AP_HAL_AVR: Refactor APM1 and APM2 instances to use CONFIG_HAL_BOARD

libraries/AP_HAL_AVR/AP_HAL_AVR.cpp

@@ -1,73 +0,0 @@
-
-#include <AP_HAL.h>
-#include "AP_HAL_AVR.h"
-
-/* Include AVR-specific implementations of the HAL classes */
-#include "HAL_AVR.h"
-#include "UARTDriver.h"
-#include "I2CDriver.h"
-#include "SPIDriver.h"
-#include "AnalogIn.h"
-#include "Storage.h"
-#include "Console.h"
-#include "GPIO.h"
-#include "RCInput.h"
-#include "RCOutput.h"
-#include "Scheduler.h"
-
-using namespace AP_HAL;
-using namespace AP_HAL_AVR;
-
-AVRUARTDriverISRs(0);
-AVRUARTDriverISRs(1);
-AVRUARTDriverISRs(2);
-AVRUARTDriverISRs(3);
-
-static AVRUARTDriverInstance(avrUart0Driver, 0);
-static AVRUARTDriverInstance(avrUart1Driver, 1);
-static AVRUARTDriverInstance(avrUart2Driver, 2);
-static AVRUARTDriverInstance(avrUart3Driver, 3);
-
-static AVRI2CDriver     avrI2CDriver;
-static APM1SPIDeviceManager apm1SPIDriver;
-static APM2SPIDeviceManager apm2SPIDriver;
-static AVRAnalogIn      avrAnalogIn;
-static AVREEPROMStorage avrEEPROMStorage;
-static AVRConsoleDriver consoleDriver;
-static AVRGPIO          avrGPIO;
-static APM1RCInput      apm1RCInput;
-static APM2RCInput      apm2RCInput;
-static APM1RCOutput     apm1RCOutput;
-static APM2RCOutput     apm2RCOutput;
-static AVRScheduler     avrScheduler;
-
-/* On APM1 the physical UART2 is used for SPI. */
-const HAL_AVR AP_HAL_AVR_APM1(
-        (UARTDriver*) &avrUart0Driver, /* phys UART0 -> uartA */
-        (UARTDriver*) &avrUart1Driver, /* phys UART1 -> uartB */
-        (UARTDriver*) &avrUart3Driver, /* phys UART3 -> uartC */
-        &avrI2CDriver,
-        &apm1SPIDriver,
-        &avrAnalogIn,
-        &avrEEPROMStorage,
-        &consoleDriver,
-        &avrGPIO,
-        &apm1RCInput,
-        &apm1RCOutput,
-        &avrScheduler );
-
-/* On APM1 the physical UART3 is used for SPI. */
-const HAL_AVR AP_HAL_AVR_APM2(
-        (UARTDriver*) &avrUart0Driver, /* phys UART0 -> uartA */
-        (UARTDriver*) &avrUart1Driver, /* phys UART1 -> uartB */
-        (UARTDriver*) &avrUart2Driver, /* phys UART2 -> uartC */
-        &avrI2CDriver,
-        &apm2SPIDriver,
-        &avrAnalogIn,
-        &avrEEPROMStorage,
-        &consoleDriver,
-        &avrGPIO,
-        &apm2RCInput,
-        &apm2RCOutput,
-        &avrScheduler );
-

libraries/AP_HAL_AVR/AP_HAL_AVR.h

@@ -3,7 +3,9 @@
 #define __AP_HAL_AVR_H__
 
 #include <AP_HAL.h>
-#include "HAL_AVR.h"
+
+#include "HAL_AVR_APM1_Class.h"
+#include "HAL_AVR_APM2_Class.h"
 
 /**
  * This module exports AP_HAL instances only.
@@ -11,9 +13,6 @@
  * and not expose implementation details.
  */
 
-extern const AP_HAL_AVR::HAL_AVR AP_HAL_AVR_APM1;
-extern const AP_HAL_AVR::HAL_AVR AP_HAL_AVR_APM2;
-
 #define AP_HAL_MAIN() extern "C" {\
     int main (void) {\
         hal.init(NULL);\

libraries/AP_HAL_AVR/AP_HAL_AVR_private.h

@@ -0,0 +1,17 @@
+
+#ifndef __AP_HAL_AVR_PRIVATE_H__
+#define __AP_HAL_AVR_PRIVATE_H__
+
+#include "UARTDriver.h"
+#include "I2CDriver.h"
+#include "SPIDriver.h"
+#include "AnalogIn.h"
+#include "Storage.h"
+#include "Console.h"
+#include "GPIO.h"
+#include "RCInput.h"
+#include "RCOutput.h"
+#include "Scheduler.h"
+#include "utility/ISRRegistry.h"
+
+#endif // __AP_HAL_AVR_PRIVATE_H__

