Commit Graph

770 Commits

Author SHA1 Message Date
hiro2233 37877f1530 AP_HAL_Linux: Added URUS macro to Scheduler 2016-10-27 11:51:32 -02:00
hiro2233 7000124f6a AP_HAL_Linux: Added URUS Macro for GPIO_RPI and UtilRPI 2016-10-27 11:51:32 -02:00
hiro2233 a7b79dc0e2 AP_HAL_Linux: GPIO_RPI: Added URUS Macro. 2016-10-27 11:51:32 -02:00
Lucas De Marchi 473add51f7 AP_HAL_Linux: RPIOUARTDriver: remove dma mention
There's no dma going on here, it's just a normal SPI transfer.
2016-10-27 10:35:01 -03:00
Lucas De Marchi d60b4842b6 AP_HAL_Linux: reduce scope of dummy buffer 2016-10-27 10:35:01 -03:00
Lucas De Marchi 76f1e4243a AP_HAL_Linux: remove double assignment
_dma_packet_tx.crc is already assigned below, we don't neet to set it to
0 before. While at it move the assignment to .crc up and fix coding
style.
2016-10-27 10:35:01 -03:00
Lucas De Marchi c898b28962 AP_HAL_Linux: use MIN where possible 2016-10-27 10:35:01 -03:00
Murilo Belluzzo c7a65a026c AP_HAL_PX4: 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 14:23:43 +11:00
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