Commit Graph

400 Commits

Author SHA1 Message Date
Lucas De Marchi 2a953c4e35 AP_HAL_Linux: add missing casts
These errors were all over the VideoIn.cpp file:

libraries/AP_HAL_Linux/VideoIn.cpp: In member function 'bool Linux::VideoIn::allocate_buffers(uint32_t)':
libraries/AP_HAL_Linux/VideoIn.cpp:107:15: error: invalid conversion from 'uint32_t {aka unsigned int}' to 'v4l2_memory' [-fpermissive]
     rb.memory = _memtype;
               ^
libraries/AP_HAL_Linux/VideoIn.cpp: In member function 'bool Linux::VideoIn::set_format(uint32_t*, uint32_t*, uint32_t*, uint32_t*, uint32_t*)':
libraries/AP_HAL_Linux/VideoIn.cpp:169:14: error: invalid conversion from 'int' to 'v4l2_buf_type' [-fpermissive]
     fmt.type = V4L2_CAP_VIDEO_CAPTURE;
              ^

Add proper casts to fix the compilation.
2015-12-18 17:56:06 +11:00
Lucas De Marchi ba5dd88a0b AP_HAL_Linux: move mt9v117 patches inside class
Let it be a static const member instead of defining it in a header. The
problem with the header is that it will generate conflicting symbols
when more than 1 compilation unit includes it.
2015-12-18 17:56:06 +11:00
Julien BERAUD 6f55f3734c AP_HAL_Linux: Add optflow declaration
Add an empty driver for boards that are not bebop
2015-12-18 17:56:05 +11:00
Julien BERAUD f13cd00e59 AP_HAL_Linux: Update namespace and private
Add new interfaces for optical flow
2015-12-18 17:56:05 +11:00
Lucas De Marchi 83c50e12ca AP_HAL_Linux: OpticalFlow_Onboard: follow coding style
- Remove commented out defines
 - Sort headers
 - Remove ifdef for HAL_BOARD_SUBTYPE_LINUX_BEBOP inside the same ifdef
 - Use AP_HAL::panic() instead of perror
 - AP_HAL::panic() message doesn't take a '\n' and there's no return
   statement after a call to this function
 - Fix pointer placement
 - Use pragma once
 - Don't initialize members to 0, it's already the default behavior of
   our custom allocator
2015-12-18 17:56:05 +11:00
Julien BERAUD ea89308d90 AP_HAL_Linux: Add Onboard Optical Flow interface
Implementation of AP_HAL::OpticalFlow for an embedded camera sensor

There is the possibility to record video and also the gyro datas in order
to process the video off-board and debug possible issues.
2015-12-18 17:56:05 +11:00
Lucas De Marchi db5f49f49f AP_HAL_Linux: Flow_PX4: follow coding style
- Replace tabs with spaces
 - Sort headers
 - Fix curly braces placement
 - Use pragma once
2015-12-18 17:56:05 +11:00
Julien BERAUD 0476e698af AP_HAL_Linux: Flow_PX4 interface
Implementation of the PX4 flow algorithm for ardupilot.
Based on the original PX4 Flow code, it has diverged a lot.
I have kept the license header since it is required.
I have removed all the unused and dead code on current implementation,
modified the code to make it clearer, re-indented it and changed
the way some params are calculated. It has been tested on PC and
on board and showed results that I assumed were OK. No optical flow
Loiter tests have been undertaken since it requires a Sonar which will
be added soon.

