Commit Graph

333 Commits

Author SHA1 Message Date
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
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 f4a9f9876f HAL_PX4: make usb_connected() more robust
thanks to a suggestion from Phillip Kocmoud, this should fix issues
with the XUAV-X2
2015-07-08 11:19:07 +10:00
Andrew Tridgell d909f11ba3 HAL_PX4: added implementation of NSH shell stream 2015-06-17 20:30:09 +10:00
Andrew Tridgell dea36c1ae9 HAL_PX4: fixed build on non-PX4 systems 2015-06-11 15:17:02 +10:00
Andrew Tridgell 88655b48e1 HAL_PX4: added px4_param stub functions
this replaces the PX4 parameter system with stub functions that fail
all parameter find calls
2015-06-11 13:31:41 +10:00
Eugene Shamaev 40a5aa497a HAL_PX4: added rc_bind for DSM bind 2015-06-10 17:19:09 +10:00
Andrew Tridgell d6af9fd0ee HAL_PX4: prevent uavcan motor spin up while booting 2015-06-09 19:45:01 +10:00
Andrew Tridgell 6a33aeef67 HAL_PX4: cope with multi-instance actuator_outputs uORB
we need to subscribe to all of them
2015-06-09 19:45:00 +10:00
Andrew Tridgell 333778bac1 HAL_PX4: updates for upstream merge 2015-06-09 19:44:20 +10:00
Andrew Tridgell c44ab01be8 AP_HAL: use noreturn attribute on panic
should reduce coverity warnings
2015-06-08 21:09:08 +10:00
Andrew Tridgell ca8482b4d6 AP_HAL_PX4: convert example from .pde to .cpp 2015-06-01 17:07:04 +10:00
Andrew Tridgell 43fb1202f2 HAL_PX4: fixed functor comparison with NULL 2015-05-26 13:54:38 +10:00
Tom Pittenger 98c5137107 AP_HAL_PX4: compiler warnings: float to doubles 2015-05-05 13:26:56 +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
Randy Mackay 187dd0dccd HAL_PX4: fix example sketch 2015-05-01 16:44:10 +09:00
Andrew Tridgell 020d9ea78a HAL_PX4: only consider power to have changed when armed
this prevents false positives with multi-battery setups
2015-04-28 11:05:29 +10:00
Tom Pittenger 3b3752468d HAL_PX4: fix compile warnings re unused variables 2015-04-24 14:18:24 +09:00
Tom Pittenger 179c72bfa9 HAL_PX4: fix compile warning re member init order 2015-04-24 14:14:38 +09:00
Tom Pittenger 7e18480cd2 HAL_PX4: fix compile warnings re float constants 2015-04-24 12:49:18 +09:00
Andrew Tridgell 7cd7ff89fd HAL_PX4: recover 12k of ram from USB buffers
faster NuttX means we don't need such larger buffers
2015-03-27 15:08:52 -07:00
Andrew Tridgell 086f878bdc HAL_PX4: split IO thread into separate IO and storage threads
this prevents a blocked microSD card from blocking IO to the FRAM,
causing parameter changes not to be sticky
2015-03-04 20:18:17 +11:00
Andrew Tridgell 18131eae13 HAL_PX4: added delay_microseconds_boost()
implemented using hrt callback with sem_post wrapper
2015-02-16 12:19:13 +11:00
Andrew Tridgell 619196b6b3 HAL_PX4: fixes for new PX4 device paths 2015-02-14 12:25:44 +11:00
Andrew Tridgell 001643d5a3 HAL_PX4: always use the hrt semaphore based delay
the up_udelay() could cause too much timing jitter
2015-02-14 12:25:43 +11:00
Andrew Tridgell 7f0060b881 HAL_PX4: reduce the amount of time between loop() calls
500usec is too long for 400Hz copter
2015-02-14 12:25:43 +11:00
Andrew Tridgell ebacb2b496 HAL_PX4: call parent Util constructor 2015-02-11 20:57:28 +11:00
Jonathan Challinger e908fcafb1 AP_HAL_PX4: attempt to initialize USB while soft-disarmed 2015-02-11 20:57:27 +11:00
Andrew Tridgell f548d48fdc HAL_PX4: implement updated new_input() semantics 2015-02-09 10:39:12 +11:00
Andrew Tridgell f2a919c55e AP_HAL_PX4: moved size of main thread stack to Scheduler.h
make it more obvious
2015-02-07 08:06:53 +11:00
Randy Mackay 12bd5cd6b1 AP_HAL_PX4: fix example sketch 2015-01-28 21:00:30 +09:00
Andrew Tridgell 464714f1ab HAL_PX4: fixed build warning 2015-01-09 11:37:46 +11:00
Andrew Tridgell 0c73dc2440 HAL_PX4: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell 4a91546ced HAL_PX4: FRAM does not support fsync
