restricted to 1MHz for setup 
(see datasheet)
 2014-07-14 09:44:36 +10:00
Andrew Tridgell 549e08446a HAL_Linux: use BBB pin names in SPIDriver 
easier to find the pins on the board
 2014-07-14 09:44:36 +10:00
Andrew Tridgell 8e5915ef7d HAL_Linux: fixed some valgrind errors 2014-07-14 09:44:35 +10:00
Andrew Tridgell 130f831c1c HAL_Linux: use MODE_3 for MPU9250 
this fixes the MS5611 (probably due to idle state?)
 2014-07-14 09:44:35 +10:00
Andrew Tridgell fc8068adfe HAL_Linux: use board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell 1bf0c4c67d HAL_Linux: cope with different I2C headers for data 2014-07-14 09:44:34 +10:00
Andrew Tridgell fa2a1c495e HAL_Linux: fixed I2C driver build errors 2014-07-14 09:44:34 +10:00
Andrew Tridgell 8c4565c741 HAL_Linux: fixed a build warning 2014-07-14 09:44:34 +10:00
Andrew Tridgell 5b438471a7 HAL_Linux: added set_bus_speed() support to SPI driver 
used by MPU6000 driver for setup registers
 2014-07-14 09:44:33 +10:00
Andrew Tridgell 0b64d834c3 HAL_Linux: MS5611 and MPU6000 should be MODE3 
this doesn't solve the MPU6000 problem, but is correct
 2014-07-14 09:44:33 +10:00
Andrew Tridgell 1c89f54934 HAL_Linux: fixed SPI mode handling per-device 
the mode must be set per-device, not per bus.
 2014-07-14 09:44:33 +10:00
Víctor Mayoral Vilches 145c71c4af HAL_Linux: Storage: Change storage folder in Linux to `/var/APM` 2014-07-14 09:44:33 +10:00
bugobliterator ca163c292c HAL_Linux: PRU: remove obsolete libraries/AP_HAL_Linux/PRU 2014-07-14 09:32:29 +10:00
Andrew Tridgell 72f94444c4 HAL_Linux: added basic support for RC overrides 
this allows for easier testing of RC output by allowing
mavproxy to setup fake inputs

Pair-Programmed-With: Sid, Anuj, Victor and Philip
 2014-07-14 09:32:29 +10:00
Andrew Tridgell d0b007248f HAL_Linux: fixed SPI semaphore, and panic on CS error 
This adds a check for trying to assert two CS pins on the same bus
at the same time. The change involves moving the _device handles into the
DeviceManager class, and accessing via static methods.

This also moves the semaphore to be per-bus rather than per-device,
which fixes the problem with bad MS5611 transfers.

Pair-Programmed-With: Victor, Sid, Anuj and Philip
 2014-07-14 09:32:29 +10:00
bugobliterator 5bcdb039e2 HAL_Linux: Make asynchronous PRU write and reduce the size of data exchange 
Change to sending Total Period and hi Period, rather than Hi and Lo Period
Change PRU firmware accordingly
 2014-07-14 09:32:29 +10:00
Víctor Mayoral Vilches fa6c5ba80e HAL_Linux: Remove the additional portNumber offset 
The socket is being launched in (_base_port + portNumber) port
following SITL impl. In order to avoid confusions portNumber has
been set to 0.
 2014-07-14 09:32:21 +10:00
Víctor Mayoral Vilches 02c171b19f HAL_Linux: UART-like TCP sockets, check for ":wait" 2014-07-14 09:32:13 +10:00
Víctor Mayoral Vilches ca80c0b8e2 HAL_Linux: config UART file descriptor as non-blocking 2014-07-14 09:31:59 +10:00
Siddharth Bharat Purohit 65fef59dfa HAL_Linux: change initial PWM values to 490Hz, 1000us 2014-07-14 09:31:49 +10:00
Víctor Mayoral Vilches f11f0d9f2a HAL_Linux: Fix FRAM code 2014-07-14 09:31:41 +10:00
Víctor Mayoral Vilches be68de20f1 HAL_Linux: UART-like TCP sockets impl. on AP_HAL_Linux 2014-07-14 09:31:30 +10:00
Víctor Mayoral Vilches b0742fbb5b HAL_Linux: Add FRAM SPI support. 2014-07-14 09:31:18 +10:00
Siddharth Bharat Purohit 0422695e5e HAL_Linux: Correct error inside read method in RCOutput 2014-07-14 09:31:05 +10:00
bugobliterator 092bda9c37 HAL_Linux: Replace PRU1 firmware with a new one to support new way of controllong PRU PWM 2014-07-14 09:31:05 +10:00
bugobliterator 63560e8122 HAL_Linux: change to directly accessing shared_mem of pru in RCOutput 2014-07-14 09:30:54 +10:00
Siddharth Bharat Purohit 9999e77a74 HAL_Linux: add close(_fd) to some functions in RCOutput 2014-07-14 09:30:42 +10:00
Víctor Mayoral Vilches 95e0803880 HAL_Linux: Remove panic when invalid pin in GPIO 
When a invalid pin is passed as a parameter
the methods return without performing anything
insted of raising a panic.
