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Merge remote-tracking branch 'upstream/master' into update

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This commit is contained in:
Rustom Jehangir 2016-01-15 23:20:35 -08:00
commit 5aeb1f3e72
328 changed files with 912 additions and 80868 deletions
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3
.gitmodules vendored
View File

@ -13,3 +13,6 @@
[submodule "modules/gbenchmark"]
path = modules/gbenchmark
url = git://github.com/google/benchmark.git
[submodule "modules/mavlink"]
path = modules/mavlink
url = git://github.com/diydrones/mavlink

1
APMrover2/wscript
View File

@ -24,6 +24,7 @@ def build(bld):
'AP_ServoRelayEvents',
'PID',
],
use='mavlink',
)
ardupilotwaf.program(

1
AntennaTracker/wscript
View File

@ -12,6 +12,7 @@ def build(bld):
libraries=ardupilotwaf.COMMON_VEHICLE_DEPENDENT_LIBRARIES + [
'PID',
],
use='mavlink',
)
ardupilotwaf.program(

1
ArduCopter/wscript
View File

@ -33,6 +33,7 @@ def build(bld):
'AP_Relay',
'AP_ServoRelayEvents',
],
use='mavlink',
)
ardupilotwaf.program(

1
ArduPlane/wscript
View File

@ -34,6 +34,7 @@ def build(bld):
'AP_Motors',
'AC_PID'
],
use='mavlink',
)
ardupilotwaf.program(

16
Makefile.waf
View File

@ -7,13 +7,12 @@ EXPLICIT_COMMANDS = check clean list_boards
VEHICLES = copter plane rover
copter_WAF_TARGET = ArduCopter
plane_WAF_TARGET = ArduPlane
rover_WAF_TARGET = APMrover2
all: $(WAF_BINARY)
@$(WAF) build
check-all: $(WAF_BINARY)
@$(WAF) check --alltests
$(WAF_BINARY):
@git submodule init && git submodule update
@ -28,7 +27,7 @@ $(EXPLICIT_COMMANDS): $(WAF_BINARY)
$(VEHICLES): $(WAF_BINARY)
@echo Build for vehicle $@
@$(WAF) build --target $($@_WAF_TARGET)
@$(WAF) $@
.DEFAULT: %-configure
@$(WAF) configure --board $@ build
@ -65,6 +64,13 @@ help:
@echo "board/platform, you'll need to configure the build before (e.g"
@echo "make linux-configure)"
@echo ""
@echo "Check"
@echo "-----"
@echo "Check targets are used for running tests. There are two targets available:"
@echo " check: for running tests that are still failing or that are new or"
@echo " have been modified"
@echo " check-all: to run all tests"
@echo ""
@echo "Waf commands"
@echo "------------"
@echo "Waf commands can be explicitly called with targets prefixed by 'waf-'. Example:"

6
README_waf.txt
View File

@ -26,11 +26,15 @@ It's possible to build for just a vehicle or an example by specifying it as the
target:
# From the top directory
waf --target ArduCopter
waf --targets bin/ArduCopter
# List all the targets available
waf list
There are also shortcuts for vehicle builds, for example:
# Shortcut for waf --targets bin/ArduCopter
waf copter
By default all the files produced by the build will be inside the build/
subdirectory. The binaries will also be there, with the name identifying
the target board.

1
Tools/CPUInfo/wscript
View File

@ -7,4 +7,5 @@ def build(bld):
ardupilotwaf.program(
bld,
use='ap',
blddestdir='tools',
)

2
Tools/Hello/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

1
Tools/Replay/wscript
View File

@ -7,4 +7,5 @@ def build(bld):
ardupilotwaf.program(
bld,
use='ap',
blddestdir='tools',
)

64
Tools/ardupilotwaf/ardupilotwaf.py
View File

@ -2,7 +2,7 @@
# encoding: utf-8
from __future__ import print_function
from waflib import Logs, Utils
from waflib import Logs, Options, Utils
SOURCE_EXTS = [
'*.S',
@ -74,7 +74,10 @@ def get_all_libraries(bld):
libraries.extend(['AP_HAL', 'AP_HAL_Empty'])
return libraries
def program(bld, **kw):
def program(bld, blddestdir='bin',
use_legacy_defines=True,
program_name=None,
**kw):
if 'target' in kw:
bld.fatal('Do not pass target for program')
if 'defines' not in kw:
@ -82,18 +85,26 @@ def program(bld, **kw):
if 'source' not in kw:
kw['source'] = bld.path.ant_glob(SOURCE_EXTS)
name = bld.path.name
kw['defines'].extend(_get_legacy_defines(name))
if not program_name:
program_name = bld.path.name
if use_legacy_defines:
kw['defines'].extend(_get_legacy_defines(program_name))
kw['features'] = common_features(bld) + kw.get('features', [])
target = bld.bldnode.make_node(name + '.' + bld.env.BOARD)
target = blddestdir + '/' + program_name
bld.program(
target=target,
name=name,
name=target,
**kw
)
def example(bld, **kw):
kw['blddestdir'] = 'examples'
program(bld, **kw)
# NOTE: Code in libraries/ is compiled multiple times. So ensure each
# compilation is independent by providing different index for each.
# The need for this should disappear when libraries change to be
@ -129,15 +140,12 @@ def vehicle_stlib(bld, **kw):
lib_sources = lib_node.ant_glob(SOURCE_EXTS + UTILITY_SOURCE_EXTS)
sources.extend(lib_sources)
name = kw['name']
vehicle = kw['vehicle']
kw['source'] = sources
kw['target'] = kw['name']
kw['defines'] = _get_legacy_defines(kw['vehicle'])
kw['idx'] = _get_next_idx()
bld.stlib(
source=sources,
target=name,
defines=_get_legacy_defines(vehicle),
idx=_get_next_idx(),
)
bld.stlib(**kw)
def find_tests(bld, use=[]):
if not bld.env.HAS_GTEST:
@ -153,13 +161,15 @@ def find_tests(bld, use=[]):
includes = [bld.srcnode.abspath() + '/tests/']
for f in bld.path.ant_glob(incl='*.cpp'):
target = f.change_ext('.' + bld.env.BOARD)
bld.program(
program(
bld,
features=features,
target=target,
includes=includes,
source=[f],
use=use,
program_name=f.change_ext('').name,
blddestdir='tests',
use_legacy_defines=False,
)
def find_benchmarks(bld, use=[]):
@ -169,13 +179,15 @@ def find_benchmarks(bld, use=[]):
includes = [bld.srcnode.abspath() + '/benchmarks/']
for f in bld.path.ant_glob(incl='*.cpp'):
target = f.change_ext('.' + bld.env.BOARD)
bld.program(
program(
bld,
features=common_features(bld) + ['gbenchmark'],
target=target,
includes=includes,
source=[f],
use=use,
program_name=f.change_ext('').name,
blddestdir='benchmarks',
use_legacy_defines=False,
)
def test_summary(bld):
@ -219,3 +231,15 @@ def test_summary(bld):
for filename in fails:
Logs.error(' %s' % filename)
def build_shortcut(targets=None):
def build_fn(bld):
if targets:
if Options.options.targets:
Options.options.targets += ',' + targets
else:
Options.options.targets = targets
Options.commands = ['build'] + Options.commands
return build_fn

