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498 Commits

Author SHA1 Message Date
Lucas De Marchi 9eaf7c5660 AP_HAL: add format attribute to panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi 2322b8014d AP_HAL: use common macro for printf formatting 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
Lucas De Marchi 0b4aa5ac85 AP_HAL: Scheduler: reorder includes 
Follow the following order for includes:

   - Corresponding header file (if exists)
   - System headers
   - Other ArduPilot library headers
   - "Local" headers (from the same library)
 2015-10-24 14:26:35 +11:00
Lucas De Marchi 79dee5aaa9 AP_HAL: fix warning due to missing prototype after HAL rework 
This was introduced with the HAL rework:

In file included from /p/ardupilot/libraries/AP_HAL/AP_HAL.h:11:0,
                 from /p/ardupilot/ArduCopter/Copter.h:35,
                 from /p/ardupilot/ArduCopter/ArduCopter.cpp:76:
/p/ardupilot/ArduCopter/ArduCopter.cpp: In function 'int ArduPilot_main(int, char* const*)':
/p/ardupilot/libraries/AP_HAL/AP_HAL_Main.h:11:26: warning: no previous declaration for 'int ArduPilot_main(int, char* const*)' [-Wmissing-declarations]
 #define AP_MAIN __EXPORT ArduPilot_main
                          ^

It's due to PX4 using that warning as opposed to Linux. Since it harmless, add
the prototype for everybody.
 2015-10-23 07:47:19 +11:00
Lucas De Marchi 8153f57f06 AP_HAL: add board definitions for minlure 2015-10-22 12:04:52 +11:00
Lucas De Marchi eef4d5819f AP_HAL: HAL: don't use relative includes 
Includes in the same dir should not be relative. Also sort them
alphabetically.
 2015-10-21 15:54:27 -02:00
Lucas De Marchi 74ccbdb6f7 AP_HAL: AnalogIn: add missing include 
Since we are using uint8_t and uint16_t types we need to include the
correspondent system header. Otherwise it would depend on the include
order of who is including this particular header, causing failures as we
move headers around.
 2015-10-21 15:54:27 -02:00
Caio Marcelo de Oliveira Filho b98bf2a65e AP_HAL: remove unnecessary includes from examples 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho b29d6eff5d AP_HAL: add an AP_HAL_MAIN_CALLBACKS() macro 
This is going to be used by vehicles that already have an object with
setup/loop functions. The vehicle object will just implement the
HAL::Callbacks interface.
 2015-10-21 09:16:09 +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 6fc60e2d5e AP_HAL: remove unused init() from the interface 
And make run() pure virtual to ensure future implementations provide it.
 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho 72cd5ef185 AP_HAL: add run() method 
Add run method, that encapsulate any mainloop logic on behalf of the
client code. The setup/loop functions are passed via a HAL::Callbacks
interface. The AP_HAL_MAIN() macro should be kept as trivial as
possible.

This interface should be implemented by the existing vehicle objects. To
make easy for the examples (that don't have the equivalent of vehicle
objects), a FunCallbacks was added to bridge to the functions directly.
 2015-10-21 09:16:07 +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 28fa05c965 AP_HAL: added generic perf counter 
simple wrapper around PX4 API, but ready for use by other HALs
 2015-10-20 18:09:57 +11:00
José Roberto de Souza 6215a3d224 AP_HAL: Add MS5637 over I2C to the supported barometers list 2015-10-16 10:05:03 +11:00
Julien BERAUD f231182cd9 AP_HAL: Add support for a Heater 
Add heater class and non-pure virtual method to Util class in order to do
nothing in case the function is not implemented
 2015-10-06 15:21:39 +11:00
Lucas De Marchi fb643fbb53 AP_HAL: RCOutput: add methods to allow grouping writes 2015-10-06 10:42:18 +11:00
Lucas De Marchi 666dc3e440 AP_HAL: RCOutput: remove unused write method 
This method is not used anymore since the introduction of channel map and
allowing motors to be enabled/disabled in AP_Motors.