 2014-07-14 09:30:25 +10:00
Víctor Mayoral Vilches 245618e298 HAL_Linux: Improve error handling SPIDriver 2014-07-14 09:30:16 +10:00
Víctor Mayoral Vilches d330cbecb3 HAL_Linux: Make the CS variables more readable in SPIDriver 2014-07-14 09:30:06 +10:00
Víctor Mayoral Vilches 665bf4a247 HAL_Linux: BUS_SPEED selected individually in SPIDriver 2014-07-14 09:29:53 +10:00
Siddharth Bharat Purohit d2b5a1cfac HAL_Linux: add HAL_ prefix to GPIO_INPUT 2014-07-14 09:29:45 +10:00
bugobliterator 1f1af0b0ea HAL_Linux: make GPIO code compact and readable 
add hal instance to generate scheduler
change gpio/export write method
add gpio struct to LinuxDigitalSource class
change individual gpio banks to one gpio_bank array
 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches 651cb58ebc HAL_Linux: Add CS capabilities to the SPI driver. 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches 763c075497 HAL_Linux: spidev1.0 to SPI0 and spidev2.0 to SPI1 2014-07-14 09:29:28 +10:00
bugobliterator fd0685cc01 HAL_Linux: change to mem access method from sysfs access method 
This step is taken to reduce the time for gpio access substantially
 2014-07-14 09:29:18 +10:00
bugobliterator 96bbe17bd3 HAL_Linux: add support for LinuxDigitalSource in AP_HAL_Linux 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches 7652d47e6e HAL_Linux: Add GPIO pinmux mappings 
This will allow to request channels using the
name of the BBB headers (e.g. P8_12, P9_42).
 2014-07-14 09:29:08 +10:00
bugobliterator 18d7438240 HAL_Linux: increase size of sysfs_path variables inside LinuxRCOutput's methods 
to avoid stack smashing error
 2014-07-14 09:29:08 +10:00
bugobliterator 85d10e2ce3 HAL_Linux: add export gpio during direction set if not exported during initialisation 2014-07-14 09:29:08 +10:00
bugobliterator a7ead42f52 HAL_Linux: added initial gpio library 2014-07-14 09:29:08 +10:00
Víctor Mayoral Vilches c4b6026d53 HAL_Linux: include readRegistersMultiple in I2CDriver 
AP_HAL_Linux implemments this new method.
 2014-07-14 09:28:42 +10:00
Víctor Mayoral Vilches ea7dcc188b AP_HAL_Linux: Correct SPIDriver devs 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches 8af1b6faa7 AP_HAL_Linux: Add support for SPIDevice_LSM9DS0 
The LSM9DS0 SPI device is connected to
SPI0, thereby SPIDriver class should return the
corresponding device.
 2014-07-14 09:10:23 +10:00
bugobliterator 79fb10d9e8 HAL_Linux: correct AP_HAL_Linux::RCOutput::enable_ch method 
change the mode of file open which was set as RDONLY mistakenly
 2014-07-14 09:10:23 +10:00
bugobliterator eb35c94a43 HAL_Linux: add rcout->init method to HAL_Linux_Class::init 2014-07-14 09:10:23 +10:00
bugobliterator e9f5e0d6cc HAL_Linux: add rcout->init method to HAL_Linux_Class::init method 2014-07-14 09:10:23 +10:00
bugobliterator 34ba77e048 HAL_Linux: Correct faulty RCOutput driver 
solve compiler not looking ahead of RCOutput class for read and write methods
 2014-07-14 09:10:23 +10:00
bugobliterator 26cd4ad237 HAL_Linux: Correct indentation 2014-07-14 09:10:23 +10:00
Siddharth Bharat Purohit 69a4b7d632 HAL_Linux: Correct Indentation issue 2014-07-14 09:10:23 +10:00
Siddharth Bharat Purohit 731d80e6c5 HAL_Linux: Add Steps to Manually test pwm channels 2014-07-14 09:10:13 +10:00
Siddharth Bharat Purohit b53b3f415a HAL_Linux: Create Readme.md adding details on manually testing pru pwm 2014-07-14 09:10:03 +10:00
bugobliterator a7de5e3d0f HAL_Linux: Add initial RCOutput driver 
The functions in RCOutput.cpp are defined to access PWM over PRU sysfs
device from userspace using open, read, write and close methods.