6
Tools/ardupilotwaf/boards.py
View File

@ -91,9 +91,8 @@ def sitl(env):
env.LIB += [
'm',
'pthread',
]
env.LINKFLAGS += ['-pthread',]
env.AP_LIBRARIES += [
'AP_HAL_SITL',
'SITL',
@ -114,10 +113,9 @@ def linux(env):
env.LIB += [
'm',
'pthread',
'rt',
]
env.LINKFLAGS += ['-pthread',]
env.AP_LIBRARIES = [
'AP_HAL_Linux',
]

2
Tools/ardupilotwaf/gbenchmark.py
View File

@ -91,7 +91,7 @@ def configure(cfg):
env.INCLUDES_GBENCHMARK = [prefix_node.make_node('include').abspath()]
env.LIBPATH_GBENCHMARK = [prefix_node.make_node('lib').abspath()]
env.LIB_GBENCHMARK = ['benchmark','pthread']
env.LIB_GBENCHMARK = ['benchmark']
env.HAS_GBENCHMARK = True

63
Tools/ardupilotwaf/mavgen.py Normal file
View File

@ -0,0 +1,63 @@
#!/usr/bin/env python
# encoding: utf-8
# (c) Siddharth Bharat Purohit, 3DRobotics Inc.
"""
The **mavgen.py** program is a code generator which creates mavlink header files.
"""
from waflib import Task, Utils, Node
from waflib.TaskGen import feature, before_method, extension
import os
class mavgen(Task.Task):
"""generate mavlink header files"""
color = 'GREEN'
run_str = '${PYTHON} ${MAVGEN} --lang=C --wire-protocol=1.0 --output ${OUTPUT_DIR} ${SRC}'
before = 'cxx c'
def post_run(self):
super(mavgen, self).post_run()
for header in self.generator.output_dir.ant_glob("*.h **/*.h", remove=False):
header.sig = header.cache_sig = self.cache_sig
def options(opt):
opt.load('python')
@feature('mavgen')
@before_method('process_source')
def process_mavgen(self):
if not hasattr(self, 'output_dir'):
self.bld.fatal('mavgen: missing option output_dir')
inputs = self.to_nodes(self.source)
outputs = []
self.source = []
if not isinstance(self.output_dir, Node.Node):
self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)
task = self.create_task('mavgen', inputs, outputs)
task.env['OUTPUT_DIR'] = self.output_dir.abspath()
task.env.env = dict(os.environ)
task.env.env['PYTHONPATH'] = task.env.MAVLINK_DIR
def configure(cfg):
"""
setup environment for mavlink header generator
"""
cfg.load('python')
cfg.check_python_version(minver=(2,7,0))
env = cfg.env
cfg.start_msg('Checking for mavgen')
if not cfg.srcnode.find_resource('modules/mavlink/pymavlink/tools/mavgen.py'):
cfg.fatal('not found, please run: git submodule init && git submodule update')
return
cfg.end_msg('yes')
env.MAVLINK_DIR = cfg.srcnode.find_dir('modules/mavlink/').abspath()
env.MAVGEN = env.MAVLINK_DIR + '/pymavlink/tools/mavgen.py'

3
Tools/scripts/build_all.sh
View File

@ -8,6 +8,9 @@
set -e
set -x
export BUILDROOT="/tmp/all.build"
rm -rf $BUILDROOT
echo "Testing ArduPlane build"
pushd ArduPlane
for b in sitl linux; do

11
Tools/scripts/build_binaries.sh
View File

@ -170,7 +170,7 @@ build_arduplane() {
continue
}
extension=$(board_extension $b)
copyit $TMPDIR/ArduPlane.build/ArduPlane.$extension $ddir $tag
copyit $BUILDROOT/ArduPlane.$extension $ddir $tag
touch $binaries/Plane/$tag
done
echo "Building ArduPlane PX4 binaries"
@ -226,7 +226,7 @@ build_arducopter() {
continue
}
extension=$(board_extension $b)
copyit $TMPDIR/ArduCopter.build/ArduCopter.$extension $ddir $tag
copyit $BUILDROOT/ArduCopter.$extension $ddir $tag
touch $binaries/Copter/$tag
done
done
@ -270,7 +270,7 @@ build_rover() {
continue
}
extension=$(board_extension $b)
copyit $TMPDIR/APMrover2.build/APMrover2.$extension $ddir $tag
copyit $BUILDROOT/APMrover2.$extension $ddir $tag
touch $binaries/Rover/$tag
done
echo "Building APMrover2 PX4 binaries"
@ -312,7 +312,7 @@ build_antennatracker() {
continue
}
extension=$(board_extension $b)
copyit $TMPDIR/AntennaTracker.build/AntennaTracker.$extension $ddir $tag
copyit $BUILDROOT/AntennaTracker.$extension $ddir $tag
touch $binaries/AntennaTracker/$tag
done
echo "Building AntennaTracker PX4 binaries"
@ -342,6 +342,9 @@ build_antennatracker() {
git submodule update
}
export BUILDROOT="$TMPDIR/binaries.build"
rm -rf $BUILDROOT
# make sure PX4 is rebuilt from scratch
for d in ArduPlane ArduCopter APMrover2 AntennaTracker; do
pushd $d

