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806 Commits

Author SHA1 Message Date
Lucas De Marchi d2ba8409d0 AP_HAL: provide default directory for Linux boards 
/var/lib/<project> is more in line to where projects save their data.
Also, remove APM from dir name as it should had been done some time
ago.

This is only the default (and recommended for any new board). Existing
boards that want to adopt the default can remove their defines.
 2017-10-30 16:57:37 -07:00
Georgii Staroselskii 4e2028c32f AP_HAL: Edge: enable Heat PWM 2017-10-20 13:03:08 -07:00
Georgii Staroselskii db9f427617 AP_HAL: Edge: add compass settings 
Use HMC5883L as default before UAVCAN Linux support is in place
 2017-10-20 13:03:08 -07:00
Georgii Staroselskii 2dd68243a2 AP_HAL: add Edge support 2017-10-20 13:03:08 -07:00
Francisco Ferreira be1f0801a3
AP_HAL: stop defining a default Lightware I2C bus 
When a specific bus isn't defined we now search I2C buses 0 and 1
 2017-10-09 11:57:02 +01:00
Lucas De Marchi 7edde571e1 AP_HAL: RCOutput_Tap: make LEDs blink on non-Aero ESCs 
The protocol defines bits for controlling possible LEDs. On Aero the ESC
firmware simply ignores these bits and blink with a fixed frequency.
Add logic to be able to blink the ESC if not flashed with the Aero
version of the firmware.
 2017-09-28 08:59:52 -07:00
Lucas De Marchi 2c3054cbae AP_HAL: RCOutput_Tap: remove feedback from ESCs 
This is not currently working on Aero, the only user of it right now,
and it has been commented out. Remove dead code.
 2017-09-28 08:59:52 -07:00
Lucas De Marchi d3a1ed9792 AP_HAL: RCOutput_Tap: fix comment with protocol bits 2017-09-28 08:59:52 -07:00
Lucas De Marchi 58ae139b8f AP_HAL: add possible external compasses for aero 2017-09-27 09:25:34 -07:00
Andrew Tridgell 08344557d9 AP_HAL: fixed missing LPS25H define 2017-09-27 16:42:31 +10:00
fnoop 149188de12 AP_HAL: Add size() method to RingBuffer ObjectArray 2017-09-22 09:56:00 -07:00
fnoop 3ddd9a6bca AP_HAL: RingBuffer: Prefix private members with underscore 2017-09-22 09:55:49 -07:00
Lucas De Marchi 68b3e5ccab AP_HAL: aero: define uart RCOutput_Tap 2017-09-21 07:59:20 -07:00
Lucas De Marchi 51665a2ea9 AP_HAL: RCOutput_Tap: split baudrate set for Linux and Nuttx 
On Linux (and in most of posix-like systems) the baudrate set in struct
termios via cfset[io]speed is actually the index of the standard
baudrates, it's not the baudrate per se (hence the use of B* macros).

On Linux it's possible to set the baudrate by passing the baudrate
itself to TCSETS2 ioctl.  Unfortunately it's not possible to include
asm/termbits.h and termios.h in the same compilation unit, so we need to
split it. Here we split into a Linux and a NuttX implementation.
 2017-09-21 07:59:20 -07:00
Lucas De Marchi 58a76adc13 AP_HAL: RCOutput_Tap: allow different device to be used 2017-09-21 07:59:20 -07:00
Lucas De Marchi f6b1099896 AP_HAL: move in tap esc implementation 
This can be shared with Linux.
 2017-09-21 07:59:20 -07:00
Peter Barker 68652867e1 AP_HAL: make in_main_thread public, pure and virtual 2017-09-19 09:40:11 +10:00
Lucas De Marchi 13f4ba7392 AP_HAL: remove raspilot 2017-09-12 15:06:19 -07:00
Francisco Ferreira 51a8aa3d1f AP_HAL: remove URUS 2017-09-11 10:04:11 -07:00
davidaroyer 8862e76284 AP_HAL: add support for Aerotenna OcPoC-Zynq hardware 2017-09-08 07:30:49 -07:00
Lucas De Marchi 2c72fc94ba AP_HAL: change aerofc baud to 921600 2017-09-01 07:55:47 -07:00
Lucas De Marchi 0e502d89a3 AP_HAL: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Francisco Ferreira e0f4d3dbe5
AP_HAL: remove unused HAL_AIRSPEED_MS4515DO_I2C_BUS macro 2017-08-05 03:15:53 +01:00
Lucas De Marchi 5ea1784838 global: remove AP_HAL::in_timerprocess() 
This is not used and in the only places it would make sense would be
internally to the scheduler so remove it.
 2017-08-03 20:25:14 -07:00
Lucas De Marchi e98fe2d7d5 AP_HAL: RingBuffer: add missing include 2017-08-02 21:10:55 -07:00
Lucas De Marchi 61aed0f0d7 RingBuffer: example: integrate with build system 
It's only compatible with Linux so for now disable the other boards.
 2017-08-02 16:08:55 -07:00
Murilo Belluzzo 641671a366 AP_HAL: Add simple stress test for RingBuffer class 
It runs a Producer/Consumer thread pair endless reading and writing a
ByteBuffer. Producer writes a number sequence that is twice the
ByteBuffer size so a given position have a different data on each write
pass. Consumer makes sure that this pattern is not broken and aborts the
program if it is.