Later we may introduce a method to write multiple values with a default
implementation that supports the channel and enable maps rather than
requiring all subclasses to implement this method.
 2015-09-29 11:53:38 +09:00
mirkix f48bdc281f AP_HAL: Add support for using SPI devices of the same type. 2015-09-18 09:15:09 +10:00
Andrew Tridgell 582318448f AP_HAL: make new GPIO functions optional 
not available on all boards
 2015-09-14 14:22:16 +10:00
raspilot 6df83f46c5 AP_HAL: new GPIO APIs 2015-09-14 14:22:15 +10:00
raspilot dcc7cf2739 AP_HAL: raspilot board type 2015-09-14 14:22:15 +10:00
Víctor Mayoral Vilches b87fd58214 AP_HAL: ERLEBOARD legacy support 
This config referred to the legacy Erle-Board
https://erlerobotics.com/blog/product/erle-board/
The configuration is preserved to support the
existing boards.
 2015-09-09 10:31:55 +10:00
Gustavo Jose de Sousa e05928a7e8 AP_HAL: make SPIDeviceDriver::transaction() return success or failure 2015-09-01 20:26:05 +10:00
Lucas De Marchi a44ab9ed98 AP_HAL: define constant for HMC5843 on MPU6000 2015-08-28 12:39:09 +10:00
Andrew Tridgell e889886e07 AP_HAL: start with the vehicle disarmed 
this prevents a race condition on startup that can cause a UAVCAN ESC
to run while the vehicle is booting
 2015-08-23 09:49:52 +10:00
Lucas De Marchi ca17b6155e AP_HAL: 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 c72372722e AP_HAL: fixed example builds 2015-08-11 17:00:03 +10:00
Gustavo Jose de Sousa 0456eccca8 AP_HAL: 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
Randy Mackay 810973ce95 HAL: define capability bitmask 2015-07-31 14:50:19 +09:00
Andrew Tridgell eca0940bc7 AP_HAL: allow for broadcast packets on UDP IPv4 2015-07-29 16:46:33 +10:00
Andrew Tridgell 3e4b0b9869 AP_HAL: added pollout() function to socket API 2015-07-29 14:19:46 +10:00
Andrew Tridgell 596ecde70d AP_HAL: added listen and accept APIs to socket API 2015-07-29 09:07:41 +10:00
Andrew Tridgell b07f7e873f AP_HAL: added pollin() interface for Socket API 2015-07-29 08:58:02 +10:00
Andrew Tridgell 5067359ed7 AP_HAL: fixed socket destructor 2015-07-29 08:39:16 +10:00
Staroselskii Georgii 1a588263e4 AP_HAL: added destructor for Socket 2015-07-29 08:34:43 +10:00
Staroselskii Georgii 4411c1fed4 AP_HAL: improved constness of Socket API 2015-07-29 08:24:24 +10:00
Vladislav Zakharov 97b51a4bcb AP_HAL: Added deinit() method to RCInput 
Add a deinit() counterpart. This is needed for some ports that require some deinitializtion logic. The default implementation is empty. I'm not sure whether we need to inforce it for all.
 2015-07-23 08:51:37 +10:00
Lucas De Marchi b83708f77f AP_HAL: use ARRAY_SIZE macro 2015-07-21 14:24:56 +09:00
Andrew Tridgell 4e0c2c5a9b AP_HAL: defined default log and terrain directories for bebop 
the /var filesystem is wiped on boot on Bebop. Use these as a
temporary workaround
 2015-07-10 16:46:31 +10:00
Julien BERAUD f0bed711cf AP_HAL: added AK8963 I2C defines 2015-07-10 14:23:18 +10:00
Julien BERAUD e0b59942b0 AP_HAL: changed log directories for bebop 2015-07-10 14:23:18 +10:00
Julien BERAUD 5c414b4ca2 AP_HAL: Fix Compass I2C address for Bebop 2015-07-10 14:23:18 +10:00
Julien BERAUD 8d6123928f AP_HAL: Add i2c bus numbers and addresses 2015-07-10 14:23:18 +10:00
Julien BERAUD bef8001a09 AP_HAL: added MS5607 baro define 2015-07-10 14:23:17 +10:00
Julien BERAUD eea7ea8488 AP_HAL: split MPU6000 INS defines for I2C and SPI 2015-07-10 14:23:17 +10:00
Julien BERAUD 7275e33e79 AP_HAL: add the possibility to have more than 1 i2c 
Bebop drone has 3 i2c
 2015-07-10 14:23:17 +10:00
Andrew Tridgell a6f62c208e AP_HAL: added bebop Linux board type 2015-07-10 10:22:59 +10:00
Lucas De Marchi 384d650a23 AP_HAL: allow to have spi device state 2015-07-06 10:48:06 +10:00
Víctor Mayoral Vilches e5a90c7a34 AP_HAL: Util, add custom terrain and log methods 2015-06-30 14:36:00 +10:00
Gustavo Jose de Sousa 42eb73a1d1 AP_InertialSensor: add LSM9DS0 backend 
This adds the backend driver for LSM9DS0. This implementation is based on the
legacy driver coded by Víctor Mayoral Vilches (under folder LSM9DS0) and makes
some necessary adaptations and fixes in order to work properly. The legacy
driver folder was removed.
 2015-06-30 10:27:46 +10:00
Andrew Tridgell 7f239f5d46 AP_HAL: added get_shell_stream() 2015-06-17 17:04:15 +10:00
Eugene Shamaev 8cb367eaf8 AP_HAL: added rc_bind rcin method 2015-06-10 17:19:08 +10:00
Andrew Tridgell 979a571d68 AP_HAL: fixed example build 2015-06-10 09:27:41 +10:00
Andrew Tridgell c44ab01be8 AP_HAL: use noreturn attribute on panic 
should reduce coverity warnings
 2015-06-08 21:09:08 +10:00
Eugene Shamaev ca482cf44a StorageManager: added example sketch 2015-06-08 10:05:05 +09:00
Max Basescu de50217809 AP_HAL: Added RC_OUTPUT_MIN_PULSEWIDTH set to 400 and RC_OUTPUT_MAX_PULSEWIDTH set to 2100 
For use in AP_HAL_AVR in RCOutput_APMx
 2015-06-05 21:03:03 +10:00
Lucas De Marchi 1d39f548dc AP_HAL: remove aliases FUNCTOR_[BIND|TYPEF]_VOID 
Nobody is using them anymore, so kill them.
 2015-06-04 13:37:41 +09:00
Andrew Tridgell 5c86005160 AP_HAL: removed spurious delay example 2015-06-01 17:28:45 +10:00
Andrew Tridgell 1bd61ae96e AP_HAL: no need to include AP_Vehicle_Type.h here any more 2015-06-01 17:28:24 +10:00
Andrew Tridgell 36b19b26ce AP_HAL: convert example from .pde to .cpp 2015-06-01 17:03:40 +10:00
Andrew Tridgell 4dd47ead0e AP_HAL: removed old fastdelegate code 2015-06-01 15:18:30 +10:00
Andrew Tridgell ac3fc2f373 AP_HAL: fixed build warnings 2015-05-30 22:51:09 +10:00
Andrew Tridgell 4705be97bf AP_HAL: support %lld and %llu in internal printf 
useful for log messages with 64 bit timestamps
 2015-05-27 11:54:17 +10:00
Andrew Tridgell 1a2b02a563 AP_HAL: removed AVR special case 
no longer needed
 2015-05-26 14:34:13 +10:00
Lucas De Marchi 84f399ec3c APMrover2: Start using new Functor implementation 
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:

	APMrover2 $ size APMrover2.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 611406	   4832	  40920	 657158	  a0706	APMrover2.elf.old
	 609686	   4824	  38936	 653446	  9f886	APMrover2.elf

	APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
	0000000000696f80 B Rover::scheduler_tasks
	000000000047c440 R Rover::scheduler_tasks

As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.

For APM2 we have a similar situation, but the table was already in text section
because it was using plain C pointers:

	APMrover2 $ size APMrover2.elf{.old,}
	   text	   data	    bss	    dec	    hex	filename
	 189518	   1038	   3494	 194050	  2f602	APMrover2.elf.old
	 189216	   1038	   3480	 193734	  2f4c6	APMrover2.elf

	APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
	00001f92 T Rover::scheduler_tasks
	00001f8a T Rover::scheduler_tasks
 2015-05-26 13:46:55 +10:00
Lucas De Marchi 20ef7efaf6 AP_HAL: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:55 +10:00
Lucas De Marchi 9f0af5b9cb AP_HAL: add fallback implementation of functor macros 2015-05-26 13:46:51 +10:00
Lucas De Marchi 83efb9280b AP_HAL: use variadic templates in FastDelegate 
Now that we are using C++11 we can use variadic templates to simplify
the FastDelegate classes. It also simplifies moving away from the
FastDelegate implementation.
 2015-05-26 13:46:51 +10:00
Lucas De Marchi 4b5cf24a81 Allow to change to functor implementation 
Start to add code behind APM_BUILD_FUNCTOR to support changing the
functor implementation (without breaking the build while the change is
not complete).
 2015-05-26 13:46:49 +10:00
Lucas De Marchi a1e1503e1a AP_HAL: Add Functor implementation 
This is a Functor implementation that should cover the use cases we have
for FastDelegate. In contrary to the latter, it can be constructed at
compile time so the compiler can safely put it in a read-only section
which covers the cases in which we are not using it.
 2015-05-26 13:46:49 +10:00
Andrew Tridgell 9336914598 AP_HAL: added sendto socket method 2015-05-22 16:07:44 +10:00
Andrew Tridgell d57fcf7e46 AP_HAL: added workaround for AVR delegates in PROGMEM 2015-05-21 07:48:45 +10:00
Andrew Tridgell be587beedc AP_HAL: disable nagle on sockets for faster local operation 2015-05-21 07:48:45 +10:00
Randy Mackay 0d72f3ac29 AP_HAL: fix example sketches 2015-05-12 14:42:15 +09:00
Andrew Tridgell 414f4125de AP_HAL: use FD_CLOEXEC to prevent sockets being inherited in SITL 2015-05-11 08:05:51 +10:00
Andrew Tridgell 692fc18698 AP_HAL: protect Socket.h from double include 2015-05-10 21:02:04 +10:00
Tom Pittenger 4b6d0d8e24 AP_HAL: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Andrew Tridgell 2369e06815 AP_HAL: fixed SITL build on windows 2015-05-06 09:07:03 +10:00
Andrew Tridgell 4c11002976 AP_HAL: added HAL_OS_SOCKETS define 
used for systems with BSD sockets
 2015-05-05 21:34:19 +10:00
Andrew Tridgell 08b9ed3342 AP_HAL: added socket handling class 2015-05-05 21:34:19 +10:00
Andrew Tridgell 35d22b9d57 AP_HAL: added getopt_cpp class 
a simple port of getopt_long to C++
 2015-05-05 09:45:58 +10:00
Andrew Tridgell 40e3b422b5 HAL_SITL: rename HAL_AVR_SITL to HAL_SITL 
it is nothing to do with the original AVR emulation now
 2015-05-05 09:45:54 +10:00
Andrew Tridgell df21c6c68d AP_HAL: support micros64() and millis64() on all platforms 
this will allow for 64 bit timestamps in DF logs (Peter is working on
that)
 2015-04-30 12:17:34 +10:00
Mikhail Avkhimenia 7ba6a5e346 AP_HAL: Specify terrain directory for Navio 2015-04-14 10:16:25 +10:00
Andrew Tridgell 55019abd71 AP_HAL: allow for default parameter override for PX4 and SITL 2015-04-04 09:01:40 -07:00
Andrew Tridgell b52918331a AP_HAL: make PXF use AK8963 compass by default 2015-03-13 18:46:15 +11:00
Andrew Tridgell d186b82edc AP_HAL: consolidate AK8963 defines 2015-03-13 18:46:15 +11:00
mirkix 4f1dd85e47 AP_HAL: Add test sketch for RC input to RC output pass through 2015-03-11 21:14:15 +09:00
Andrew Tridgell c63540f7b1 AP_HAL: added delay_microseconds_boost() 
this will be used by wait_for_sample() to boost priority for a short
period at the end of each delay_microseconds()
 2015-02-16 11:52:37 +11:00
Jonathan Challinger aa7776ea59 AP_HAL: add soft_armed state to hal.util 2015-02-11 20:25:10 +11:00
Grant Morphett 525787078f AP_HAL: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Andrew Tridgell 3075cb058d AP_HAL: changed semantics of RCInput.new_input() 