5
Tools/scripts/build_examples.sh
View File

@ -6,7 +6,7 @@
set -e
set -x
targets="clean navio"
targets="navio"
[ $# -gt 0 ] && {
targets="$*"
@ -16,6 +16,9 @@ export PATH=/usr/lib/ccache:$PATH
TESTS=$(find libraries -name 'Makefile' | grep -v FLYMAPLE | xargs -i dirname '{}')
export BUILDROOT="/tmp/examples.build"
rm -rf $BUILDROOT
for b in $TESTS; do
echo "TESTING $b"
pushd $b

2
libraries/AC_PID/examples/AC_PID_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_ADC/examples/AP_ADC_test/wscript
View File

@ -7,7 +7,7 @@ def build(bld):
if bld.env.BOARD in ['sitl']:
return
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_AHRS/examples/AHRS_Test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Airspeed/examples/Airspeed/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Baro/examples/BARO_generic/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_BattMonitor/examples/AP_BattMonitor_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Common/examples/AP_Common/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Compass/examples/AP_Compass_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Declination/examples/AP_Declination_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_GPS/examples/GPS_AUTO_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_GPS/examples/GPS_UBLOX_passthrough/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL/examples/AnalogIn/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL/examples/Printf/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL/examples/RCInput/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL/examples/RCInputToRCOutput/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL/examples/RCOutput/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL/examples/Storage/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL/examples/UART_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/ArduCopterLibs/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/ArduPlaneLibs/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/Blink/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/Console/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/I2CDriver_HMC5883L/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/LCDTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/RCInputTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/RCJitterTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/RCPassthroughTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/SPIDriver_MPU6000/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/Scheduler/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/Semaphore/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/Storage/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/UARTDriver/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_AVR/examples/UtilityStringTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/AP_Baro_BMP085_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/AnalogIn/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/Blink/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/Console/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/I2CDriver_HMC5883L/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/RCInput/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/RCPassthroughTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/SPIDriver/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/Scheduler/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/Semaphore/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/Storage/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/UARTDriver/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/UtilityStringTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_FLYMAPLE/examples/empty_example/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

1
libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
View File

@ -51,6 +51,7 @@ namespace Linux {
class VideoIn;
class OpticalFlow_Onboard;
class Flow_PX4;
class Perf_Lttng;
}
#endif // __AP_HAL_LINUX_NAMESPACE_H__