It is possible to spawn more pairs by informing a number as argument of
the program.
 2017-08-02 15:30:35 -07:00
Lucas De Marchi dbd074b250 AP_HAL: remove register_timer_process with extra arg 2017-08-02 08:00:53 -07:00
Andrew Tridgell 0188d6463d AP_HAL: added rcout set_detault_rate() 2017-07-24 14:07:28 +10:00
Kevin Lopez Alvarez fb6f368575 AP_HAL: initial FMUv4pro support 2017-07-24 13:45:37 +10:00
Siddharth Bharat Purohit 807ba9d520 HAL: use correct datatype for time conversion 2017-07-13 18:23:00 -07:00
Peter Barker c163915f6e AP_HAL: correct storage example 2017-07-07 16:18:37 +01:00
Eugene Shamaev 8f2306fd19 AP_HAL: support of several CAN managers (virtual drivers) 2017-07-03 11:44:32 +01:00
Andrew Tridgell 94b5a9c6f0 AP_HAL: added RSSI interface for RCInput 2017-07-03 11:22:21 +10:00
Andrew Tridgell 1c741e78e6 AP_HAL: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Andrew Tridgell 6a01494d4a AP_HAL: fixed setting of HAL_MINIMIZE_FEATURES for FMUv3 2017-06-07 17:39:45 +10:00
Lucas De Marchi eb70dbc6f5 AP_HAL: add HAL_OS_POSIX_IO for aerofc-v1 
What aerofc-v1 doesn't have is an sdcard, but it has posix-like API as
it's running on top of NuttX.
 2017-06-06 18:42:17 -07:00
Lucas De Marchi 2e096d76c6 sparse-endian: avoid clash with linux/types.h 
On recent kernels (>= 4.10) __bitwise is defined on the header. Avoid
warning about redefining it.
 2017-06-02 11:26:02 -07:00
mirkix 478fb60a5b AP_HAL: BeagleBone Blue fix HMC5843 I2C bus number 2017-06-01 17:11:34 +01:00
Lucas De Marchi 915f10dc8a AP_HAL: SPIDevice: prefer nullptr for pointer 2017-04-19 01:36:58 -07:00
Vinicius Juvinski 203073e543 AP_HAL: add LEDs for BBBMini 
Use pins P8.9, P8.10 and P8.11
 2017-04-19 01:33:35 -07:00
hiro2233 1a8fa6ac5a AP_HAL:SPIDevice: Added functions for spi registered device. 2017-04-19 01:05:12 -07:00
Peter Barker 18d8f9ba9d AP_HAL: make get_custom_log_directory const 2017-04-19 00:11:49 -07:00
Pierre Kancir 34199b4af0 AP_HAL: example fix travis warning 
missing function declaration
implicit cast
some style fix
 2017-04-13 19:56:16 +01:00
Tom Pittenger 1e84e07edc AP_HAL: remove HAL_CPU_CLASS_16 2017-04-12 17:25:30 -07:00
Eugene Shamaev d1792689f1 AP_HAL/utility: clear added to RingBuffer 2017-04-10 21:31:07 +01:00
Eugene Shamaev a07033f938 AP_HAL: ESC scaling 2017-04-10 21:31:07 +01:00
Eugene Shamaev 9b98c304c4 AP_HAL: top level HAL definitions for CAN bus driver 2017-04-10 21:31:07 +01:00
Andrew Tridgell 7cd290af9b AP_HAL: added defaults offsets max for disco 2017-04-10 19:17:37 +10:00
Lucas De Marchi f91d23daab AP_HAL: add HAL_PX4_HAVE_PWM_INPUT 2017-03-24 12:06:19 +11:00
Lucas De Marchi 7ca9c7a443 AP_HAL: add HAL_HAVE_SAFETY_SWITCH 2017-03-24 12:06:19 +11:00
Lucas De Marchi d3e9f7ce66 AP_HAL: add HAL_PX4_HAVE_PX4IO 2017-03-24 12:06:19 +11:00
Lucas De Marchi 7f5b551050 AP_HAL: add HAL_PX4_HAVE_MTD_SUPPORT 2017-03-24 12:06:19 +11:00
Lucas De Marchi c7fc3ffbc4 AP_HAL: add HAL_HAVE_BOARD_VOLTAGE 2017-03-24 12:06:19 +11:00
Lucas De Marchi 37a050eed9 AP_HAL: add comments and allow for board overrides 2017-03-24 12:06:19 +11:00
Lucas De Marchi a682bb837a AP_SerialManager: uartA with 460800 baud for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 20c5e9ec08 Add support for external mag on aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 00c2949dfb Add support for baro on aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi b17acfee12 Add aerofc support 
Flight Controller board that comes on Intel Aero RTF Drone.
 2017-03-24 12:06:19 +11:00
mirkix 81da61a68d AP_HAL: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
Lucas De Marchi 686e0f08d6 AP_HAL: RCOutput: add optional timer_tick() method 
This is common enough across the HAL implementaions so add a method for
it to avoid the need for casts inside the HALs.
 2017-02-26 13:38:24 +11:00
Lucas De Marchi 8002df6e45 AP_HAL: add MPU6500 defines 2017-02-26 13:37:13 +11:00
Lucas De Marchi 0a381dfa1b AP_HAL: document method to split transfers 2017-02-23 22:38:15 -08:00
Andrew Tridgell dc26cbc074 AP_HAL: added set_split_transfers() API for I2C 2017-02-23 22:38:15 -08:00
Peter Barker 8f478a62d7 AP_HAL: remove HAL_PARAM_DEFAULTS_PATH for SITL 
This will remove the warning at startup that etc/defaults isn't
found, which just confuses matters when things aren't working
 2017-02-09 21:00:43 +11:00
Andrew Tridgell 2bb1043c23 AP_HAL: added HAL_MINIMIZE_FEATURES 
this is used to select a minimal build to save flash space on FMUv2
 2017-01-29 16:31:06 +11:00
murata 03bf57219b AP_HAL: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Lucas De Marchi a73c1daa2e AP_HAL: Device: remove unused function to read registers 
Callers can use be16toh(), be32toh(), etc. There's no need to have a
special function here for each type.
 2017-01-26 23:18:27 -08:00
Lucas De Marchi 14519e90ff AP_HAL: Device: remove trailing whitespaces 2017-01-26 23:18:27 -08:00
mirkix 093407e8e8 AP_HAL: Add BeagleBone Blue 2017-01-26 23:15:52 -08:00
Julien Beraud c31522c2c3 AP_HAL_Linux: fix focal lengths calculation 
Fixed focal length on bebop due to wrong spec.
Fix comment that had a typo.
Fixed focal length calculations on other boards that were mislead
by the typo.
 2017-01-23 21:23:16 +11:00
Julien Beraud 4646428ac0 AP_HAL: remove ahrs cb from opticalflow 
Not needed anymore
 2017-01-23 21:23:16 +11:00
Julien Beraud 8a57e1a4a7 AP_HAL: Add methods for optical flow 
Add methods to push gyro and gyro biases to perform a good
optical flow
 2017-01-23 21:23:16 +11:00
Mathieu OTHACEHE bad1c879d9 AP_HAL: Bebop & Disco: move default param file path 
In future Bebop & Disco releases, no ardupilot binary nor default param file
will be provided.