 2014-07-14 09:09:53 +10:00
Víctor Mayoral Vilches 3354fa9fc8 AP_HAL_Linux: Add support for SPIDevice_MS5611 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches 9f5b4ffca4 AP_HAL_Linux_Class: Correct deadlock, and infinite loop in setup() 
(credit to Mitch Miers <mmiers@mmiers.com>):

setup() is attempting to initialize the hardware, and while doing so
is attempting to output some text via the console (and maybe mavlink
data).  The problem is, the output isn't going to complete once a
write buffer is full, because LinuxUARTDriver::_timer_tick() doesn't
perform work until _initialized is true.  So, what happens is,
setup() (and subroutines) call LinuxUARTDriver::_write(uint8_t c),
which loops waiting for buffer space to become available (once the
write buffer is full).  The buffer never gets space, because the
UART thread is waiting for initialization to complete before it
will write out data and drain the buffer, but that doesn't happen
until setup() returns (see AP_HAL_Linux_main.h).

Refer to https://groups.google.com/forum/#!topic/beaglepilot/dQlxse11JNI
 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches 27ebf790e2 AP_HAL_Linux: Add support for SPIDevice_MPU9250 
The Invensense MPU9250 SPI device is connected to
SPI1, thereby SPIDriver class should return the
corresponding device.
 2014-07-14 09:02:46 +10:00
Víctor Mayoral Vilches 815c2df2d0 AP_HAL_Linux: SPIDriver, add MPU6000 support 2014-07-14 08:52:51 +10:00
Andrew Tridgell 74ee70d463 HAL_Linux: updates for ERLE board type 2014-07-14 08:52:27 +10:00
Andrew Tridgell b99ae63cbb HAL_Linux: more generic fix for scheduler issues in example sketches 
this ensures drivers can run
 2014-05-16 22:40:38 +10:00
Andrew Tridgell 6eee2421cc AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 
the valid_channels() method was inconsistently implemented between
boards, and served two quite different purposes. It is clearer as two
functions
 2014-03-25 14:39:41 +11:00
Andrew Tridgell 3fa2207a2d AP_HAL: allow for microsecond resolution in scheduler->stop_clock() 
this makes 400Hz in the replay code possible
 2014-02-26 19:33:39 +11:00
Andrew Tridgell bf2dd141e9 HAL_PX4: support uartE for 2nd GPS 2014-02-26 08:18:11 +11:00
Andrew Tridgell a273951f70 HAL_Linux: added missing Util.cpp 2014-02-24 11:59:24 +11:00
Andrew Tridgell 735c6449a1 AP_HAL: added support for commandline arguments 
useful for log replay, specifying log file
 2014-02-23 08:15:39 +11:00
Andrew Tridgell 78ff078988 HAL_Linux: fixed stopped clock delay 2014-02-15 05:48:18 +11:00
Andrew Tridgell 117b77460e HAL_Linux: added stop_clock hack! 2014-02-15 05:28:08 +11:00
Andrew Tridgell 1849db7074 AP_HAL: added board_voltage AnalogIn method 
this makes it easier to get the board voltage from any library,
without having to allocate another analog channel object
 2014-02-14 21:25:38 +11:00
Andrew Tridgell 87cc95dd7f AP_HAL: removed unused enable_mask and disable_mask functions 2014-01-16 17:16:17 +11:00
Andrew Tridgell a8946a5f31 HAL_Linux: fixed build 2013-12-31 10:28:38 +11:00
Andrew Tridgell ea649e036b AP_HAL: added HAL_CPU_CLASS define for selecting algorithms 
this will make it easier to select the appropiate level of algorithm
for a CPU
 2013-12-31 10:28:37 +11:00