113
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
View File

@ -117,22 +117,42 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
AP_HAL::panic("OpticalFlow_Onboard: format not supported\n");
}
if (_videoin->set_crop(left, top, crop_width, crop_height)) {
_crop_by_software = false;
if (_width == HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH &&
_height == HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT) {
_shrink_by_software = false;
} else {
/* here we store the actual camera output width and height to use them
* later on to software crop each frame. */
_crop_by_software = true;
_crop_by_software_width = _width;
_crop_by_software_height = _height;
/* here we store the actual camera output width and height to use
* them later on to software shrink each frame. */
_shrink_by_software = true;
_camera_output_width = _width;
_camera_output_height = _height;
/* we set these values here in order to the calculations be correct
* (such as PX4 init) even though we crop each frame later on. */
* (such as PX4 init) even though we shrink each frame later on. */
_width = HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH;
_height = HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT;
_bytesperline = HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH;
}
if (_videoin->set_crop(left, top, crop_width, crop_height)) {
_crop_by_software = false;
} else {
_crop_by_software = true;
if (!_shrink_by_software) {
/* here we store the actual camera output width and height to use
* them later on to software crop each frame. */
_camera_output_width = _width;
_camera_output_height = _height;
/* we set these values here in order to the calculations be correct
* (such as PX4 init) even though we crop each frame later on. */
_width = HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH;
_height = HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT;
_bytesperline = HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH;
}
}
if (!_videoin->allocate_buffers(nbufs)) {
AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate video buffers");
}
@ -208,14 +228,16 @@ void OpticalFlow_Onboard::_run_optflow()
Vector3f gyro_rate;
Vector2f flow_rate;
VideoIn::Frame video_frame;
uint32_t convert_buffer_size = 0, crop_buffer_size = 0;
uint32_t convert_buffer_size = 0, output_buffer_size = 0;
uint32_t crop_left = 0, crop_top = 0;
uint8_t *convert_buffer = NULL, *crop_buffer = NULL;
uint32_t shrink_scale = 0, shrink_width = 0, shrink_height = 0;
uint32_t shrink_width_offset = 0, shrink_height_offset = 0;
uint8_t *convert_buffer = NULL, *output_buffer = NULL;
uint8_t qual;
if (_format == V4L2_PIX_FMT_YUYV) {
if (_crop_by_software) {
convert_buffer_size = _crop_by_software_width * _crop_by_software_height;
if (_shrink_by_software || _crop_by_software) {
convert_buffer_size = _camera_output_width * _camera_output_height;
} else {
convert_buffer_size = _width * _height;
}
@ -226,22 +248,38 @@ void OpticalFlow_Onboard::_run_optflow()
}
}
if (_crop_by_software) {
crop_buffer_size = HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH *
if (_shrink_by_software || _crop_by_software) {
output_buffer_size = HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH *
HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT;
crop_buffer = (uint8_t *)malloc(crop_buffer_size);
if (!crop_buffer) {
output_buffer = (uint8_t *)malloc(output_buffer_size);
if (!output_buffer) {
if (convert_buffer) {
free(convert_buffer);
}
AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate crop buffer\n");
}
}
crop_left = _crop_by_software_width / 2 -
if (_shrink_by_software) {
if (_camera_output_width > _camera_output_height) {
shrink_scale = (uint32_t) _camera_output_height /
HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT;
} else {
shrink_scale = (uint32_t) _camera_output_width /
HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH;
}
shrink_width = HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH * shrink_scale;
shrink_height = HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT * shrink_scale;
shrink_width_offset = (_camera_output_width - shrink_width) / 2;
shrink_height_offset = (_camera_output_height - shrink_height) / 2;
} else if (_crop_by_software) {
crop_left = _camera_output_width / 2 -
HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH / 2;
crop_top = _crop_by_software_height / 2 -
crop_top = _camera_output_height / 2 -
HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT / 2;
}
@ -252,8 +290,8 @@ void OpticalFlow_Onboard::_run_optflow()
free(convert_buffer);
}
if (crop_buffer) {
free(crop_buffer);
if (output_buffer) {
free(output_buffer);
}
AP_HAL::panic("OpticalFlow_Onboard: couldn't get frame\n");
@ -267,14 +305,24 @@ void OpticalFlow_Onboard::_run_optflow()
memcpy(video_frame.data, convert_buffer, convert_buffer_size);
}
if (_crop_by_software) {
VideoIn::crop_8bpp((uint8_t *)video_frame.data, crop_buffer,
_crop_by_software_width,
if (_shrink_by_software) {
/* shrink_8bpp() will shrink a selected area using the offsets,
* therefore, we don't need the crop. */
VideoIn::shrink_8bpp((uint8_t *)video_frame.data, output_buffer,
_camera_output_width, _camera_output_height,
shrink_width_offset, shrink_width,
shrink_height_offset, shrink_height,
shrink_scale, shrink_scale);
memset(video_frame.data, 0, _camera_output_width * _camera_output_height);
memcpy(video_frame.data, output_buffer, output_buffer_size);
} else if (_crop_by_software) {
VideoIn::crop_8bpp((uint8_t *)video_frame.data, output_buffer,
_camera_output_width,
crop_left, HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH,
crop_top, HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT);
memset(video_frame.data, 0, _crop_by_software_width * _crop_by_software_height);
memcpy(video_frame.data, crop_buffer, crop_buffer_size);
memset(video_frame.data, 0, _camera_output_width * _camera_output_height);
memcpy(video_frame.data, output_buffer, output_buffer_size);
}
/* if it is at least the second frame we receive
@ -326,10 +374,12 @@ void OpticalFlow_Onboard::_run_optflow()
HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX;
_integration_timespan += video_frame.timestamp -
_last_video_frame.timestamp;
_gyro_x_integral += gyro_rate.x * (video_frame.timestamp -
_last_video_frame.timestamp);
_gyro_y_integral += gyro_rate.y * (video_frame.timestamp -
_last_video_frame.timestamp);
_gyro_x_integral += (gyro_rate.x + _last_gyro_rate.x) / 2.0f *
(video_frame.timestamp -
_last_video_frame.timestamp);
_gyro_y_integral += (gyro_rate.y + _last_gyro_rate.y) / 2.0f *
(video_frame.timestamp -
_last_video_frame.timestamp);
_surface_quality = qual;
_data_available = true;
pthread_mutex_unlock(&_mutex);
@ -337,14 +387,15 @@ void OpticalFlow_Onboard::_run_optflow()
/* give the last frame back to the video input driver */
_videoin->put_frame(_last_video_frame);
_last_video_frame = video_frame;
_last_gyro_rate = gyro_rate;
}
if (convert_buffer) {
free(convert_buffer);
}
if (crop_buffer) {
free(crop_buffer);
if (output_buffer) {
free(output_buffer);
}
}
#endif

6
libraries/AP_HAL_Linux/OpticalFlow_Onboard.h
View File

@ -42,8 +42,9 @@ private:
bool _initialized;
bool _data_available;
bool _crop_by_software;
uint32_t _crop_by_software_width;
uint32_t _crop_by_software_height;
bool _shrink_by_software;
uint32_t _camera_output_width;
uint32_t _camera_output_height;
uint32_t _width;
uint32_t _height;
uint32_t _format;
@ -56,4 +57,5 @@ private:
uint32_t _integration_timespan;
uint8_t _surface_quality;
AP_HAL::OpticalFlow::Gyro_Cb _get_gyro;
Vector3f _last_gyro_rate;
};

2
libraries/AP_HAL_Linux/Perf.cpp
View File

@ -18,7 +18,7 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && !defined(PERF_LTTNG)
#include <limits.h>
#include <time.h>

87
libraries/AP_HAL_Linux/Perf_Lttng.cpp Normal file
View File

@ -0,0 +1,87 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#pragma GCC diagnostic ignored "-Wcast-align"
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && defined(PERF_LTTNG)
#define TRACEPOINT_CREATE_PROBES
#define TRACEPOINT_DEFINE
#include "Perf_Lttng_TracePoints.h"
#include <string.h>
#include "Perf_Lttng.h"
#include "AP_HAL_Linux.h"
#include "Util.h"
using namespace Linux;
Perf_Lttng::Perf_Lttng(AP_HAL::Util::perf_counter_type type, const char *name)
: _type(type)
{
strncpy(_name, name, MAX_TRACEPOINT_NAME_LEN);
}
void Perf_Lttng::begin()
{
if (_type != AP_HAL::Util::PC_ELAPSED) {
return;
}
tracepoint(ardupilot, begin, _name);
}
void Perf_Lttng::end()
{
if (_type != AP_HAL::Util::PC_ELAPSED) {
return;
}
tracepoint(ardupilot, end, _name);
}
void Perf_Lttng::count()
{
if (_type != AP_HAL::Util::PC_COUNT) {
return;
}
tracepoint(ardupilot, count, _name, ++_count);
}
Util::perf_counter_t Util::perf_alloc(perf_counter_type type, const char *name)
{
return new Linux::Perf_Lttng(type, name);
}
void Util::perf_begin(perf_counter_t perf)
{
Linux::Perf_Lttng *perf_lttng = (Linux::Perf_Lttng *)perf;
perf_lttng->begin();
}
void Util::perf_end(perf_counter_t perf)
{
Linux::Perf_Lttng *perf_lttng = (Linux::Perf_Lttng *)perf;
perf_lttng->end();
}
void Util::perf_count(perf_counter_t perf)
{
Linux::Perf_Lttng *perf_lttng = (Linux::Perf_Lttng *)perf;
perf_lttng->count();
}
#endif