the fsync just wastes time reopening /fs/mtd
2014-12-09 14:35:36 +11:00
Andrew Tridgell 4132b53541 HAL_PX4: publish actuator values for UAVCAN ESCs
this publishes scaled actuator values so that the uavcan module can
drive ESCs
2014-11-26 11:14:44 +11:00
Matthias Badaire 1d3a49e466 AP_HAL_PX4 : make UARTDriver capable to be called from different threads.
The modification allows the read and write functions to be called by any thread but the calling thread must be the last one that called the begin() function.
2014-11-14 13:51:16 +11:00
Andrew Tridgell 154bf51279 HAL_PX4: minor tidy up of if statement 2014-11-14 13:51:16 +11:00
Holger Steinhaus 9e9c62d245 HAL_PX4: work-around for periodic enable_ch() calls 2014-11-14 13:51:16 +11:00
Holger Steinhaus e5549c90a1 HAL_PX4: do not overwrite disabled channels with zeros
Fixes #1321
2014-11-14 13:51:16 +11:00
Andrew Tridgell e22c8b27a9 HAL_PX4: if there are no enabled channels don't send to PX4IO
this makes it possible to disable PWM output to IO to test override
2014-11-07 10:39:07 +11:00
Andrew Tridgell 7e3b8a30f5 HAL_PX4: use px4io generated values for servo output readback
this makes it easier to observe the behaviour of IO failsafe
2014-11-05 21:54:53 +11:00
Andrew Tridgell 10b0ca7ea8 HAL_PX4: reduce the number of times we split up UART reads and writes 2014-10-09 12:29:25 +11:00
Randy Mackay ffcd259b4e HAL_PX4: implement force_safety_on 2014-09-18 09:58:46 +09:00
Andrew Tridgell 74525cad89 HAL_PX4: fixed dirty_mask calculation in FRAM storage
this could lead to a number of bytes on 512 byte boundaries not being
written when changed in ram, so they would revert on next boot
2014-09-11 18:58:54 +10:00
Andrew Tridgell 48247b6adc HAL_PX4: minimise usage of hrt_absolute_time() 2014-08-20 09:10:24 +10:00
Andrew Tridgell 1241da466b HAL_PX4: added millis64() and micros64() 2014-08-20 08:01:06 +10:00
Andrew Tridgell 0a20d0db60 HAL_PX4: prevent read past end of buffer 2014-08-19 10:08:17 +10:00
Andrew Tridgell 41f7ad42d4 HAL_PX4: fixed example build 2014-08-13 21:48:35 +10:00
Andrew Tridgell c864f3eed5 HAL_PX4: enable full storage size on PX4 2014-08-13 18:46:45 +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 d1a75874a1 HAL_PX4: don't report power status change if in first 5 seconds 2014-08-09 22:50:14 +10:00
Andrew Tridgell 02dec5634f AP_HAL: fixed example builds 2014-07-25 17:52:01 +10:00
Andrew Tridgell b2bc098aee HAL_PX4: avoid some float conversion warnings 2014-07-08 20:27:19 +10:00
Andrew Tridgell 849c4905fb HAL_PX4: print overtime message on stuck task
this should make it easier to narrow down stuck task bugs
2014-07-03 09:11:24 +10:00
Andrew Tridgell fa4eb5475a HAL_PX4: implement analog input stop pins
this allows multiple sonars to cooperate without interference
2014-06-02 08:35:41 +10:00
Andrew Tridgell 37c50d9587 HAL_PX4: fixed use of FMU servo pins as digital inputs
these pins can be PWM output or digital input or digital output
2014-05-25 22:03:44 +10:00
Andrew Tridgell a7d6a26bec HAL_PX4: fixed auto-flow control
the 6 bytes written to break the radio out of bootloader broke
auto flowcontrol detection
2014-05-19 22:02:39 +10:00
Andrew Tridgell 320834a5e7 HAL_PX4: read from FRAM in 128 byte chunks (2nd try)
this time without the amazingly silly bug
2014-05-02 22:12:45 +10:00
Andrew Tridgell db6b96caa0 Revert "HAL_PX4: read from FRAM in 128 byte chunks"
This reverts commit a92366c455.

This commit may be associated with FRAM corruption on Pixhawk. Revert
until we understand why
2014-05-02 21:52:26 +10:00
Andrew Tridgell a92366c455 HAL_PX4: read from FRAM in 128 byte chunks
this fixes FRAM read on Roberts Pixhawk. We don't know why yet.
2014-05-02 12:24:54 +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