Limitations :
Some parts were written in ARM assembly and I rewrote them very naively
to get them to be more easily portable. A simple optimisation would be
to re-introduce assembly code for ARM as a separate asm file with
methods for fixed resolutions that would reduce a lot the amount of
calculation and memory read/writes. Then writing a version in NEON
assembly would even be more optimised and then maybe an Intel version.
2015-12-18 17:56:05 +11:00
Lucas De Marchi c75704bde3 AP_HAL_Linux: VideoIn: follow coding style and minor fixes
- No need to if/else if just returning
 - Sort includes
 - Fix missing space in log message
 - When closing the fd, set it to -1. It's better to later fail the
   operation than to operate on another random file descriptor
 - Add some spaces to improve readability
 - Use pragma once
 - Do not initialize members to zero, it's already the behavior for our
   custom allocator
2015-12-18 17:56:05 +11:00
Julien BERAUD 25df4d03ff AP_HAL_Linux: Add support for Video Input
VideoIn class is created that allows to setup a v4l2 interface
and capture buffers. I is based on yavta utility by Laurent Pinchart
and has been tested only on the bebop, though yavta works on any linux
platform.
2015-12-18 17:56:04 +11:00
Lucas De Marchi 24d20f89c4 AP_HAL_Linux: make CameraSensor follow coding style
- Replace tabs with spaces
 - Sort includes
 - No need to ifdef Linux inside AP_HAL_Linux
 - Use early returns on error rather than a chain o if/else
 - Use pragma once
 - No need to initialize class members to 0, it's already our default
   behavior
2015-12-18 17:56:04 +11:00
Julien BERAUD c84d9bf702 AP_HAL_Linux: Add support for mt9v117 camera
The camera sensor is connected on i2c bus for config
and on a parallel bus on the main SoC.
Currently, the i2c driver remains userland, but this is intended to
change in the future. The v4l2_subdev part is the way to go in the future
and it is the mainline way of configuring i2c camera sensors on Linux.
Currently only the max framerate is supported because it is the one that
is to be used on the bebop optical flow.
2015-12-18 17:56:04 +11:00
Andrew Tridgell 0a36503742 HAL_Linux: fixed a bug with UDP packetisation
this fixes a bug where we would send UDP MAVLink packets larger than 300 bytes
2015-12-14 18:27:11 +11:00
Julien BERAUD bbf146197c RCOutput_Bebop : Update motor order
Newer esc firmware versions on bebop 1 and all the versions on bebop 2
have a different order for the motors in the i2c frame sent to the
esc contoller. This commit adds support for both versions by reading
the firmware version of the esc, using GET_INFO frame
2015-12-09 20:48:26 +09:00
Lucas De Marchi 6011eefb55 AP_HAL_Linux: rename AP_HAL_Empty instances 2015-12-08 11:12:14 +11:00
Lucas De Marchi 27dafa8f1b AP_HAL_Linux: 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
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi 2439826c19 AP_HAL_Linux: 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
Lucas De Marchi 49abb78372 AP_HAL_Linux: fix warning due to derived PWM_Sysfs
PWM_Sysfs derives from PWM_Sysfs_Base which was not update to have a
virtual destructor. Make PWM_Sysfs_Base's constructor virtual.
2015-12-02 10:43:43 +11:00
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
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 8c4803af10 AP_HAL_Linux: GPIO Sysfs for Bebop
copied from minlure implementation
2015-12-01 07:07:26 +11:00
Julien BERAUD 2136866594 AP_HAL_Linux: fix I2CDriver indentation
Tabs to spaces
2015-12-01 07:07:26 +11:00
Julien BERAUD 26163b6640 AP_HAL_Linux: Add do_transfer method to i2c driver
Method needed for mt9v117 camera sensor
2015-12-01 07:07:26 +11:00
Lucas De Marchi 04f601d42f AP_HAL_Linux: PWM_Sysfs: minor changes to Bebop/mainline integration
- Make error path in constructor shorter and earlier. It's calling
    panic() so there's no reason to do anything else

  - We don't need to check variable for NULL when calling free()

  - Change set/get_polarity to use a virtual function; this allows us
    not to fail silently if _polarity_path is NULL for PWM_Sysfs.
    PWM_Sysfs_Bebop just overrides this method and implement an empty
    version.
2015-12-01 07:07:25 +11:00
Julien BERAUD 8733f34ce1 AP_HAL_Linux: PWM_Sysfs for bebop
Modify existing class to create a PWM_Sysfs_Base class and derive it for
Bebop and Pwm_Sysfs (mainline kernel)

use asprintf for path allocation since it doesn't cost so much and is done
only at startup
Note that the constructor of the 2 classes : PWM_Sysfs and PWM_Sysfs_Bebop
allocate the paths and the constructor and desctuctor of class PWM_Sysfs_Base
frees them.
only keep in memory the paths that are needed later, i.e free _export_path,
_duty_path. The remaining path are freed in the destructor
2015-12-01 07:07:25 +11:00
Caio Marcelo de Oliveira Filho 6773e18bc4 AP_HAL_Linux: Remove unused extern declaration for HALs 2015-11-20 16:32:17 +09:00
Caio Marcelo de Oliveira Filho e0a6d83457 AP_HAL_LINUX: remove unused functions 2015-11-20 12:36:25 +09:00
Caio Marcelo de Oliveira Filho 7675913d5b AP_HAL_Linux: use millis/micros/panic functions 2015-11-20 12:31:04 +09:00
Caio Marcelo de Oliveira Filho ff016c4b5a AP_HAL_Linux: implement new AP_HAL functions
Implement the new AP_HAL functions and use them in the Scheduler when
possible.

The '_sketch_start_time' was renamed and moved as a detail of
implementation of the functions code. It allows the code to return time
starting from zero.