So move HAL_PARAM_DEFAULTS_PATH to ardupilot folder in RW memory.
 2017-01-18 18:08:01 +00:00
Mathieu OTHACEHE fdb2a9c99b AP_HAL: Bebop & Disco: rename APM to ardupilot in paths 
Rename APM to ardupilot for Bebop and Disco's HAL_BOARD_LOG_DIRECTORY and
HAL_BOARD_TERRAIN_DIRECTORY.
 2017-01-18 18:08:01 +00:00
Pierre Kancir e627bbc912 AP_HAL: Board fix typo for baro BMP280_SPI 2017-01-17 17:33:37 +00:00
mirkix 4e06be38ac AP_HAL: Add Bosch BMP280 driver 2017-01-14 12:52:07 +11:00
Lucas De Marchi 5472bc4de1 Global: change Device::PeriodicCb signature 
Remove bool return as it's never being used and not supported on PX4.
 2017-01-14 10:03:54 +11:00
Andrew Tridgell 9b7f0f7957 AP_HAL: make new_input() API clearer in comments 2017-01-09 21:47:11 -08:00
murata 974d63a6b5 AP_HAL: Change the format of the return value of the method header. 2017-01-09 15:46:03 +00:00
Andrew Tridgell da45aef5c6 AP_HAL: fixed a logic bug in the srxl state machine 
when decoding invalid input the buflen could grow to beyond the buffer
size, overwriting the next block of memory. On Disco this ended up
overwriting the Perf::_instance variable, which led to a segmentation
fault
 2017-01-09 09:14:13 +11:00
Randy Mackay a2f6d7c102 AP_HAL: minor comment fix to Device.h 2016-12-24 13:55:31 +09:00
Andrew Tridgell 29bc07f410 AP_HAL: setup for building ucavcan on FMUv3 but not FMUv2 
save a lot of flash space on FMUv2
 2016-12-19 08:07:12 +11:00
Andrew Tridgell bd0a0510ed AP_HAL: define FMUv3 2016-12-19 08:07:11 +11:00
Lucas De Marchi b0ddf81687 Remove stdbool.h include for C++ sources 
This header is not needed in our C++ sources.
 2016-12-16 11:38:52 -08:00
Andrew Tridgell c657ad449b AP_HAL: added get_bus_address() 
used to report sensor probing results in drivers
 2016-12-05 16:51:49 -08:00
Andrew Tridgell 60c29417f1 AP_HAL: added uint16 access functions 2016-12-05 16:51:49 -08:00
mirkix 7e33ba04a9 AP_HAL: Add BBBmini PX4FLOW I2C bus number 2016-12-03 21:07:07 +11:00
Andrew Tridgell 28a318145c AP_HAL: move set_retries() up to Device class 
we really need set_retries() high during init for nearly all i2c
devices, and as many are written against the generic device class
moving it to the Device class makes this a lot easier. It is a NOP on
SPI.
 2016-12-02 09:47:51 +11:00
Andrew Tridgell fac8f1db03 AP_HAL: added MODE_PWM_BRUSHED16KHZ 2016-11-30 10:53:25 +11:00
Andrew Tridgell 00ccacb2ab AP_HAL: expose device bus number 2016-11-28 10:18:32 +11:00
Andrew Tridgell a96ed8c188 AP_HAL: added virtual destructor for Semaphores 2016-11-28 08:26:56 +11:00
Andrew Tridgell fdc94ec28a AP_HAL: fixed frequency init for register checking 2016-11-26 18:36:36 +11:00
Andrew Tridgell 954728c9e9 AP_HAL: added set_chip_select() API 
for devices with unusual timings
 2016-11-25 21:26:27 +11:00
Andrew Tridgell 7100272f14 AP_HAL: default to register checking every 10th call 
this saves having this in nearly all callers
 2016-11-25 20:31:36 +11:00
Andrew Tridgell e42bb20052 AP_HAL: added dma allocation routines to hal.util 2016-11-25 17:49:58 +11:00
Andrew Tridgell 5934a099a4 AP_HAL: added support for more SRXL varients 
based on work by Roman Seb <roman-29188@gmx.de>
 2016-11-24 22:54:23 +11:00
Andrew Tridgell 14a26bee6c AP_HAL: fixed ms5611 address on FMUv1 2016-11-13 16:21:05 +11:00
Andrew Tridgell bc614de4b3 AP_HAL: added checked registers interface 
allow drivers to easily monitor and correct critical registers
 2016-11-11 08:08:55 +11:00
Andrew Tridgell c565c9df35 AP_HAL: added ICM20608 external SPI name 2016-11-11 08:08:55 +11:00
Andrew Tridgell fd8955a737 AP_HAL: define default rotations for mpu6000 based boards 2016-11-09 17:08:14 +11:00
Andrew Tridgell d778ee2db0 AP_HAL: define device for icm20608 on ACCEL_MAG CS line on px4 
for PHMINI
 2016-11-09 17:08:12 +11:00
Andrew Tridgell ba9b475782 AP_HAL: added MS5611 on I2C for px4-v1 2016-11-09 17:08:11 +11:00
Andrew Tridgell ea74f8c12c AP_HAL: added ICM20608 INS name 2016-11-09 17:08:07 +11:00
Andrew Tridgell 38a1f51b53 AP_HAL: define rotations for the MPU9250 in board/linux.h 2016-11-09 17:08:07 +11:00
Andrew Tridgell 1990aa96e1 AP_HAL: added get_bus_id_devtype() 
used to do versioning on device types
 2016-11-09 17:08:06 +11:00
Andrew Tridgell 3d48b6bb3a AP_HAL: added device id tuples to Device class 
this allows a bus connection and device type tuple to be identifed as
a 24 bit number for use in user visible device IDs. Every bus
connection has a unique device ID.
 2016-11-09 17:08:04 +11:00
Andrew Tridgell 26ca2dd392 AP_HAL: added more px4 SPI device names 2016-11-09 17:08:03 +11:00
Andrew Tridgell a06137bb68 AP_HAL: define 9250 devices 2016-11-09 17:08:01 +11:00
Andrew Tridgell bf0b0c1773 AP_HAL: fixed HAL_SEMAPHORE_BLOCK_FOREVER to be zero 
all implementations assume this