32
libraries/AP_HAL_Linux/Perf_Lttng.h Normal file
View File

@ -0,0 +1,32 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_HAL_Linux.h"
#include <AP_HAL/Util.h>
#define MAX_TRACEPOINT_NAME_LEN 128
class Linux::Perf_Lttng {
public:
Perf_Lttng(enum AP_HAL::Util::perf_counter_type type, const char *name);
void begin();
void end();
void count();
private:
char _name[MAX_TRACEPOINT_NAME_LEN];
uint64_t _count;
enum AP_HAL::Util::perf_counter_type _type;
};

65
libraries/AP_HAL_Linux/Perf_Lttng_TracePoints.h Normal file
View File

@ -0,0 +1,65 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#undef TRACEPOINT_PROVIDER
#define TRACEPOINT_PROVIDER ardupilot
#undef TRACEPOINT_INCLUDE
#define TRACEPOINT_INCLUDE <AP_HAL_Linux/Perf_Lttng_TracePoints.h>
#if !defined(_PERF_LTTNG_TRACEPOINT_H) || defined(TRACEPOINT_HEADER_MULTI_READ)
#define _PERF_LTTNG_TRACEPOINT_H
#include <lttng/tracepoint.h>
TRACEPOINT_EVENT(
ardupilot,
begin,
TP_ARGS(
char*, name_arg
),
TP_FIELDS(
ctf_string(name_field, name_arg)
)
)
TRACEPOINT_EVENT(
ardupilot,
end,
TP_ARGS(
char*, name_arg
),
TP_FIELDS(
ctf_string(name_field, name_arg)
)
)
TRACEPOINT_EVENT(
ardupilot,
count,
TP_ARGS(
char*, name_arg,
int, count_arg
),
TP_FIELDS(
ctf_string(name_field, name_arg)
ctf_integer(int, count_field, count_arg)
)
)
#endif /* _HELLO_TP_H */
#include <lttng/tracepoint-event.h>

36
libraries/AP_HAL_Linux/RCInput.cpp
View File

@ -42,6 +42,11 @@ uint8_t RCInput::num_channels()
return _num_channels;
}
void RCInput::set_num_channels(uint8_t num)
{
_num_channels = num;
}
uint16_t RCInput::read(uint8_t ch)
{
new_rc_input = false;
@ -312,10 +317,18 @@ reset:
memset(&dsm_state, 0, sizeof(dsm_state));
}
void RCInput::_process_pwm_pulse(uint16_t channel, uint16_t width_s0, uint16_t width_s1)
{
if (channel < _num_channels) {
_pwm_values[channel] = width_s1; // range: 700 ~ 2300
new_rc_input = true;
}
}
/*
process a RC input pulse of the given width
*/
void RCInput::_process_rc_pulse(uint16_t width_s0, uint16_t width_s1)
void RCInput::_process_rc_pulse(uint16_t width_s0, uint16_t width_s1, uint16_t channel)
{
#if 0
// useful for debugging
@ -327,14 +340,23 @@ void RCInput::_process_rc_pulse(uint16_t width_s0, uint16_t width_s1)
fprintf(rclog, "%u %u\n", (unsigned)width_s0, (unsigned)width_s1);
}
#endif
// treat as PPM-sum
_process_ppmsum_pulse(width_s0 + width_s1);
// treat as SBUS
_process_sbus_pulse(width_s0, width_s1);
if (channel == LINUX_RC_INPUT_CHANNEL_INVALID) {
// treat as DSM
_process_dsm_pulse(width_s0, width_s1);
// treat as PPM-sum
_process_ppmsum_pulse(width_s0 + width_s1);
// treat as SBUS
_process_sbus_pulse(width_s0, width_s1);
// treat as DSM
_process_dsm_pulse(width_s0, width_s1);
} else {
// treat as PWM
_process_pwm_pulse(channel, width_s0, width_s1);
}
}
/*

7
libraries/AP_HAL_Linux/RCInput.h
View File

@ -5,6 +5,7 @@
#include "AP_HAL_Linux.h"
#define LINUX_RC_INPUT_NUM_CHANNELS 16
#define LINUX_RC_INPUT_CHANNEL_INVALID (999)
class Linux::RCInput : public AP_HAL::RCInput {
public:
@ -17,6 +18,8 @@ public:
virtual void init();
bool new_input();
uint8_t num_channels();
void set_num_channels(uint8_t num);
uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len);
@ -33,7 +36,8 @@ public:
protected:
void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1);
void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1,
uint16_t channel = LINUX_RC_INPUT_CHANNEL_INVALID);
void _update_periods(uint16_t *periods, uint8_t len);
private:
@ -45,6 +49,7 @@ public:
void _process_ppmsum_pulse(uint16_t width);
void _process_sbus_pulse(uint16_t width_s0, uint16_t width_s1);
void _process_dsm_pulse(uint16_t width_s0, uint16_t width_s1);
void _process_pwm_pulse(uint16_t channel, uint16_t width_s0, uint16_t width_s1);
/* override state */
uint16_t _override[LINUX_RC_INPUT_NUM_CHANNELS];