this makes calling new_input() in RCInput clear the new input
flag. This fixes an issue with calls to read() for auxillary channels
clearing the new_input flag, which could cause brief failsafe
conditions.
 2015-02-09 10:39:05 +11:00
Emile Castelnuovo a0673b56f9 AP_HAL: added new VRBRAIN boards and new subtypes 2015-02-02 08:43:58 +11:00
LukeMike edd0f13845 AP_HAL: mapped the different sizes of storage for all VR boards 2015-02-02 08:43:58 +11:00
Randy Mackay f84d31b838 HAL: fix example sketch 2015-01-28 17:15:40 +09:00
mirkix d11c5286c3 AP_HAL: HAL_COMPASS_AK8963 used but not defined anywhere 2015-01-22 14:35:51 +11:00
mirkix 7ceb93befa AP_HAL: make the examples usable with Linux 2015-01-22 14:30:47 +11:00
mirkix 70445d11f6 AP_HAL: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black 2015-01-12 21:36:40 +13:00
Andrew Tridgell 6fb00f4fc3 AP_HAL: create a common utility/RingBuffer.h header 2015-01-07 08:41:14 +11:00
Staroselskii Georgii a08a34f863 AP_HAL: changed default compass for Navio 2015-01-07 08:41:13 +11:00
Staroselskii Georgii e4a21f291d AP_HAL_Linux: added LinuxSPIUARTDriver that can handle SPI-driven Ublox 2015-01-07 08:41:12 +11:00
Andrew Tridgell 6993be54b7 HAL_Linux: raise storage size to 16k 
match PX4 size
 2015-01-03 14:06:54 +11:00
Andrew Tridgell 5aabfd4dc4 AP_HAL: added RCInput example sketch 2014-12-02 15:49:50 +11:00
Andrew Tridgell 8e36c1cd60 AP_HAL: fixed RCOutput example 2014-12-02 15:03:59 +11:00
Andrew Tridgell 4ec6a74829 AP_HAL: addex UART_test example sketch 2014-12-02 13:14:03 +11:00
Andrew Tridgell 9e0a7e6631 AP_HAL: fixed printf example build 2014-12-02 13:14:03 +11:00
Andrew Tridgell e89d380b73 AP_HAL: added set_esc_scaling() RCOutput function 
this will be used to scale outputs for uavcan ESCs based on throttle
range
 2014-11-26 11:14:44 +11:00
bugobliterator ad460659ad AP_HAL: make toneAlarm_init() return bool 2014-11-15 16:59:06 +11:00
Staroselskii Georgii bf860ee41f AP_HAL_Linux: Ublox SPI stub 2014-11-14 10:28:34 +11:00
Andrew Tridgell adcf994356 AP_HAL: added Zynq platform type 2014-11-14 10:21:04 +11:00
bugobliterator af203760bd HAL_Linux: change the return type of AP_HAL::Util::tonealarm_init() to signed int8_t. 
This is a part of a set of fixes for the bugs and typos tridge discovered and shared inside earlier commits for setting up tonealarm.
 2014-11-10 06:27:48 +11:00
bugobliterator fa6e83318d AP_HAL: Add virtual toneAlarm member functions to be declared under Linux_HAL 2014-11-10 06:27:48 +11:00
Randy Mackay 033b14db16 AP_HAL: add force_safety_on method 2014-09-18 09:58:44 +09:00
Emile Castelnuovo 7a70c0132d AP_HAL: VRBRAIN corrected EEPROM size and added terrain folder on MicroSD 2014-08-31 10:56:56 +09:00
Andrew Tridgell 7439d34a5d AP_HAL: add millis64() and micros64() on faster boards 
this can be used for much simpler scheduling, without any wrap
handling
 2014-08-20 07:55:19 +10:00
Andrew Tridgell b40bd479c4 HAL_Linux: moved FRAM vs FS choice into HAL_Linux headers 2014-08-19 10:08:17 +10:00
Andrew Tridgell 226b67d357 AP_HAL: make PXf default to MPU9250 2014-08-19 10:08:16 +10:00
bugobliterator 072c39ea6a AP_HAL: Add option to select Storage type AP_HAL_Boards.h 
user can set HAL_STORAGE as USE_FS or USE_FRAM inside AP_HAL_Boards.h as per his/her choice or board setup
 2014-08-19 10:08:16 +10:00
Víctor Mayoral Vilches 37793cd7fa AP_HAL_Namespace: Change LSM9DS0 into two different devices. 2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches e272ed8d96 AP_HAL: Add support for L3GD20 2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches 82186a3961 HAL: Add two new SPI devices 
SPIDevice_LSM303D and SPIDevice_L3GD20 added to the enum.
The code has also been formated.
 2014-08-19 10:08:15 +10:00
Emile Castelnuovo 0d62b15292 AP_HAL: added missing CONFIG_HAL_BOARD_SUBTYPE #define for HAL_BOARD_VRBRAIN 2014-08-16 20:28:57 +10:00
Andrew Tridgell b61ecb47af AP_HAL: fixed example build 2014-08-13 22:11:46 +10:00
Andrew Tridgell 5cca163b1f AP_HAL: fixed example build 2014-08-13 21:48:35 +10:00
Andrew Tridgell e34463a4bb AP_HAL: flymaple build fix 2014-08-13 18:46:44 +10:00
Andrew Tridgell d40d0f6aec AP_HAL: removed old storage type read/write functions 
not needed any more
 2014-08-13 18:46:44 +10:00
Andrew Tridgell f748e07ecf AP_HAL: ensure we have subtypes for all boards 2014-08-13 18:46:43 +10:00
Mikhail Avkhimenia 784533e9c8 AP_HAL: add configuration for HAL_BOARD_SUBTYPE_LINUX_NAVIO 2014-08-12 22:09:17 +10:00
