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662 Commits

Author SHA1 Message Date
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
Ricardo de Almeida Gonzaga 7adbccac9a AP_HAL_Linux: add support for OpticalFlow to MinnowBoardMax 
This commit adds support for OpticalFlow to MinnowBoardMax trying to
leave the OpticalFlow implementation as generic as it already is.

We had to add some format conversion and software crop to the cameras that
do not have this features.
 2016-01-11 15:31:27 -02:00
Andrew Tridgell 5f4bd10477 AP_HAL: added get_custom_defaults_file() to Util 2016-01-07 09:09:09 +11:00
Víctor Mayoral Vilches 0aee50b99e HAL: Add PXFmini board 2016-01-05 15:31:43 -02:00
Jonathan Challinger d7639ce03a AP_HAL: fix example build 2015-12-29 10:46:35 -08:00
Andrew Tridgell dafc9b4c6b AP_HAL: allow getopt_cpp on QURT 
avoid using stderr
 2015-12-29 19:10:46 +11:00
Andrew Tridgell bd2f548130 AP_HAL: allow argc and argc on QURT 2015-12-29 18:52:17 +11:00
Lucas De Marchi 97022a4161 AP_HAL: RingBuffer: fix macro expansion 
Fix warning that reveals a real bug:

In file included from libraries/AP_HAL_Linux/UARTDriver.cpp:25:0:
libraries/AP_HAL_Linux/UARTDriver.cpp: In member function 'virtual bool Linux::UARTDriver::tx_pending()':
libraries/AP_HAL/utility/RingBuffer.h:21:35: warning: logical not is only applied to the left hand side of comparison [-Wlogical-not-parentheses]
 #define BUF_EMPTY(buf) buf##_head == buf##_tail
                                   ^
libraries/AP_HAL_Linux/UARTDriver.cpp:355:13: note: in expansion of macro 'BUF_EMPTY'
     return !BUF_EMPTY(_writebuf);

The problem is when there's a ! operator: without the parenthesis we would actually be doing

    return !_write_buf_head == _write_buf_tail

which is not what we want.
 2015-12-28 21:50:27 -02:00
Andrew Tridgell c90d7dd86e AP_HAL: fixed vprintf segfault 2015-12-28 08:44:40 +11:00
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
Lucas De Marchi 520b0384fd AP_HAL: remove unused in_progmem flag to print_vprintf 2015-12-27 15:58:12 -02:00
Lucas De Marchi 8e0c125f56 AP_HAL: print_vprintf: follow coding style 
- Use 4 spaces to indent
 - Add braces to control statements
 - Don't use tabs
 2015-12-27 15:58:12 -02:00
Lucas De Marchi c35730058a AP_HAL: print_vprintf: stop using Progmem.h 
Remove the unused support to data from progmem, including the unused %S
format specifier.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi 29ed01189d AP_HAL: ftoa_engine: replace tabs with spaces 2015-12-27 15:58:12 -02:00
Lucas De Marchi e751d632e6 AP_HAL: ftoa_engine: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Andrew Tridgell 7c431b40f2 AP_HAL: enable HAL_QURT 2015-12-27 16:21:25 +11:00
Andrew Tridgell cfd54c5683 AP_HAL: moved dsm implementation into AP_HAL/utility 2015-12-27 16:12:27 +11:00
Andrew Tridgell fec9ffd1a0 AP_HAL: support UARTs on timer thread 
This adds a macro for boards that need to have UARTs on the timer
thread instead of their own thread. This is needed for the qflight
port due to restrictions in the RPC API
 2015-12-27 16:12:27 +11:00
Andrew Tridgell ac1e75ae77 AP_HAL: added qflight linux subtype 2015-12-27 16:12:27 +11:00
Julien BERAUD 0ffba07ec8 AP_HAL: Set default params for Bebop 2015-12-23 10:24:04 -02:00
Aaron Wang Shi c7a77af47f AP_HAL: add BH HAT board info 2015-12-21 15:54:30 +11:00
Andrew Tridgell 9d4b31ca3c AP_HAL: added a new_semaphore() interface to Util 2015-12-20 17:55:39 +11:00
Andrew Tridgell ec6a679482 AP_HAL: added ByteBuffer and ObjectBuffer in RingBuffer 
much better API than old macros
 2015-12-20 07:33:54 +11:00
Julien BERAUD eccef24fa7 AP_HAL: Add optical flow params for bebop 
Params that are necessary for optical flow
 2015-12-18 17:56:05 +11:00
Lucas De Marchi c7668479bb AP_HAL: follow coding style 2015-12-18 17:56:03 +11:00
Julien BERAUD 2b681f2f13 AP_HAL: Add support for an Optflow driver 
This is meant to be used for onboard optical flow
 2015-12-18 17:56:03 +11:00
Lucas De Marchi f69208d47d AP_HAL: remove state leftover from SPIDeviceDriver 
This was previously used to allow to save a state in a SPIDriver so we
could synchronize the initialization of AP_Compass and
AP_InertialSensor.