 2016-11-09 17:07:57 +11:00
Andrew Tridgell b697c978e6 AP_HAL: fixed lsm303d SPI name 2016-11-09 17:07:57 +11:00
Andrew Tridgell e79b4f1c11 AP_HAL: added defines for ms5611 on other SPI buses 2016-11-09 17:07:57 +11:00
Andrew Tridgell 5db65cdb6d AP_HAL: added subtype for PX4 FMUv4 2016-11-09 17:07:57 +11:00
Andrew Tridgell 3927994905 AP_HAL: added SPI device names to px4 2016-11-09 17:07:56 +11:00
Andrew Tridgell 4d5562764a AP_HAL: provide default hmc5983 i2c bus address 2016-11-09 17:07:55 +11:00
Lucas De Marchi 7968736b1c AP_HAL: add O_CLOEXEC in places missing it 
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
 2016-11-07 12:37:30 -03:00
Lucas De Marchi 312a27dd20 AP_HAL: RCInput: rename deinit() to teardown() 2016-11-02 16:28:20 -02:00
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
hiro2233 3742c3b243 AP_HAL: Added subtype board URUS. 
This is a linux system based with Raspberry Pi B+, it's a automated
domotic system using APM framework.
 2016-10-27 11:51:31 -02:00
Lucas De Marchi 05a7eef1a2 RingBuffer: use explict "if" and return early 
Remove confusing use of ternary operator together with assign + load.
No change in behavior.
 2016-10-27 10:35:01 -03:00
Murilo Belluzzo 3f1896b9b7 RingBuffer: Remove 'old style' version 2016-10-27 14:24:10 +11:00
Murilo Belluzzo 8526b25654 RingBuffer: Add a faster method to read a single byte 2016-10-27 14:23:42 +11:00
Martin Evans 37b85fd3cd AP_HAL: Add Dark Linux board 2016-10-24 09:59:02 -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
Andrew Tridgell 8f88d7c784 AP_HAL: fixed comment on XPlus channels 
thanks for Francisco for noticing
 2016-10-17 06:49:40 +11:00
Andrew Tridgell 4d44591e62 AP_HAL: fixed decoding of XPlus channels 2016-10-16 19:05:19 +11:00
Andrew Tridgell ec8c22f26e AP_HAL: support up to 20 channels on SRXL 
tested with 18 channels on a DSM18 transmitter with a AR7700 receiver
with SRXL port
 2016-10-16 19:05:19 +11:00
Andrew Tridgell ece0a8721f AP_HAL: added standalone test program for dsm 
useful for debugging
 2016-10-16 19:05:19 +11:00
Andrew Tridgell 7b3d0234d1 AP_HAL: added an SRXL protocol decoder 
SRXL ports are commonly found on newer spektrum receivers like the AR7700
 2016-10-16 19:05:18 +11:00
murata ba60cce0c1 AP_HAL: simplify the processing of milliseconds from the time 2016-10-15 18:33:54 +09:00
Peter Barker e71c71fcac AP_HAL: correct casting of get_system_clock_ms 2016-10-14 18:41:56 +11:00
Andrew Tridgell e356797888 AP_HAL: make cork() mandatory in RCOutput 2016-10-13 10:00:04 +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
Andy Little 4b2eedac05 AP_HAL: Split the AP_HAL_Boards.h header into per board sub headers for legibility 2016-09-29 08:26:50 -03:00
Andrew Tridgell e7656fb7ac AP_HAL: raise compass offset max again for Disco 
values of 1600 happen on Z axis
 2016-09-23 10:52:55 +10:00
Andrew Tridgell 2edd914634 AP_HAL: added st24 R/C protocol decoder 
with thanks to the PX4 project
 2016-09-21 10:33:15 -03:00
Andrew Tridgell 9a7af89b30 AP_HAL: added sumd decoder 
with thanks to the PX4 project
 2016-09-21 10:33:15 -03:00
Matthew Brener 06388b0417 Global: Fix typos 2016-09-17 00:36:36 -03:00
Andrew Tridgell bf67d4277d AP_HAL: define a larger compass offset max for Disco 2016-09-14 11:52:55 +10:00
Benoit Tran 9b89b4f561 AP_HAL: Correct HAL_PARAM_DEFAULTS_PATH for Parrot Disco 2016-09-08 13:05:25 +10:00
Gustavo Jose de Sousa 5c5ddc9d4a AP_HAL: reformat AP_HAL_Boards.h 
The definitions for each board haven't been reformatted here. They need a
little more thinking on how to format them in order to provide better
readability.
 2016-09-03 01:03:17 -03:00
José Roberto de Souza 0b0be31a29 AP_HAL: add defines for Intel Aero 2016-09-03 01:03:07 -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
Lucas De Marchi ead01855df AP_HAL: remove default params for minlure 
We are currently not using them.
 2016-08-29 10:27:36 -03:00
LukeMike 13e3150023 VRBRAIN / AP_HAL_Boards: definition of new board VR Brain 5.4 and VR Core 1.0 2016-08-07 20:31:51 +10:00
Murilo Belluzzo 077e03678f Global: Adapt Stream class to be used with Ringbuffer 2016-08-03 01:44:02 -03:00
Murilo Belluzzo b856d26087 RingBuffer: ::set_size now returns true or false 2016-08-03 01:44:02 -03:00
Murilo Belluzzo f7f203efa9 RingBuffer: Add ::clear() method to discard the buffer content 
The same could be achieved with ::set_size(::get_size()), but was not
obvious and hurts code readability.
 2016-08-03 01:44:02 -03:00
Murilo Belluzzo 75a1b102fb RingBuffer: Handle zero sized better 
Sometimes (like in DataFlash) the size of the ring buffer will be
determined in run time and the object can have size zero until proper
initialization. When this was the case, an underflow in ::get_size would
mess with the initializing algorithm.