Andrew Tridgell 02dec5634f AP_HAL: fixed example builds 2014-07-25 17:52:01 +10:00
Andrew Tridgell 63b5811a7c AP_HAL: added HAL_BOARD_TERRAIN_DIRECTORY 2014-07-24 21:45:56 +10:00
Andrew Tridgell 9b23921626 AP_HAL: added LSM9DSO_G SPI device 2014-07-19 13:22:24 +10:00
Markus Koetter 1edf7ef05f AP_HAL: use VRBRAIN INS/BARO/COMPASS for VRBRAIN boards 2014-07-15 11:43:00 +10:00
Andrew Tridgell 7195e38585 AP_HAL: fixed I2C build on APM2 2014-07-14 09:44:35 +10:00
Andrew Tridgell 5693392838 AP_HAL: added the concept of a board subtype, and default sensor types 
this will make the vehicle code much more generic
 2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches c4b6026d53 HAL_Linux: include readRegistersMultiple in I2CDriver 
AP_HAL_Linux implemments this new method.
 2014-07-14 09:28:42 +10:00
Víctor Mayoral Vilches 57ec305caa AP_HAL: Fixes to make the ERLE layer work 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches 8af1b6faa7 AP_HAL_Linux: Add support for SPIDevice_LSM9DS0 
The LSM9DS0 SPI device is connected to
SPI0, thereby SPIDriver class should return the
corresponding device.
 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches 5493be1b0d AP_HAL: Add SPIDevice_MPU9250 as a device. 2014-07-14 09:02:46 +10:00
Andrew Tridgell 74ee70d463 HAL_Linux: updates for ERLE board type 2014-07-14 08:52:27 +10:00
Andrew Tridgell 18a64d17d3 AP_HAL: added HAL_ prefix to GPIO_ defines 
this fixes a bug caused by GPIO_INPUT and GPIO_OUTPUT already being
defined in NuttX, which caused pinMode() not to setup pins for output
when requested
 2014-06-02 09:24:52 +10:00
Andrew Tridgell 74227cd7f0 AP_HAL: prevent some FastDelegate warnings 2014-05-08 11:11:03 +10:00
Andrew Tridgell 5cd145a307 AP_HAL: added set_failsafe_pwm() API 
this allows the PWM values for FMU firmware failure to be setup
 2014-04-21 08:36:52 +10:00
Emile Castelnuovo 201332caef AP_HAL: New VRBRAIN board definition and libraries 2014-04-08 16:19:19 +10:00
Andrew Tridgell 6eee2421cc AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 
the valid_channels() method was inconsistently implemented between
boards, and served two quite different purposes. It is clearer as two
functions
 2014-03-25 14:39:41 +11:00
Andrew Tridgell d36989f6a1 AP_HAL: fixed example build 2014-03-19 12:14:06 +09:00
Randy Mackay 7663c5898e AP_HAL_Boards: board specific storage size definition 2014-03-19 12:11:52 +09:00
Andrew Tridgell 3fa2207a2d AP_HAL: allow for microsecond resolution in scheduler->stop_clock() 
this makes 400Hz in the replay code possible
 2014-02-26 19:33:39 +11:00
Andrew Tridgell 4cb61f1f08 AP_HAL: support uartE 2014-02-26 08:18:20 +11:00
Andrew Tridgell 735c6449a1 AP_HAL: added support for commandline arguments 
useful for log replay, specifying log file
 2014-02-23 08:15:39 +11:00
Andrew Tridgell 9cf70fe3f7 AP_HAL: another broken example build 
this one an internal compiler error
 2014-02-17 12:42:13 +11:00
Andrew Tridgell 830afefcef AP_HAL: fixed example build 2014-02-15 06:40:29 +11:00
Andrew Tridgell 117b77460e HAL_Linux: added stop_clock hack! 2014-02-15 05:28:08 +11:00
Andrew Tridgell bea0a46410 AP_HAL: added servorail_voltage and power_status_flags() API on AnalogIn 2014-02-15 05:00:09 +11:00
Andrew Tridgell 7c1b9b344f AP_HAL: added get_flow_control() API 2014-02-14 21:51:00 +11:00
Andrew Tridgell 1849db7074 AP_HAL: added board_voltage AnalogIn method 
this makes it easier to get the board voltage from any library,
without having to allocate another analog channel object
 2014-02-14 21:25:38 +11:00
Andrew Tridgell ccb7dc640d AP_HAL: fixed a build warning 2014-02-12 10:51:58 +11:00
Andrew Tridgell 439a075b30 AP_HAL: added force_safety_off rcoutput function 
this forces the safety switch off, enabling PWM on the IO board
 2014-02-11 15:58:25 +11:00
Andrew Tridgell c5c1d1358a HAL_PX4: added automatic hardware flow control detection 
this allows us to detect if hardware flow control is not available and
automatically disable it
 2014-02-11 12:11:26 +11:00
Andrew Tridgell 3e637ac5d9 AP_HAL: added enable_flow_control() option in AP_HAL 2014-02-10 12:54:50 +11:00
Andrew Tridgell 87cc95dd7f AP_HAL: removed unused enable_mask and disable_mask functions 2014-01-16 17:16:17 +11:00
Andrew Tridgell 5e39b6fb11 AP_HAL: added set_safety_pwm() API 2014-01-15 22:25:22 +11:00
Andrew Tridgell ea649e036b AP_HAL: added HAL_CPU_CLASS define for selecting algorithms 
this will make it easier to select the appropiate level of algorithm