299
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -30,14 +30,30 @@
#define RCIN_RPI_BUFFER_LENGTH 8
#define RCIN_RPI_SAMPLE_FREQ 500
#define RCIN_RPI_DMA_CHANNEL 0
#define RCIN_RPI_MAX_COUNTER 1300
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define PPM_INPUT_RPI RPI_GPIO_5
#else
#define PPM_INPUT_RPI RPI_GPIO_4
#endif
#define RCIN_RPI_MAX_SIZE_LINE 50
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
// Same as the circle_buffer size
// See comments in "init_ctrl_data()" to understand values "2"
#define RCIN_RPI_MAX_COUNTER (RCIN_RPI_BUFFER_LENGTH * PAGE_SIZE * 2)
#define RCIN_RPI_SIG_HIGH 0
#define RCIN_RPI_SIG_LOW 1
// Each gpio stands for a rcinput channel,
// the first one in RcChnGpioTbl is channel 1 in receiver
static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
RPI_GPIO_5, RPI_GPIO_6, RPI_GPIO_12,
RPI_GPIO_13, RPI_GPIO_19, RPI_GPIO_20,
RPI_GPIO_21, RPI_GPIO_26
};
#else
#define RCIN_RPI_MAX_COUNTER 10432
#define RCIN_RPI_SIG_HIGH 1
#define RCIN_RPI_SIG_LOW 0
static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
RPI_GPIO_4
};
#endif
//Memory Addresses
#define RCIN_RPI_RPI1_DMA_BASE 0x20007000
#define RCIN_RPI_RPI1_CLK_BASE 0x20101000
@ -54,7 +70,7 @@
#define RCIN_RPI_TIMER_BASE 0x7e003004
#define RCIN_RPI_DMA_SRC_INC (1<<8)
#define RCIN_RPI_DMA_DEST_INC (1<<4)
#define RCIN_RPI_DMA_DEST_INC (1<<4)
#define RCIN_RPI_DMA_NO_WIDE_BURSTS (1<<26)
#define RCIN_RPI_DMA_WAIT_RESP (1<<3)
#define RCIN_RPI_DMA_D_DREQ (1<<6)
@ -108,7 +124,7 @@ Memory_table::Memory_table(uint32_t page_count, int version)
_virt_pages = (void**)malloc(page_count * sizeof(void*));
_phys_pages = (void**)malloc(page_count * sizeof(void*));
_page_count = page_count;
if ((fdMem = open("/dev/mem", O_RDWR | O_SYNC)) < 0) {
fprintf(stderr,"Failed to open /dev/mem\n");
exit(-1);
@ -126,7 +142,7 @@ Memory_table::Memory_table(uint32_t page_count, int version)
//Get list of available cache coherent physical addresses
for (i = 0; i < _page_count; i++) {
_virt_pages[i] = mmap(0, PAGE_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_ANONYMOUS|MAP_NORESERVE|MAP_LOCKED,-1,0);
::read(file, &pageInfo, 8);
::read(file, &pageInfo, 8);
_phys_pages[i] = (void*)((uintptr_t)(pageInfo*PAGE_SIZE) | bus);
}
@ -146,20 +162,19 @@ Memory_table::~Memory_table()
free(_phys_pages);
}
// This function returns physical address with help of pointer, which is offset from the beginning of the buffer.
/* Return physical address with help of pointer, which is offset from the
* beginning of the buffer. */
void* Memory_table::get_page(void** const pages, uint32_t addr) const
{
if (addr >= PAGE_SIZE * _page_count) {
return NULL;
return NULL;
}
return (uint8_t*)pages[(uint32_t) addr / 4096] + addr % 4096;
}
//Get virtual address from the corresponding physical address from memory_table.
void* Memory_table::get_virt_addr(const uint32_t phys_addr) const
// Get virtual address from the corresponding physical address from memory_table.
void *Memory_table::get_virt_addr(const uint32_t phys_addr) const
{
// FIXME: Can't the address be calculated directly?
// FIXME: if the address room in _phys_pages is not fragmented one may avoid a complete loop ..
uint32_t i = 0;
for (; i < _page_count; i++) {
if ((uintptr_t) _phys_pages[i] == (((uintptr_t) phys_addr) & 0xFFFFF000)) {
@ -169,14 +184,13 @@ void* Memory_table::get_virt_addr(const uint32_t phys_addr) const
return NULL;
}
// FIXME: in-congruent function style see above
// This function returns offset from the beginning of the buffer using virtual address and memory_table.
// Return offset from the beginning of the buffer using virtual address and memory_table.
uint32_t Memory_table::get_offset(void ** const pages, const uint32_t addr) const
{
uint32_t i = 0;
for (; i < _page_count; i++) {
if ((uintptr_t) pages[i] == (addr & 0xFFFFF000) ) {
return (i*PAGE_SIZE + (addr & 0xFFF));
return (i * PAGE_SIZE + (addr & 0xFFF));
}
}
return -1;
@ -187,8 +201,7 @@ uint32_t Memory_table::bytes_available(const uint32_t read_addr, const uint32_t
{
if (write_addr > read_addr) {
return (write_addr - read_addr);
}
else {
} else {
return _page_count * PAGE_SIZE - (read_addr - write_addr);
}
}
@ -205,8 +218,7 @@ void RCInput_RPI::set_physical_addresses(int version)
dma_base = RCIN_RPI_RPI1_DMA_BASE;
clk_base = RCIN_RPI_RPI1_CLK_BASE;
pcm_base = RCIN_RPI_RPI1_PCM_BASE;
}
else if (version == 2) {
} else if (version == 2) {
dma_base = RCIN_RPI_RPI2_DMA_BASE;
clk_base = RCIN_RPI_RPI2_CLK_BASE;
pcm_base = RCIN_RPI_RPI2_PCM_BASE;
@ -264,69 +276,68 @@ void RCInput_RPI::init_ctrl_data()
uint32_t cbp = 0;
dma_cb_t* cbp_curr;
//Set fifo addr (for delay)
phys_fifo_addr = ((pcm_base + 0x04) & 0x00FFFFFF) | 0x7e000000;