Another issue was that the 'new' operator could fail what was not being
handled. Now, we only set the size member after we are sure 'new'
successfully allocated memory.
 2016-08-03 01:44:02 -03:00
Lucas De Marchi 052f30bc70 AP_HAL: remove macros to use MS5611 in the main thread 2016-07-30 00:55:28 -03:00
Lucas De Marchi 590539f674 AP_HAL_Linux: implement threaded I2C 2016-07-30 00:55:27 -03:00
Lucas De Marchi 37de995960 AP_HAL: update Device interface for periodic tasks 
Replace the previous not-implemented interface with a set of new methods
that can be resonably implemented:

    - register_periodic_callback() now receives a functor returning bool
      to easily allow "oneshot" timers

    - adjust_periodic_callback() allows the caller to change the timer
      for a specific handle. This way drivers like MS5611 can adjust the
      timer depending on its state machine: the time to sample
      temperature is smaller than the time to get a pressure sample

    - add unregister_callback(): since we have an opaque pointer, we
      can't tell the user to just delete it in order to unregister the
      callback
 2016-07-30 00:55:27 -03:00
Lucas De Marchi 57ec968b44 AP_HAL: remove SPIDriver 
SPIDevice now controls all accesses to SPI bus.
 2016-07-29 15:01:15 -03:00
Lucas De Marchi 3a5e8a17c7 AP_HAL: remove enum id for Ublox and RASPIO 2016-07-29 15:01:15 -03:00
Lucas De Marchi 01452bf922 AP_HAL: SPIDevice: add fullduplex method 
This method is needed when we want to transfer both tx and rx at the
same time, as opposed to common cases for sensors in which they are like
in the I2C interface: half-duplex.
 2016-07-29 15:01:14 -03:00
Lucas De Marchi 81345cc112 AP_HAL: Remove enum for Dataflash 2016-07-29 14:47:04 -03:00
Lucas De Marchi b21ad36676 AP_HAL: remove I2CDriver 2016-07-28 18:08:56 -03:00
hiro2233 4a6447575c AP_HAL: fixed and updated RCInput example. 2016-07-27 00:52:13 -03:00
Lucas De Marchi cb01280d77 AP_HAL: define bus for Lightware rangefinder 2016-07-26 00:52:54 -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
Andrew Tridgell e407caaa41 AP_HAL: added support for Parrot Disco 2016-07-20 13:35:51 +10:00
Luiz Ywata d5449a6f20 AP_HAL: Add read method 
Provide a more intuitive api for reading an I2CDevice.
 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
Lucas De Marchi b9f65996bc AP_HAL: sparse-endian: unconditionally use byteswap.h 
This is either provided by a system header or a minimal header from
'missing' directory.
 2016-07-08 19:49:32 -03:00
Lucas De Marchi 40338c3272 AP_HAL: sparse-endian: use pragma once 2016-07-08 19:49:32 -03:00
Lucas De Marchi 6a80c3d70d AP_HAL: RingBuffer: remove trailing whitespaces 2016-07-08 16:44:26 -03:00
Lucas De Marchi 24c7f76034 AP_HAL: RingBuffer: remove C++11 initialization 
They are already initialized in the constructor.
 2016-07-08 16:44:09 -03:00
Murilo Belluzzo 3e1acdcbbf AP_HAL: Use atomic instead volatile on RingBuffer head/tail 
Volatile will provide protection to sequence re-ordering and guarantee
the variable is fetched from memory, but it won't provide the memory
barrier needed to ensure that no re-ordering (by either the compiler or
the CPU) will happen among other threads of execution
accessing the same variables.

