Commit Graph

293 Commits

Author SHA1 Message Date
Lucas De Marchi f39a6745d1 Global: remove unused _timer_pending from scheduler 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
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
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
Andrew Tridgell 519afc7a06 HAL_PX4: debug code for FRAM corruption 2016-01-06 19:16:16 +11:00
Andrew Tridgell 526fb65dd1 HAL_PX4: fixed setting of rcout frequency on alt channels 2016-01-05 09:47:52 +11:00
Jonathan Challinger f376510524 AP_HAL_PX4: fix example build 2015-12-29 10:46:35 -08:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
Andrew Tridgell 02bee8810d HAL_PX4: added Semaphore support 2015-12-20 17:55:39 +11:00
Julien BERAUD c0f65ff6e1 AP_HAL_PX4: add empty optical flow
No onboard optical flow on PX4
2015-12-18 17:56:04 +11:00
Lucas De Marchi 503533c6fe AP_HAL_PX4: rename AP_HAL_Empty instances 2015-12-08 11:12:14 +11:00
Andrew Tridgell 78e9b0a4e3 HAL_PX4: check for servo counts changing after boot
this copes with changes to BRD_PWM_COUNT
2015-12-06 14:19:28 +11:00
Lucas De Marchi fe5d6f2d49 AP_HAL_PX4: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:43 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi 6d7678d2a3 AP_HAL_PX4: fix passing callback to member function
This is the same approach as done for AP_HAL_Linux in e3d78b8 ("AP_HAL_Linux:
fix passing callback to member function"). It fixes the following warnings:

ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp: In member function 'virtual void PX4::PX4Scheduler::init(void*)':
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:55:95: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_timer_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this);
                                                                                               ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:65:94: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_uart_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_uart_thread, this);
                                                                                              ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:75:92: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
                                                                                            ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:85:100: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
     pthread_create(&_storage_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_storage_thread, this);

ardupilot/libraries/AP_HAL_PX4/NSHShellStream.cpp: In member function 'void PX4::NSHShellStream::start_shell()':
ardupilot/libraries/AP_HAL_PX4/NSHShellStream.cpp:83:99: warning: converting from 'void (PX4::NSHShellStream::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
     pthread_create(&shell_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::NSHShellStream::shell_thread, this);
                                                                                                   ^
2015-12-03 07:51:08 +11:00
Lucas De Marchi 0c3733601b AP_HAL_PX4: use init() method without arguments
Override the init() method from parent class that doesn't have a
parameter since it's not used here.
2015-12-02 14:49:11 -02:00
Andrew Tridgell 520b9de48a HAL_PX4: expose do_transfer() in API 2015-12-01 07:18:25 +11:00
Andrew Tridgell 335e621932 HAL_PX4: cope with PX4 header changes 2015-11-27 18:54:31 +11:00
Andrew Tridgell 155e82c1b3 HAL_PX4: fixed PWM output for FMUv4 2015-11-27 18:54:31 +11:00
Andrew Tridgell 9835043dd5 HAL_PX4: support FMUv4 2015-11-27 18:54:30 +11:00
Caio Marcelo de Oliveira Filho c43474fbf4 AP_HAL_PX4: Remove unused extern declaration for HALs 2015-11-20 16:32:32 +09:00
Caio Marcelo de Oliveira Filho 1de0e0a5a6 AP_HAL_PX4: remove unused functions 2015-11-20 12:36:34 +09:00
Caio Marcelo de Oliveira Filho a76c9e0051 AP_HAL_PX4: use millis/micros/panic functions 2015-11-20 12:31:13 +09:00
Caio Marcelo de Oliveira Filho 8db8b9b355 AP_HAL_PX4: implement new AP_HAL functions
Implement the new AP_HAL functions and use them in the Scheduler when
possible.
2015-11-20 12:25:40 +09:00
Caio Marcelo de Oliveira Filho efbc7648b1 AP_HAL: create AP_HAL namespace and use for some HAL functionality
For certain basic functionality, there aren't much benefit to be able to
vary the implementation easily at runtime. So instead of using virtual
functions, use regular functions that are "resolved" at link time. The
implementation of such functions is provided per board/platform.

Examples of functions that fit this include: getting the current
time (since boot), panic'ing, getting system information, rebooting.

