Commit Graph

471 Commits

Author SHA1 Message Date
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