For more info about this effect can be found on articles about
std::memory_order.
 2016-07-08 16:12:53 -03:00
Murilo Belluzzo b7dd4dad64 AP_HAL: Fix ByteBuffer::reserve() breaking buffer state 
When using reserved(), the reserved memory cannot be read before it's
written, therefore we cannot update 'tail' until the caller of
reserved() is done writing.

To solve that, a method called 'commit()' was added so the caller can
inform that is done with the memory usage and is safe to update 'tail'.
The caller also has to inform the length that was actually written.

This solution was developed to work considering the usage context of
this class: 1 reader and 1 writer **only**.
 2016-07-08 13:10:16 -03:00
Murilo Belluzzo 43d4012884 AP_HAL: Fix TOCTOU in ByteBuffer::peekiovec() 2016-07-08 13:10:16 -03:00
Murilo Belluzzo 9951b94d40 AP_HAL: Change the return type of 'peekiovec' 
Possible values are '0', '1' and '2' so uint8_t is a better fit. Also,
invert 'if' condition so it's clear that is returning 0, 1 or 2.
 2016-07-08 13:10:16 -03:00
Murilo Belluzzo 625f47def7 AP_HAL: Improve ByteBuffer::set_size 
So it doesn't delete and re-create the buffer if the size
happens to be the same. Still resets the buffer content.
 2016-07-08 13:10:16 -03:00
Murilo Belluzzo e9e31172c0 AP_HAL: Simplify ByteBuffer::readptr logic 2016-07-08 13:10:16 -03:00
Leandro Pereira fbefe32017 AP_HAL: Add method to reserve space in the ring buffer 
Adds a method called `reserve()`, that will take a ByteBuffer::IoVec
array of at least two elements, and return the number of elements
filled out.  0 will be returned if `len` is over the total space of
the buffer; 1 will be returned if there's enough contiguous bytes in
the buffer; 2 will be returned if there are two non-contiguous blocks
of memory.

This method is suitable to be used with POSIX system calls such as
readv(), and is an optimization to not require temporary memory copies
while reading from a file descriptor.

Also modify the write() method to use reserve(), so that similar checks
are performed only in one place.
 2016-07-08 13:10:16 -03:00
Leandro Pereira e3b676ba89 AP_HAL: Add method to peek non-contiguous parts of a ByteBuffer 
Modify ByteBuffer class to have a `peekiovec()` method, that takes in a
`struct IoVec` array (similar to `struct iovec` from POSIX), and a
number of bytes, and returns the number of elements from this array
that have been filled out.  It is either 0 (buffer is empty), 1
(there's enough contiguous bytes to read that amount) or 2 (ring buffer
is wrapping around).

This enables using scatter-gather I/O (i.e. writev()), removing calls
to memcpy().  That's one call when no wrap-around is happening, and
two calls if it is.

Also, rewrite `ByteBuffer::peekbytes()` to use `peekiovec()`, so that
some of the checks performed by the former are not replicated in the
latter.
 2016-07-08 13:10:16 -03:00
Siddharth Bharat Purohit 8903bc9eab AP_HAL: add support for get realtime on Darwin systems 2016-07-07 11:35:17 -03:00
Andrew Tridgell 6e065b3fe2 AP_HAL: fixed typo 2016-07-01 15:35:07 +10:00
Andrew Tridgell 8617db89dc AP_HAL: added hal.util->set_imu_target_temp() API 2016-07-01 15:29:52 +10:00
Lucas De Marchi 1f96336f7c Global: rename bus type enum entries 2016-06-27 17:51:41 -03:00
Gustavo Jose de Sousa 66f1ad9ed0 AP_HAL: Device: add support for read flag 
Many of our SPI and I2C sensors define the protocol of setting the most
significant bit of the register address in order to perform a read operation.
Thus, enable the use of a "read flag" that is ORed with the register's address.
Since this is an abstraction for general devices, it's a good idea to have zero
as the default value for that flag.