libraries/AP_HAL_AVR/HAL_AVR_APM1_Class.cpp

@@ -0,0 +1,73 @@
+
+#include <AP_HAL.h>
+
+/* To save linker space, we need to make sure the HAL_AVR_APM1 class
+ * is built iff we are building for HAL_BOARD_APM1. These defines must
+ * wrap the whole HAL_AVR_APM1 class declaration and definition. */
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
+
+#include <AP_HAL_AVR.h>
+#include "AP_HAL_AVR_private.h"
+#include "HAL_AVR_APM1_Class.h"
+
+using namespace AP_HAL;
+using namespace AP_HAL_AVR;
+
+AVRUARTDriverISRs(0);
+AVRUARTDriverISRs(1);
+AVRUARTDriverISRs(3);
+
+AVRUARTDriverInstance(avrUart0Driver, 0);
+AVRUARTDriverInstance(avrUart1Driver, 1);
+AVRUARTDriverInstance(avrUart3Driver, 3);
+
+static AVRI2CDriver     avrI2CDriver;
+static APM1SPIDeviceManager apm1SPIDriver;
+static AVRAnalogIn      avrAnalogIn;
+static AVREEPROMStorage avrEEPROMStorage;
+static AVRConsoleDriver consoleDriver;
+static AVRGPIO          avrGPIO;
+static APM1RCInput      apm1RCInput;
+static APM1RCOutput     apm1RCOutput;
+static AVRScheduler     avrScheduler;
+
+static ISRRegistry isrRegistry;
+
+/* On APM1 the physical UART2 is used for SPI. */
+HAL_AVR_APM1::HAL_AVR_APM1() :
+    AP_HAL::HAL(
+        &avrUart0Driver, /* phys UART0 -> uartA */
+        &avrUart1Driver, /* phys UART1 -> uartB */
+        &avrUart3Driver, /* phys UART3 -> uartC */
+        &avrI2CDriver,
+        &apm1SPIDriver,
+        &avrAnalogIn,
+        &avrEEPROMStorage,
+        &consoleDriver,
+        &avrGPIO,
+        &apm1RCInput,
+        &apm1RCOutput,
+        &avrScheduler )
+{}
+
+void HAL_AVR_APM1::init(void* opts) const {
+
+    scheduler->init((void*)&isrRegistry);
+   
+    /* uartA is the serial port used for the console, so lets make sure
+     * it is initialized at boot */
+    uartA->begin(115200);
+    console->init((void*)uartA);
+    /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
+     * as the init argument */
+    rcin->init((void*)&isrRegistry);
+    rcout->init(NULL);
+    spi->init(NULL);
+    i2c->begin();
+    i2c->setTimeout(100);
+    analogin->init(NULL);
+};
+
+const HAL_AVR_APM1 AP_HAL_AVR_APM1;
+
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM1

libraries/AP_HAL_AVR/HAL_AVR_APM1_Class.h

@@ -0,0 +1,33 @@
+
+#ifndef __AP_HAL_AVR_APM1_HAL_AVR_H__
+#define __AP_HAL_AVR_APM1_HAL_AVR_H__
+
+#include <AP_HAL.h>
+
+/* To save linker space, we need to make sure the HAL_AVR_APM1 class
+ * is built iff we are building for HAL_BOARD_APM1. These defines must
+ * wrap the whole HAL_AVR_APM1 class declaration and definition. */
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
+
+#include <AP_HAL_AVR.h>
+#include "AP_HAL_AVR_Namespace.h"
+
+/**
+ * HAL_AVR_APM1 class derives from HAL but provides a constructor to use the
+ * correct drivers for the APM1, and an init to set them all up properly.
+ */
+
+class HAL_AVR_APM1 : public AP_HAL::HAL {
+public:
+    HAL_AVR_APM1();
+    void init(void* opts) const;
+};
+
+/**
+ * Static instance exported here, defined in the Class.cpp file
+ */
+extern const HAL_AVR_APM1 AP_HAL_AVR_APM1;
+
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM1
+#endif // __AP_HAL_AVR_APM1_HAL_AVR_H__
+