These functions are less likely to benefit from the indirection provided
by virtual interfaces. For more complex hardware access APIs the
indirection makes more sense and ease the testing (when we have it!).

The idea is that instead of calling

    hal.scheduler->panic("on the streets of london");

now use

    AP_HAL::panic("on the streets of london");

A less important side-effect is that call-site code gets
smaller. Currently the compiler needs to get the hal, get the scheduler
pointer, get the right function pointer in the vtable for that
scheduler. And the call must include an extra parameter ("this"). Now it
will be just a function call, with the address resolved at link time.

This patch introduces the first functions that will be in the namespace,
further patches will implementations for each board and then switch the
call-sites. The extra init() function allow any initial setup needed for
the functions to work.
2015-11-20 12:25:24 +09:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files
these were APM2 specific
2015-11-16 08:05:17 +11:00
Andrew Tridgell ac1c0bba15 HAL_PX4: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
2015-10-30 14:35:30 +09:00
Lucas De Marchi 6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Lucas De Marchi 9eaf7c5660 AP_HAL: add format attribute to panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi f791767fb2 AP_HAL_PX4: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi ad61a93c14 AP_HAL: turn panic() into a variadic method
Change the declaration on all HAL implementations so panic() in future
may implement a printf-like interface.
2015-10-24 14:26:35 +11:00
Caio Marcelo de Oliveira Filho 5781164624 AP_HAL_PX4: remove unnecessary includes from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho 19b4ca60c4 AP_HAL: provide AP_HAL_MAIN()
Move the macros to a single place and reduce the variations not based on
board, but based on

- The name of the entry-point function, specified by AP_MAIN;
- Whether it contains argc/argv arguments or not.

The goal here is that programs (vehicles and examples) don't need to
include all possible boards to define a main function. Further patches
will change the programs.
2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho cb61bdd8d1 AP_HAL_PX4: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 0dab23c4df AP_HAL_PX4: implement HAL::run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
Andrew Tridgell 8dbb51c64e HAL_PX4: implement AP_HAL::Util perf calls for PX4 2015-10-20 18:09:57 +11:00
Lucas De Marchi ce674f6926 AP_HAL_PX4: remove unused write method 2015-09-29 11:53:49 +09:00
Andrew Tridgell cbd43ee6ea HAL_PX4: added hal.i2c support on PX4 boards
this allows I2C based devices to use in-tree drivers
2015-09-08 16:46:52 +10:00
Tom Pittenger 072d35b9cc AP_HAL_PX4: remove unused var 2015-08-25 13:51:21 +09:00
Brad Bosch 6e9756ff79 HAL_PX4: Rework support for FLOW_CONTROL_AUTO.
Now instead of requiring the buffer to fill completely before we can
detect it is not draining, we use a time based mechanism to detect
when none of the first few bytes are transmitted after sitting in our
buffer a half second or more after flow control is enabled.  This
huristic is reliable only for the first several chracters because we
believe that the radio must still have plenty of room in it's own
buffers at that time even if it is not able to transmit them to the
other radio yet.  Note that the original algorithm made the same
assumption.

The new algorithm is especially helpful for cases where only keepalive
messages are transmitted before other packets can be requested by the
GCS.  In this situation, the original code required almost 2 minutes
to disable flow control and allow communication with the GCS.
2015-08-19 15:21:10 +10:00
Lucas De Marchi 83cfaf4a59 AP_HAL_PX4: standardize inclusion of libaries headers
Do the missing header changes due to changing the code before the pr
getting accepted.
2015-08-18 17:12:51 +10:00
Andrew Tridgell e73ac418df HAL_PX4: prevent error on GPIO line on change of pinMode
thanks to Michael for noticing this
2015-08-17 12:02:03 +10:00
Gustavo Jose de Sousa 08333f1ffe AP_HAL_PX4: standardize inclusion of libaries headers
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
2015-08-11 16:28:43 +10:00
Andrew Tridgell 1b61f6f636 HAL_PX4: fixed USB connected on AUAV-X2
this is the 2nd attempt at a fix for the usb_connected status on
AUAV-X2
2015-08-11 11:42:02 +10:00
Lucas De Marchi d4d56aef1a AP_HAL_PX4: use ARRAY_SIZE macro 2015-07-21 14:25:01 +09:00