While at it, add documentation to read_registers().
 2016-06-27 17:18:35 -03:00
Gustavo Jose de Sousa b6a1d598e3 AP_HAL: Device: document write_register() 2016-06-27 17:18:35 -03:00
Gustavo Jose de Sousa 4693501d9d AP_HAL: Device: add bus_type field 
Sometimes it's necessary to know the type of bus to make some decisions where
AP_HAL::Device abstraction is used.
 2016-06-27 17:18:35 -03:00
Patrick J.P eb44d75ed8 AP_HAL: Remove trailing spaces from AP_HAL_Namespace.h 2016-06-22 16:03:30 -03:00
Lucas De Marchi 9738be0ed6 AP_HAL: remove tabs and trailing whitespaces 2016-06-21 13:09:00 -03:00
Lucas De Marchi e122b2b651 AP_HAL: GPIO: remove unused functions 
These functions are not used by any HAL, so remove them.
 2016-06-21 12:16:32 -03:00
Tom Pittenger d3ac1dc161 AP_HAL: defer calls to safety_state switch to queue an async attempt. 
- this allows for auto-retries if the state does not set correctly
 2016-05-27 21:34:40 +10:00
Andrew Tridgell 163783fefd AP_HAL: define CH_NONE 
for servos not connected to a channel
 2016-05-26 16:26:30 +10:00
Lucas De Marchi bbe3a94175 AP_HAL: remove support for main without argc 
This was only used by flymaple. Also add missing copyright notice to
header.
 2016-05-23 21:49:45 -03:00
Lucas De Marchi 346bdf5f8f AP_HAL: remove support for flymaple 2016-05-23 21:49:45 -03:00
Andrew Tridgell 595d5c0002 AP_HAL: added set_size() to RingBuffer API 2016-05-23 23:41:02 +10:00
Randy Mackay 67620f312d AP_HAL: fix comment for get_time_utc 2016-05-19 16:05:29 +09:00
Niti Rohilla faec752801 AP_HAL: add get_system_clock_utc functions to Util 2016-05-19 16:05:26 +09:00
Andrew Tridgell e3107a7e10 AP_HAL: fixed optflow typos 2016-05-14 08:26:10 +10:00
Ricardo de Almeida Gonzaga eb418f54ee AP_HAL: Fix typos 2016-05-13 19:20:06 -03:00
Staroselskii Georgii 2e5cfc2849 AP_Compass: added external compass autodetection on Navio 2016-05-10 17:24:43 -03:00
Staroselskii Georgii 8be5ef1642 AP_HAL: added possibility to use several compassed on Navio 2 2016-05-10 17:24:43 -03:00
Staroselskii Georgii b677f975e7 AP_Compass: added LSM9DS1 magnetometer support 2016-05-10 17:24:43 -03:00
Lucas De Marchi 68ae619448 AP_Compass: detect compasses for minlure 
Minlure has an onboard compass (HMC5883L) as slave of MPU-6000, but also
allows the use of an external HMC5883L compass, which should be
connected to the lure's I2C port.
 2016-05-10 16:08:39 -03:00
Lucas De Marchi 424434e31e AP_HAL: allow to build without HAL_COMPASS_DEFAULT 
Otherwise we need to change the ifdef chain adding HAL_COMPASS_<BOARD>
definitions.
 2016-05-10 16:07:23 -03:00
Lucas De Marchi cf11776150 AP_HAL: fix signed and unsigned comparison warning 
../../libraries/AP_HAL/examples/Printf/Printf.cpp:63:17: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
         if (ret != strlen(float_tests[i].result)) {
                 ^
...