phys_fifo_addr = ((pcm_base + 0x04) & 0x00FFFFFF) | 0x7e000000;
//Init dma control blocks.
/*We are transferring 1 byte of GPIO register. Every 56th iteration we are
sampling TIMER register, which length is 8 bytes. So, for every 56 samples of GPIO we need
56 * 1 + 8 = 64 bytes of buffer. Value 56 was selected specially to have a 64-byte "block"
TIMER - GPIO. So, we have integer count of such "blocks" at one virtual page. (4096 / 64 = 64
"blocks" per page. As minimum, we must have 2 virtual pages of buffer (to have integer count of
vitual pages for control blocks): for every 56 iterations (64 bytes of buffer) we need 56 control blocks for GPIO
sampling, 56 control blocks for setting frequency and 1 control block for sampling timer, so,
we need 56 + 56 + 1 = 113 control blocks. For integer value, we need 113 pages of control blocks.
Each control block length is 32 bytes. In 113 pages we will have (113 * 4096 / 32) = 113 * 128 control
blocks. 113 * 128 control blocks = 64 * 128 bytes of buffer = 2 pages of buffer.
So, for 56 * 64 * 2 iteration we init DMA for sampling GPIO
and timer to (64 * 64 * 2) = 8192 bytes = 2 pages of buffer.
/*We are transferring 8 bytes of GPIO register. Every 7th iteration we are
sampling TIMER register, which length is 8 bytes. So, for every 7 samples of GPIO we need
7 * 8 + 8 = 64 bytes of buffer. Value 7 was selected specially to have a 64-byte "block"
TIMER - GPIO. So, we have integer count of such "blocks" at one virtual page. (4096 / 64 = 64
"blocks" per page. As minimum, we must have 2 virtual pages of buffer (to have integer count of
vitual pages for control blocks): for every 7 iterations (64 bytes of buffer) we need 7 control blocks for GPIO
sampling, 7 control blocks for setting frequency and 1 control block for sampling timer, so,
we need 7 + 7 + 1 = 15 control blocks. For integer value, we need 15 pages of control blocks.
Each control block length is 32 bytes. In 15 pages we will have (15 * 4096 / 32) = 15 * 128 control
blocks. 15 * 128 control blocks = 64 * 128 bytes of buffer = 2 pages of buffer.
So, for 7 * 64 * 2 iteration we init DMA for sampling GPIO
and timer to ((7 * 8 + 8) * 64 * 2) = 8192 bytes = 2 pages of buffer.
*/
// fprintf(stderr, "ERROR SEARCH1\n");
uint32_t i = 0;
for (i = 0; i < 56 * 128 * RCIN_RPI_BUFFER_LENGTH; i++) // 8 * 56 * 128 == 57344
{
//Transfer timer every 56th sample
if(i % 56 == 0) {
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
uint32_t i = 0;
for (i = 0; i < 7 * 128 * RCIN_RPI_BUFFER_LENGTH; i++) {
//Transfer timer every 7th sample
if (i % 7 == 0) {
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_RPI_DMA_NO_WIDE_BURSTS | RCIN_RPI_DMA_WAIT_RESP | RCIN_RPI_DMA_DEST_INC | RCIN_RPI_DMA_SRC_INC, RCIN_RPI_TIMER_BASE,
(uintptr_t) circle_buffer->get_page(circle_buffer->_phys_pages, dest),
8,
0,
(uintptr_t) con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
dest += 8;
cbp += sizeof(dma_cb_t);
}
init_dma_cb(&cbp_curr, RCIN_RPI_DMA_NO_WIDE_BURSTS | RCIN_RPI_DMA_WAIT_RESP | RCIN_RPI_DMA_DEST_INC | RCIN_RPI_DMA_SRC_INC, RCIN_RPI_TIMER_BASE,
(uintptr_t) circle_buffer->get_page(circle_buffer->_phys_pages, dest),
8,
0,
(uintptr_t) con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
// Transfer GPIO (1 byte)
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_RPI_DMA_NO_WIDE_BURSTS | RCIN_RPI_DMA_WAIT_RESP, RCIN_RPI_GPIO_LEV0_ADDR,
(uintptr_t) circle_buffer->get_page(circle_buffer->_phys_pages, dest),
1,
0,
(uintptr_t) con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
dest += 1;
cbp += sizeof(dma_cb_t);
dest += 8;
cbp += sizeof(dma_cb_t);
}
// Delay (for setting sampling frequency)
/* DMA is waiting data request signal (DREQ) from PCM. PCM is set for 1 MhZ freqency, so,
each sample of GPIO is limited by writing to PCA queue.
*/
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_RPI_DMA_NO_WIDE_BURSTS | RCIN_RPI_DMA_WAIT_RESP | RCIN_RPI_DMA_D_DREQ | RCIN_RPI_DMA_PER_MAP(2),
RCIN_RPI_TIMER_BASE, phys_fifo_addr,
4,
0,
(uintptr_t)con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
cbp += sizeof(dma_cb_t);
}
//Make last control block point to the first (to make circle)
// Transfer GPIO (8 bytes)
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_RPI_DMA_NO_WIDE_BURSTS | RCIN_RPI_DMA_WAIT_RESP, RCIN_RPI_GPIO_LEV0_ADDR,
(uintptr_t) circle_buffer->get_page(circle_buffer->_phys_pages, dest),
8,
0,
(uintptr_t) con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
dest += 8;
cbp += sizeof(dma_cb_t);
// Delay (for setting sampling frequency)
/* DMA is waiting data request signal (DREQ) from PCM. PCM is set for 1 MhZ freqency, so,
each sample of GPIO is limited by writing to PCA queue.
*/