for a CPU
 2013-12-31 10:28:37 +11:00
Andrew Tridgell 7e1e10f941 AP_HAL: added time_shift() scheduler API 
used for log replay
 2013-12-30 14:35:09 +11:00
Andrew Tridgell 172398a971 AP_HAL: added available_memory() interface 2013-12-28 14:51:01 +11:00
Andrew Tridgell e321ad65f4 AP_HAL: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell f95bea699b AP_HAL: added get_system_id() method on Util 2013-11-26 13:00:03 +11:00
Andrew Tridgell cbc0f3ec27 AP_HAL: support uartD on some boards 
PX4 and SITL get an extra UART
 2013-11-23 19:29:22 +11:00
Andrew Tridgell 0ca82d5e3c AP_HAL: added set_system_clock() API 2013-10-24 14:22:48 +11:00
Randy Mackay 443023bbbf AP_HAL: add ignore_errors to I2C driver 2013-10-21 20:01:32 +09:00
Andrew Tridgell 7ef187fcfd AP_HAL: added optional set_timer_speed() scheduler API 
will be used by copter to reduce interrupt load on APM2
 2013-10-13 11:03:35 +09:00
Andrew Tridgell 5ccf8409b4 AP_HAL: added an optional spi.set_bus_speed() API 
this will be used by MPU6000 on APM2 to change speed after init
 2013-10-13 11:03:04 +09:00
Andrew Tridgell 9f24c45502 AP_HAL: removed separate Console class 
the idea of a separate console class was never really used, and just
added confusion in a HAL port. It also consumes some much needed ram
and flash space on APM2
 2013-10-05 18:32:00 +10:00
Andrew Tridgell 34a328f66d AP_HAL: added safety_switch_state() function in hal.util 
will be used by copter to check safety switch is set
 2013-10-05 15:46:35 +10:00
Andrew Tridgell efe1e01700 AP_HAL: require a buffer write() function in all ports 
this makes a sufficient performance difference that it is worth it
 2013-10-03 12:21:07 +10:00
Andrew Tridgell f2de4bb7b0 AP_HAL: implement AP_HAL::MemberProc via FastDelegate.h 
this provides a more portable way to encapsulate member functions in
variables
 2013-09-30 20:51:13 +10:00
Andrew Tridgell f0f5761e8d AP_HAL: make timed processes take void *argument 
this allows the class to be passed in, meaning that drivers that use
register_timer_process() and register_io_process() don't need to use
static members. That results in simpler, easier to read code
 2013-09-28 21:24:02 +10:00
Andrew Tridgell 296417a228 AP_HAL: added AP_HAL_LINUX define 2013-09-28 21:24:01 +10:00
Andrew Tridgell 60f3a8b6cf AP_HAL: removed SMACCM support 2013-09-26 22:38:31 +10:00
Mike McCauley ec5425578e AP_HAL: Added Flymaple board 2013-09-24 13:33:25 +10:00
Andrew Tridgell 0e9aef7e52 AP_HAL: changed base defines for print() 
this avoids a conflict with wirish from libmaple
 2013-09-23 18:10:21 +10:00
Andrew Tridgell 87bb3bc5dc AP_HAL: added AP_HAL_PX4 define 2013-09-22 16:02:42 +10:00
Andrew Tridgell 928e06f52c AP_HAL: use fabs() in print 
fixes build on Arduino
 2013-09-22 13:18:40 +10:00
Andrew Tridgell d46f5f6943 AP_HAL: implement betterstream functions in AP_HAL 
this gives more consistancy between ports
 2013-09-22 12:20:59 +10:00
Andrew Tridgell 0d662c52b3 AP_HAL: fixed length return from snprintf 2013-09-21 15:45:05 +10:00
Andrew Tridgell 0063f1fad8 AP_HAL: added Util.cpp 
common printf functions
 2013-09-21 14:25:42 +10:00
Andrew Tridgell 85b3f0d18d AP_HAL: expanded printf test suite 2013-09-21 13:29:52 +10:00
Andrew Tridgell 60122f9877 AP_HAL: moved printf implementation from AP_HAL_AVR to AP_HAL 
this gives a common printf implementation on all boards, which
simplifies testing, and also simplifies porting to new boards
 2013-09-21 13:28:46 +10:00
Andrew Tridgell 4ad4b60fbc HAL: added Printf test sketch 
for testing new non-asm printf code
 2013-09-21 11:16:08 +10:00
Andrew Tridgell a5b29f44d5 AP_HAL: added hal.gpio->usb_connected() function 
this replaces the USB_MUX_PIN on APM2, and works on PX4 and FMUv2
 2013-09-19 16:23:40 +10:00
Andrew Tridgell a587b1140a AP_HAL: added voltage_latest() interface 
this will be used for reading the 5V rail
 2013-09-12 13:23:04 +10:00
Andrew Tridgell 7082e0f8aa AP_HAL: added hold_in_bootloader parameter to scheduler->reboot() 2013-09-04 11:58:13 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Randy Mackay ac36a09747 AP_HAL: add toggle to GPIO 2013-08-30 13:01:34 +10:00
Andrew Tridgell ef5a42fabc AP_HAL: added RCOutput example sketch 
useful for testing all 14 channels via APM API
 2013-08-30 13:01:32 +10:00
Tobias d3ea88e8c7 AP_HAL: resolved -Woverloaded-virtual warning 
the function:
virtual size_t AP_HAL::Print::write(const uint8_t *buffer, size_t size);