libraries/AP_HAL_AVR/HAL_AVR_APM2_Class.cpp

@@ -0,0 +1,72 @@
+
+#include <AP_HAL.h>
+
+/* To save linker space, we need to make sure the HAL_AVR_APM2 class
+ * is built iff we are building for HAL_BOARD_APM2. These defines must
+ * wrap the whole HAL_AVR_APM2 class declaration and definition. */
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+
+#include <AP_HAL_AVR.h>
+#include "AP_HAL_AVR_private.h"
+#include "HAL_AVR_APM2_Class.h"
+
+using namespace AP_HAL;
+using namespace AP_HAL_AVR;
+
+AVRUARTDriverISRs(0);
+AVRUARTDriverISRs(1);
+AVRUARTDriverISRs(2);
+
+AVRUARTDriverInstance(avrUart0Driver, 0);
+AVRUARTDriverInstance(avrUart1Driver, 1);
+AVRUARTDriverInstance(avrUart2Driver, 2);
+
+static AVRI2CDriver     avrI2CDriver;
+static APM2SPIDeviceManager apm2SPIDriver;
+static AVRAnalogIn      avrAnalogIn;
+static AVREEPROMStorage avrEEPROMStorage;
+static AVRConsoleDriver consoleDriver;
+static AVRGPIO          avrGPIO;
+static APM2RCInput      apm2RCInput;
+static APM2RCOutput     apm2RCOutput;
+static AVRScheduler     avrScheduler;
+
+static ISRRegistry isrRegistry;
+
+HAL_AVR_APM2::HAL_AVR_APM2() :
+    AP_HAL::HAL(
+        &avrUart0Driver, /* phys UART0 -> uartA */
+        &avrUart1Driver, /* phys UART1 -> uartB */
+        &avrUart2Driver, /* phys UART2 -> uartC */
+        &avrI2CDriver,
+        &apm2SPIDriver,
+        &avrAnalogIn,
+        &avrEEPROMStorage,
+        &consoleDriver,
+        &avrGPIO,
+        &apm2RCInput,
+        &apm2RCOutput,
+        &avrScheduler )
+{}
+
+void HAL_AVR_APM2::init(void* opts) const {
+
+    scheduler->init((void*)&isrRegistry);
+   
+    /* uartA is the serial port used for the console, so lets make sure
+     * it is initialized at boot */
+    uartA->begin(115200);
+    console->init((void*)uartA);
+    /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
+     * as the init argument */
+    rcin->init((void*)&isrRegistry);
+    rcout->init(NULL);
+    spi->init(NULL);
+    i2c->begin();
+    i2c->setTimeout(100);
+    analogin->init(NULL);
+};
+
+const HAL_AVR_APM2 AP_HAL_AVR_APM2;
+
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2

libraries/AP_HAL_AVR/HAL_AVR_APM2_Class.h

@@ -0,0 +1,33 @@
+
+#ifndef __AP_HAL_AVR_APM2_HAL_AVR_H__
+#define __AP_HAL_AVR_APM2_HAL_AVR_H__
+
+#include <AP_HAL.h>
+
+/* To save linker space, we need to make sure the HAL_AVR_APM2 class
+ * is built iff we are building for HAL_BOARD_APM2. These defines must
+ * wrap the whole HAL_AVR_APM2 class declaration and definition. */
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+
+#include <AP_HAL_AVR.h>
+#include "AP_HAL_AVR_Namespace.h"
+
+/**
+ * HAL_AVR_APM2 class derives from HAL but provides an AVR-specific
+ * init method.
+ */
+
+class HAL_AVR_APM2 : public AP_HAL::HAL {
+public:
+    HAL_AVR_APM2();
+    void init(void* opts) const;
+};
+
+/**
+ * Static instance exported here, defined in the Class.cpp file
+ */
+extern const HAL_AVR_APM2 AP_HAL_AVR_APM2;
+
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#endif // __AP_HAL_AVR_APM2_HAL_AVR_H__
+

libraries/AP_HAL_AVR/examples/APM1/APM1.pde

@@ -1,42 +0,0 @@
-
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
-
-void loop (void) {
-    hal.console->println(".");
-    hal.gpio->write(3, 0);
-    hal.scheduler->delay(1000);
-    hal.gpio->write(3, 1);
-}
-
-void setup (void) {
-    hal.gpio->pinMode(1, GPIO_OUTPUT);
-    hal.gpio->pinMode(2, GPIO_OUTPUT);
-    hal.gpio->pinMode(3, GPIO_OUTPUT);
-    hal.gpio->pinMode(13, GPIO_OUTPUT);
-
-    hal.gpio->write(1, 1);
-    hal.gpio->write(2, 1);
-    hal.gpio->write(3, 1);
-    hal.gpio->write(13, 1);
-    
-    hal.scheduler->delay(1000);
-
-    hal.gpio->write(1, 0);
-    hal.gpio->write(2, 0);
-    hal.gpio->write(13, 0);
-    
-    hal.scheduler->delay(1000);
-
-    hal.gpio->write(13, 1);
-
-    hal.gpio->write(1, 0);
-    hal.console->println("Hello World");
-    hal.gpio->write(2, 0);
-}
-
-AP_HAL_MAIN();

libraries/AP_HAL_AVR/examples/APM1/Makefile

@@ -1 +0,0 @@
-include ../../../AP_Common/Arduino.mk

libraries/AP_HAL_AVR/examples/Blink/Blink.pde

@@ -1,10 +1,17 @@
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#endif
 
 AP_HAL::DigitalSource *a_led;
 AP_HAL::DigitalSource *b_led;