The 'stopped_clock_usec' was renamed to follow convention in the file
and add a getter so that AP_HAL functions can reach it. It's not a
problem this getter is public because in practice, regular code
shouldn't even access the Linux::Scheduler directly -- only code that
should is from Linux implementation.
2015-11-20 12:25:39 +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 9ea99cba29 HAL_Linux: fixed example build 2015-11-16 08:04:35 +11:00
Andrew Tridgell 1a033f3b73 HAL_Linux: don't flood the link with errors on uninitialised perf counter
that could bring down the vehicle
2015-11-14 14:44:29 +11:00
Julien BERAUD 2f610a400a AP_HAL_Linux: fix perf
Fix warning (warning: declaration of 'perf_count' shadows a member of 'this')
and check that perf is not NULL before indirection
2015-11-14 14:44:29 +11:00
Julien BERAUD f8f2833c88 AP_HAL_Linux: use I2C_SLAVE_FORCE in case of error
When there is already a driver registered on an i2c bus, the I2C_SLAVE ioctl
returns an error.
When it happens, it is better to display a warning and try to force the address.
It is especially useful on the bebop when killing the regular autopilot that uses
iio drivers to access the imu because else we would need to manually unbind the
driver in an init procedure.

I have added a warning because this error can also be resulting of another cause.
If the error is not EBUSY, then panic

If the I2C_SLAVE_FORCE ioctl fails then we panic because one of the i2c devices
won't be working properly.
2015-11-13 21:20:13 +11:00
José Roberto de Souza 5ff67a41a1 AP_HAL_Linux: Implement perf API
Initial implementation of perf API on Linux, for now just saving
perf data, in a further patch this data will be exported.
2015-11-13 12:16:19 +11:00
mirkix f00d4f0b3e AP_HAL_Linux: Improve loading firmware 2015-11-12 21:25:17 +01:00
Lucas De Marchi 1d51e60571 AP_HAL_Linux: move Util instantiation
The util object may be used by all other objects so we need to
instantiate it as earlier as possible.
2015-11-11 08:02:41 +11:00
José Roberto de Souza 01766e7069 AP_HAL_Linux: RCOutput: Add LinuxRCOutput_Sysfs
This RCOutput works over Linux PWM sysfs interface.
2015-11-10 17:05:34 +11:00
Lucas De Marchi 392879112e AP_HAL_Linux: document functions to write file
Document function and add attributes to mark then as printf- and
scanf-like functions.
2015-11-10 17:05:34 +11:00
Lucas De Marchi c66c61180a AP_HAL_Linux: rework PWM_Sysfs
This include some minor changes on all methods of PWM_Sysfs:

  - Sort headers
  - Add code inside Linux namespace rather than just use the namespace
  - Declare a union pwm_params, that's only used to calculate at compile
    time the maximum stack space we need in our methods: this is a bit
    safer for future extensions
  - Standardize error messages to include the useful params first and
    then the error message
  - Remove log message from hot path
  - Don't abuse macros for checking error - convert the SNPRINTF_CHECK
    macro into proper code, ignoring errors for not enough space since
    they can't happen
  - Fix call to read_file() passing uint8_t for "%u" in get_period()
  - Fix passing char** instead of char* to write_file() in set_polarity()
  - Use strncmp() instead of strncasecmp() since the kernel API uses
    lowercase.
  - Add comments on the 2 main methods of this class
2015-11-10 17:05:34 +11:00
José Roberto de Souza 39bd5fa80e AP_HAL_Linux: Add PWM_Sysfs
This class makes easy to use Linux PWM sysfs interface, available since
Linux 3.10.

More information https://www.kernel.org/doc/Documentation/pwm.txt
2015-11-10 17:05:34 +11:00
Andrew Tridgell 883ac59e4a HAL_Linux: always report 256k of available memory 2015-11-05 16:09:00 +11:00
Víctor Mayoral Vilches d5d1bfae8c AP_HAL_Linux: Adapt code to common RPI layer 2015-11-04 13:58:25 +11:00
Víctor Mayoral Vilches b1a53c383c AP_HAL_Linux: Add AnalogIn_ADS1115, common code
This commit provides a single abstraction for both
Erle-Brain 2 and Navio boards.
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 47d43c64ef AP_HAL_Linux: Add RCInput_RPI, merge common code 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 739fc0df35 AP_HAL_Linux: UtilRPI, add Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 30153b6eac AP_HAL_Linux: Scheduler, add Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 8ae8f47538 AP_HAL_Linux: SPIDriver, add Erle-Brain 2 2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches 68c92eab25 AP_HAL_Linux: GPIO, add Erle-Brain 2 2015-11-04 13:58:24 +11:00