was hidden in all derived classes by their
virtual size_t write(uint8_t) = 0; implementations.

To solve this, a non-virtual write(const uint8_t *, size_t) that calls a
virtual write_implementation was added.

This isn't necessary atm, because the derived classes don't call
write(const uint8_t *, size_t), BUT this decreases the apm2-quad Program
size by 40 bytes :D and removes warnings.
 2013-07-08 12:17:34 +10:00
Andrew Tridgell 2316c3bd11 AP_HAL: make storage->write_block() take a const pointer 2013-06-04 14:02:13 +10:00
Andrew Tridgell a5b20b4dfc AP_HAL: removed scaling factor on analog sources 
these are not use anymore, as voltage_average() is used instead
 2013-05-13 15:29:42 +10:00
Andrew Tridgell 589b8cdb58 AP_HAL: added voltage_average_ratiometric() call to AnalogIn 
this is for ratiometric sensors such as the 3DR airspeed sensor and
the Maxbotix analog sonar
 2013-05-13 15:12:43 +10:00
Andrew Tridgell 0b6cfc7294 AP_HAL: added set_stop_pin() and set_settle_time() interfaces to analogin 
this is for multiple sonars on one vehicle, to prevent them
interfering with each other
 2013-05-03 09:45:19 +10:00
Andrew Tridgell 500497f5fa AP_HAL: update AnalogIn test to show the first 16 pins 2013-05-02 21:31:55 +10:00
Randy Mackay bbbd90c430 AP_HAL: rename RCInput's valid() fn to valid_channels 2013-04-29 15:05:53 +09:00
Andrew Tridgell 3b0250b414 AP_HAL: define RC_12 
we have 12 channels on PX4FMU+PX4IO
 2013-04-25 20:10:53 +10:00
Andrew Tridgell af7381e9e0 AP_HAL: added register_io_process() 
this is used to register a low priority IO task. Used for file IO in
DataFlash_File.cpp
 2013-04-17 21:33:50 +10:00
Andrew Tridgell eb6c66af7e AP_HAL: added gpio->analogPinToDigitalPin() API 2013-03-22 12:31:14 +11:00
Andrew Tridgell 7681f3b639 AP_HAL: update AnalogIn example to show voltages not raw values 2013-03-15 08:39:22 +11:00
Andrew Tridgell b1c27407a2 AP_HAL: added voltage_average() interface to AnalogIn 
returns voltage in Volts, using averaged reading over samples.