It was only used by MPU9250 and is not used anymore since the move to
AuxiliaryBus initialization and it's not used anymore since c3dae6f
("AP_InertialSensor: MPU9250: Remove methods not used anymore")
 2015-12-08 11:10:23 +11:00
Lucas De Marchi a1c3912bd8 AP_HAL: 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 036eb21c09 AP_HAL: remove init() method with unused argument 2015-12-02 14:49:12 -02:00
Lucas De Marchi 6bc07da0ee AP_HAL: 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 14:42:37 -02:00
Lucas De Marchi 6b1c5e6f72 AP_HAL: add init() method without argument 
The argument in init() is not used by any implementation. Add a second
method without it so the HAL implementation can used it instead. Later
the unused method will be removed.
 2015-12-02 14:21:58 -02:00
Lucas De Marchi d19c5035b6 Global: Rename printf format attribute 
As commented in 8218140 ("AP_Common: add scanf format macro"), "FORMAT"
was a bad name for this macro since there's also the scanf. Rename to
FMT_PRINTF to follow the scanf name.
 2015-12-01 07:22:12 +11:00
Andrew Tridgell 44c280e9fb AP_HAL: fixed typo in do_transfer declaration 2015-12-01 07:18:10 +11:00
Julien BERAUD 88236821c0 AP_HAL_Linux: Adapt Heat_Pwm to use PWM_Sysfs 
Only compiled on Bebop, the constructor will need to be modified to
pass the pwm chip number and to create a PWM_Sysfs instead of a PWM_Sysfs_Bebop
in case it is used on a mainline linux board
 2015-12-01 07:07:26 +11:00
Julien BERAUD 0fa362ff5c AP_Notify: Fix GPIO declaration for Linux boards 
Currently, the default behaviour on linux boards tries to
write LED gpios with fixed values among them. There is no way
to declare that there are no LED GPIOs.
This commit moves the declaration of the LED Gpios in AP_HAL_Boards.h
and makes AP_Notify do nothing if no LED gpio was declared
 2015-12-01 07:07:26 +11:00
Julien BERAUD af6bbb806e AP_HAL: add do_transfer method to I2CDriver 
Needed in linux HAL
 2015-12-01 07:07:26 +11:00
Caio Marcelo de Oliveira Filho c5fc0deee9 AP_HAL_Scheduler: remove unused functions 
Getting the time elapsed and panic are now functions in AP_HAL, so
remove them from HAL class interface and it's implementations.
 2015-11-20 12:36:00 +09:00
Caio Marcelo de Oliveira Filho 5292bc0054 AP_HAL: example uses millis/micros/panic functions 2015-11-20 12:31:48 +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
Caio Marcelo de Oliveira Filho a348424551 AP_HAL: remove unused function 
This was used by APM1/2 that were removed.
 2015-11-18 11:50:56 +09:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
José Roberto de Souza 6ece4d60aa AP_HAL: HAL_COMPASS_AK8963_MPU9250_I2C to the supported list 2015-11-11 14:29:07 +11:00
José Roberto de Souza b3f030f650 AP_HAL: Add MPU9250 over I2C 2015-11-11 14:29:07 +11:00
Andrew Tridgell 8a4c0593f2 AP_HAL: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00