ardupilot/modules/gtest/include/gtest/gtest.h:1448:16: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   if (expected == actual) {
                ^
And similar ones.
 2016-05-04 08:58:37 -03:00
Lucas De Marchi 9ac63d7128 AP_HAL: examples: fix coding style 2016-05-04 08:58:37 -03:00
Julien Beraud d0114eac05 AP_HAL: Add bebop SPI Device to spi devices 
Added to namespace
 2016-05-03 16:43:39 -03:00
Lucas De Marchi 5a52533084 AP_OpticalFlow: move bus definition to AP_HAL header 2016-04-29 12:10:21 -03:00
Ricardo de Almeida Gonzaga 46fb57fcf1 AP_OpticalFlow: use I2CDevice interface 2016-04-29 12:01:04 -03:00
Peter Barker e83b10cbc5 AP_HAL: move definition of callbacks structure out of C linkage 
This fixes all the examples which use the AP_HAL_MAIN macro.
 2016-04-27 14:21:28 +10:00
mirkix b381045d5e AP_HAL: BBBmini rework for dual MPU9250 and external HMC5843 compass 2016-04-24 10:57:57 -03:00
Andrew Tridgell 76868dd070 AP_HAL: added uartF 2016-04-20 09:39:48 +10:00
Andrew Tridgell b94e577cb8 AP_HAL: added enable_sbus_out() call in RCOutput 2016-04-16 07:30:43 +10:00
Andrew Tridgell e24d600e78 AP_HAL: added hal.rcout->set_output_mode() 2016-04-14 08:05:05 +10:00
hiro2233 7814841cd6 AP_HAL: Add RCOutput interactive example with Menu 2016-04-09 07:01:35 -07:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Lucas De Marchi 57f8db5672 AP_HAL: sparse-endian: conditionally include byteswap header 
This is not present in qurt.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi c5dc54dac7 AP_HAL: utility: import sparse-endian header 2016-03-23 17:50:38 -03:00
Lucas De Marchi 0ed3a93142 AP_HAL: define compass locations for linux boards 2016-03-23 17:50:38 -03:00
Lucas De Marchi c5022ef5c9 AP_HAL: add names for LSM9DS0 on raspilot 2016-03-18 21:51:37 -03:00
Lucas De Marchi cb8355c315 AP_HAL: fix compass define for bebop 2016-03-17 02:55:51 -03:00
Jonathan Challinger 6663d30728 AP_HAL: add RCOutput::read_last_sent definition 2016-03-10 13:56:23 -08:00
Lucas De Marchi 6358876f58 AP_HAL: add missing MPU9250 name for BH 2016-03-07 14:50:14 -03:00
Staroselskii Georgii 392165c6a2 AP_HAL: added Navio2 board definitions 2016-02-27 03:06:50 -03:00
Gustavo Jose de Sousa 6144226c51 AP_HAL: always define HAL_OS_SOCKETS 
And avoid warnings.
 2016-02-26 14:17:33 -03:00
Andrew Tridgell 2120913ac2 AP_HAL: added ObjectArray template 
this is a ring buffer that supports indexing for efficient handling of
queue peeking and manipulation
 2016-02-24 09:18:06 +11:00
Tom Pittenger 9718ee23d1 AP_HAL: fix peekbytes casting 2016-02-24 09:18:06 +11:00
Andrew Tridgell 1df2512935 AP_HAL: added update() method for object ringbuffer 
to support updating objects for GCS work Tom is doing
 2016-02-23 16:34:06 +11:00
Tom Pittenger 1d528d552f AP_HAL: rename RingBuffer.force() to RingBuffer.push_force() 2016-02-21 22:13:27 -08:00
Andrew Tridgell 4ff396dfa8 AP_HAL: added force() and peek() method for object ringbuffers 2016-02-22 12:34:32 +11:00
Víctor Mayoral Vilches 9bb039accd AP_HAL: PXFmini add HAL_BARO_MS5611_NAME 
Peer coded with @LanderU.
 2016-02-19 19:17:34 -02:00
Lucas De Marchi 1f072c4353 AP_HAL: fix unused variable 
../../libraries/AP_HAL/examples/UART_test/UART_test.cpp:13:28: warning: ‘uarts’ defined but not used [-Wunused-variable]
 static AP_HAL::UARTDriver* uarts[] = {
                            ^
 2016-02-19 11:51:49 -02:00
Lucas De Marchi dbf2aedf1e AP_HAL: replace header guard with pragma once 2016-02-18 14:52:34 -02:00
mirkix d868fe4eff AP_HAL: Remove unused GPIO leds for BBBmini 2016-02-17 23:41:24 -02:00
Lucas De Marchi 10abec277d AP_HAL: functor: use std::remove_reference 2016-02-16 19:49:09 -02:00
Lucas De Marchi 02a7fa5c2b AP_InertialSensor: MPU9250: use AP_HAL::Device abstraction 
This makes MPU9250 be almost the same as MPU6000 driver. Work has been
done here to make than similar so it's easier to spot the differences.
 2016-02-16 19:49:09 -02:00
Lucas De Marchi af846636e4 AP_InertialSensor: MPU60x0: use AP_HAL::Device abstraction 2016-02-16 19:49:09 -02:00
Lucas De Marchi f1ade970a3 AP_Baro: MS5611: Use AP_HAL::Device abstraction 
This allows to share almost all the I2C/SPI code and remove the
AP_Serial abstraction since that is now handled by AP_HAL itself.
 2016-02-16 19:49:09 -02:00
Lucas De Marchi b05954660a AP_Baro: BMP085: use I2CDevice interface 2016-02-16 19:49:09 -02:00
Lucas De Marchi 66f644c50d AP_HAL: add interface for SPIDevice devices 
In order to interoperate with SPIDeviceDriver this is re-using the same
SPIDeviceManager interface.
 2016-02-16 19:49:09 -02:00
Lucas De Marchi 2250d9d768 AP_HAL: initialize I2C manager 
Add I2CManager to AP_HAL's contructor.
 2016-02-16 19:49:08 -02:00
Lucas De Marchi f8e6c5b379 AP_HAL: add helper method to read registers 
This just forwards to the transfer() method, avoiding the need in driver
code to have a similar method.
 2016-02-16 19:49:08 -02:00
Lucas De Marchi b4ff2d7595 AP_HAL: add helper method to write register 
This just forwards to the transfer() method, avoiding the need in driver
code to have a similar method.
 2016-02-16 19:49:08 -02:00
Lucas De Marchi 872b255384 AP_HAL: Add interface for I2CDevice 
This is a new interface to replace I2CDriver in future, when all drivers
are converted.
 2016-02-16 19:49:08 -02:00
Lucas De Marchi 0eb450d379 AP_HAL: Add interface for I2C/SPI devices 
These interfaces are intended to abstract I2C and SPI devices for
drivers.
 2016-02-16 19:49:08 -02:00
Lucas De Marchi 2e60e1b1f2 AP_HAL: utility: Add OwnPtr implementation 
This is very similar to std::unique_ptr, but doesn't require including
the <memory> header which pulls lots of c++ headers and cause problems
with nuttx headers. It's header-only. It contains an explanation on what
it solves, how to use and unit tests.
 2016-02-16 19:49:08 -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
mirkix f777a25de8 AP_HAL: Enable optical flow onboard for BBBMINI 2016-02-08 08:52:10 -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
Peter Barker f0c165f0e4 AP_HAL: ensure CONFIG_MAIN_WITHOUT_ARGC_ARGV is always defined 2016-01-30 12:48:51 -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 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Julien BERAUD d5c4917bcd AP_HAL: add default support for timesliced timers 
To keep compatibility
 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