Andrew Tridgell ecbfdfba6c HAL_Linux: implement time_shift() API 2013-12-30 14:35:12 +11:00
Andrew Tridgell c000a08d6f HAL_LINUX: added uartD 2013-11-23 19:29:22 +11:00
Andrew Tridgell 5af51140a9 HAL_Linux: fixed scheduler initialisation bug in Linux HAL as well 2013-10-26 18:25:27 +11:00
Andrew Tridgell 0d682e74c1 HAL_Linux: run threads a bit more slowly 
this was just wasting cycles
 2013-10-10 07:21:38 +11:00
Andrew Tridgell 8f79a03c25 HAL_Linux: use larger UART buffers 
might as well use the memory
 2013-10-10 07:21:38 +11:00
Andrew Tridgell 28b4ae1c3a HAL_Linux: improved latency of timed semaphores 2013-10-08 11:50:54 +11:00
Andrew Tridgell a216e1d239 HAL_Linux: don't prevent write while timer is busy 
the timer can block on I2C writes, which causes the main loop to run
 2013-10-08 11:50:53 +11:00
Andrew Tridgell 91511e6503 HAL_Linux: better realtime setup 
lock all memory and pre-fault the stack in all threads
 2013-10-08 11:50:53 +11:00
Andrew Tridgell 07b8f45770 HAL_Linux: use CLOCK_MONOTONIC_RAW to ensure clock never goes backwards 
this avoids ntp mucking with APM timing
 2013-10-07 08:41:52 +11:00
Andrew Tridgell b30f652cec HAL_Linux: removed Console driver 2013-10-05 18:32:57 +10:00
Andrew Tridgell 1440c8cebd HAL_Linux: implement a dummy console buffered write() 2013-10-03 12:21:08 +10:00
Andrew Tridgell c9fea2c706 HAL_Linux: fixed scheduling priorities 
need to be between 1 and 99
 2013-10-01 13:05:04 +10:00
Andrew Tridgell bbac3265b2 HAL_Linux: default to hal.console on stdout 2013-10-01 12:49:58 +10:00
Andrew Tridgell bcc9cdbf43 HAL_Linux: make I2CDriver more portable 
this allows it to build on the Beaglebone
 2013-10-01 12:37:13 +10:00
Andrew Tridgell 51c19331a6 HAL_Linux: fixed build 2013-10-01 12:11:48 +10:00
Andrew Tridgell f2ebb2ca87 HAL_Linux: updates for AP_HAL::MemberProc 2013-09-30 20:56:15 +10:00
Andrew Tridgell 53f66b23f4 AP_HAL_Linux: fixed APM2 build 2013-09-29 14:24:55 +10:00
Andrew Tridgell 1698e1800c HAL_Linux: timer calls may block on HAL_Linux 
timer calls can do SPI transfers, which can block
 2013-09-29 10:48:22 +10:00
Andrew Tridgell 5102f1511b HAL_Linux: fixed callbacks from delay() 2013-09-29 10:32:51 +10:00
Andrew Tridgell a1ef1a9318 HAL_Linux: tweak the scheduling priorities 2013-09-29 12:04:37 +10:00
Andrew Tridgell d3fe625742 HAL_Linux: make the SPI driver much more efficient 
use a single transaction for multiple bytes. This makes the APM1
Oilpan driver generate only 2 interrupts per sensor read
 2013-09-29 12:04:36 +10:00
Andrew Tridgell 1e786b3e20 HAL_Linux: added buffering on the UARTs 2013-09-29 12:04:36 +10:00
Andrew Tridgell 605e6c3cf7 HAL_Linux: use pthread mutexes for semaphores 2013-09-29 07:49:30 +10:00
Andrew Tridgell 884af71ef6 HAL_Linux: added SPI support 2013-09-29 00:57:13 +10:00
Andrew Tridgell f03315237a HAL_Linux: fixed timer scheduler 2013-09-28 21:24:03 +10:00
Andrew Tridgell cca59ce3c9 HAL_Linux: update for new scheduler API 2013-09-28 21:24:02 +10:00
Andrew Tridgell bcf4f48e65 HAL_Linux: switched to pthread based scheduling 2013-09-28 21:24:02 +10:00
Andrew Tridgell 58a31318ee AP_HAL_Linux: initial I2C driver implementation 
this works sufficiently for the HMC5883
 2013-09-28 21:24:02 +10:00
Andrew Tridgell 4ba044c441 AP_HAL_Linux: initial Linux AP_HAL 2013-09-28 21:24:01 +10:00