Where possible this should be auto-scaled against a known reference
voltage
 2013-03-03 16:16:01 +11:00
Andrew Tridgell 8ed2f7d21c AnalogIn: run the example sketch a bit slower 
5Hz is plenty
 2013-03-01 11:19:26 +11:00
Andrew Tridgell 5a55fd9a2f AP_HAL: added HAL_BOARD_NAME define 2013-03-01 07:18:25 +11:00
Andrew Tridgell a3ef58ac92 AP_HAL: moved AnalogIn example to generic examples 
it is not AVR specific anymore
 2013-02-22 12:50:47 +11:00
Andrew Tridgell 70f7cde9b8 AP_HAL: added run_debug_shell() hal.util method 2013-02-07 15:04:33 +11:00
Andrew Tridgell 76092eb590 AP_HAL: remove unused peek() interface from UART drivers 
this is a bit tricky to implement on some platforms, and is unused
anyway
 2013-01-16 14:43:18 +11:00
James Bielman 4fa7bb1486 Add AVR compatibility header for missing math.h definitions. 
- Define float versions of math functions to the double versions
  on AVR (eg. #define sinf sin).
- These macros appear to be missing in older versions of avr-libs.
- Include AP_Math.h rather than math.h to get these definitions.
 2013-01-16 13:52:17 +11:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell 2ce18f588b AP_HAL: added AP_HAL_Macros.h 
this adds a define for constexpr, allowing code to build either with
or without -std=gnu++0x
 2013-01-16 09:12:55 +11:00
Andrew Tridgell 6415f00ce3 AP_HAL: added a bulk transfer() method 
very useful for dataflash
 2013-01-13 17:31:42 +11:00
Pat Hickey 7a0f95c11c AP_HAL: add Scheduler methods in_timerprocess, system_initialize 2013-01-10 14:07:43 -08:00
Andrew Tridgell e76c77e86a AP_HAL: mark semaphore take operations as WARN_IF_UNUSED 
this prevents common bugs
 2013-01-09 20:42:02 +11:00
Andrew Tridgell 90523ae975 AP_HAL: added WARN_IF_UNUSED macro 
useful for key functions
 2013-01-09 20:41:37 +11:00
Pat Hickey 3da864499d AP_HAL Semaphore: don't use limits, they don't work on c++ 2013-01-04 16:19:15 -08:00
James Bielman eca1417858 AP_HAL: Add semaphores to I2C driver. 
- Guard I2C transactions with this semaphore in the MS5611 and
  HMC5843 drivers.
 2013-01-04 15:43:43 -08:00
Pat Hickey ea2a03344e AP_HAL Scheduler: remove begin_atomic and end_atomic from api 
* application-level atomic operations can now only be defined in
  terms of suspend/resume_timer_procs
 2013-01-03 17:33:14 -08:00
Pat Hickey 81d77d4a70 AP_HAL: New semaphore interface 
* it now looks like a semaphore!
 2013-01-03 13:48:07 -08:00
James Bielman a4af314b57 Add AP_HAL_SMACCM implementation. 
- Add a board definition for SMACCMPilot.
- Support the SMACCM HAL in required utility libraries.
 2013-01-03 13:48:06 -08:00
Andrew Tridgell a3c26d44e4 AP_HAL: rename Sempahore.h to Semaphores.h 
this is needed to allow build on MacOS, as its case-insensitive
filesystem picks up the NuttX semaphore.h
 2013-01-02 18:22:13 +11:00
Andrew Tridgell ba1a6eb073 AP_HAL: fixed SITL build 2013-01-02 14:48:15 +11:00
Andrew Tridgell d3f154bbae AP_HAL: include stdbool.h for ARM build 2013-01-02 14:45:09 +11:00
Andrew Tridgell 0ef003a45f AP_HAL: added PX4 board support 2012-12-30 20:02:45 +11:00
Andrew Tridgell 0186fabb3b build: allow building with the "Empty" HAL 
useful for porting
 2012-12-24 07:30:50 +11:00
Pat Hickey 1678dcc6f0 AP_HAL: GPIO INTERRUPT defines 2012-12-22 09:11:11 +11:00
Andrew Tridgell 93040e5725 AP_HAL: removed the defer_timer_process() function 
this is now unused
 2012-12-21 20:01:42 +11:00
Andrew Tridgell 60d3df50ae AP_HAL: changed delay() to take a uint16_t 
this allows for up to 32 second delays, and saves a bit of flash space
 2012-12-20 14:53:23 +11:00
Pat Hickey 7681fef988 AP_HAL: BetterStream gets vprintf and vprintf_P methods 2012-12-20 14:53:22 +11:00
Pat Hickey 0d702045b8 AP_HAL: Add Util member for string utilities 2012-12-20 14:52:37 +11:00
Andrew Tridgell 4cff98dcae AP_HAL: added AP_HAL_BOARD_DRIVER define 
this makes example sketches easier to read
 2012-12-20 14:52:33 +11:00
Pat Hickey d2f7402243 AP_HAL: add bulk transaction to SPIDeviceDriver 2012-12-20 14:52:32 +11:00
Pat Hickey c86004d676 AP_HAL: Add panic method to scheduler 2012-12-20 14:52:31 +11:00
Pat Hickey eda450a166 AP_HAL: I2CDriver bug fixed for pure virtual base class 2012-12-20 14:52:31 +11:00
Pat Hickey b79bd01761 SPIDriver: namespace explicit to better permit copypasta 2012-12-20 14:52:30 +11:00
Pat Hickey 527dfb5af4 AP_HAL: remove EmptyUARTDriver 2012-12-20 14:52:30 +11:00
Pat Hickey d18b9feaa1 AP_HAL: add HAL_BOARD_EMPTY to AP_HAL_BOARDS 2012-12-20 14:52:30 +11:00
Andrew Tridgell e10e3ee3be AP_HAL: fixed argv declaration to match getopt() 2012-12-20 14:52:29 +11:00
Andrew Tridgell 18824c7ef5 AP_HAL: expose argc/argv in hal.init() 
used for SITL port
 2012-12-20 14:52:29 +11:00
Pat Hickey fa02ad7d4c AP_HAL: preprocessor enum of HAL_BOARD 2012-12-20 14:51:37 +11:00
Pat Hickey 9cee6cc941 AP_HAL: remove Dataflash driver 2012-12-20 14:51:37 +11:00
Pat Hickey cb38651df5 AP_HAL: RCInput has overrides 2012-12-20 14:51:34 +11:00
Pat Hickey 8879cbbc69 AP_HAL: Console uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey de4adefe4e AP_HAL: AnalogIn uses only sized int types 2012-12-20 14:51:33 +11:00