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_RPI_DMA_NO_WIDE_BURSTS | RCIN_RPI_DMA_WAIT_RESP | RCIN_RPI_DMA_D_DREQ | RCIN_RPI_DMA_PER_MAP(2),
RCIN_RPI_TIMER_BASE, phys_fifo_addr,
4,
0,
(uintptr_t)con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
cbp += sizeof(dma_cb_t);
}
//Make last control block point to the first (to make circle)
cbp -= sizeof(dma_cb_t);
((dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp))->next = (uintptr_t) con_blocks->get_page(con_blocks->_phys_pages, 0);
}
@ -335,7 +346,7 @@ void RCInput_RPI::init_ctrl_data()
/*Initialise PCM
See BCM2835 documentation:
http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
*/
*/
void RCInput_RPI::init_PCM()
{
pcm_reg[RCIN_RPI_PCM_CS_A] = 1; // Disable Rx+Tx, Enable PCM block
@ -363,7 +374,7 @@ void RCInput_RPI::init_PCM()
/*Initialise DMA
See BCM2835 documentation:
http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
*/
*/
void RCInput_RPI::init_DMA()
{
dma_reg[RCIN_RPI_DMA_CS | RCIN_RPI_DMA_CHANNEL << 8] = RCIN_RPI_DMA_RESET; //Reset DMA
@ -371,14 +382,14 @@ void RCInput_RPI::init_DMA()
dma_reg[RCIN_RPI_DMA_CS | RCIN_RPI_DMA_CHANNEL << 8] = RCIN_RPI_DMA_INT | RCIN_RPI_DMA_END;
dma_reg[RCIN_RPI_DMA_CONBLK_AD | RCIN_RPI_DMA_CHANNEL << 8] = reinterpret_cast<uintptr_t>(con_blocks->get_page(con_blocks->_phys_pages, 0));//Set first control block address
dma_reg[RCIN_RPI_DMA_DEBUG | RCIN_RPI_DMA_CHANNEL << 8] = 7; // clear debug error flags
dma_reg[RCIN_RPI_DMA_CS | RCIN_RPI_DMA_CHANNEL << 8] = 0x10880001; // go, mid priority, wait for outstanding writes
dma_reg[RCIN_RPI_DMA_CS | RCIN_RPI_DMA_CHANNEL << 8] = 0x10880001; // go, mid priority, wait for outstanding writes
}
//We must stop DMA when the process is killed
void RCInput_RPI::set_sigaction()
{
for (int i = 0; i < 64; i++) {
for (int i = 0; i < 64; i++) {
//catch all signals (like ctrl+c, ctrl+z, ...) to ensure DMA is disabled
struct sigaction sa;
memset(&sa, 0, sizeof(sa));
@ -389,26 +400,20 @@ void RCInput_RPI::set_sigaction()
//Initial setup of variables
RCInput_RPI::RCInput_RPI():
prev_tick(0),
delta_time(0),
curr_tick_inc(1000/RCIN_RPI_SAMPLE_FREQ),
curr_pointer(0),
curr_channel(0),
width_s0(0),
curr_signal(0),
last_signal(228),
state(RCIN_RPI_INITIAL_STATE)
{
curr_channel(0)
{
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
int version = 2;
int version = 2;
#else
int version = UtilRPI::from(hal.util)->get_rpi_version();
#endif
set_physical_addresses(version);
//Init memory for buffer and for DMA control blocks. See comments in "init_ctrl_data()" to understand values "2" and "113"
//Init memory for buffer and for DMA control blocks. See comments in "init_ctrl_data()" to understand values "2" and "15"
circle_buffer = new Memory_table(RCIN_RPI_BUFFER_LENGTH * 2, version);
con_blocks = new Memory_table(RCIN_RPI_BUFFER_LENGTH * 113, version);
con_blocks = new Memory_table(RCIN_RPI_BUFFER_LENGTH * 15, version);
}
RCInput_RPI::~RCInput_RPI()
@ -425,19 +430,22 @@ void RCInput_RPI::deinit()
//Initializing necessary registers
void RCInput_RPI::init_registers()
{
dma_reg = (uint32_t*)map_peripheral(dma_base, RCIN_RPI_DMA_LEN);
dma_reg = (uint32_t*)map_peripheral(dma_base, RCIN_RPI_DMA_LEN);
pcm_reg = (uint32_t*)map_peripheral(pcm_base, RCIN_RPI_PCM_LEN);
clk_reg = (uint32_t*)map_peripheral(clk_base, RCIN_RPI_CLK_LEN);
}
void RCInput_RPI::init()
{
uint64_t signal_states = 0;
init_registers();
//Enable PPM input
enable_pin = hal.gpio->channel(PPM_INPUT_RPI);
enable_pin->mode(HAL_GPIO_INPUT);
//Enable PPM or PWM input
for (uint32_t i = 0; i < RCIN_RPI_CHN_NUM; ++i) {
rc_channels[i].enable_pin = hal.gpio->channel(RcChnGpioTbl[i]);
rc_channels[i].enable_pin->mode(HAL_GPIO_INPUT);
}
//Configuration
set_sigaction();
@ -450,11 +458,17 @@ void RCInput_RPI::init()
//Reading first sample
curr_tick = *((uint64_t*) circle_buffer->get_page(circle_buffer->_virt_pages, curr_pointer));
prev_tick = curr_tick;
curr_pointer += 8;
curr_signal = *((uint8_t*) circle_buffer->get_page(circle_buffer->_virt_pages, curr_pointer)) & 0x10 ? 1 : 0;
last_signal = curr_signal;
curr_pointer++;
signal_states = *((uint64_t*) circle_buffer->get_page(circle_buffer->_virt_pages, curr_pointer));
for (uint32_t i = 0; i < RCIN_RPI_CHN_NUM; ++i) {
rc_channels[i].prev_tick = curr_tick;
rc_channels[i].curr_signal = (signal_states & (1 << RcChnGpioTbl[i])) ? RCIN_RPI_SIG_HIGH
: RCIN_RPI_SIG_LOW;
rc_channels[i].last_signal = rc_channels[i].curr_signal;
}
curr_pointer += 8;
set_num_channels(RCIN_RPI_CHN_NUM);
}
@ -462,16 +476,15 @@ void RCInput_RPI::init()
void RCInput_RPI::_timer_tick()
{
int j;
void* x;
void *x;
uint64_t signal_states(0);
//Now we are getting address in which DMAC is writing at current moment
dma_cb_t* ad = (dma_cb_t*) con_blocks->get_virt_addr(dma_reg[RCIN_RPI_DMA_CONBLK_AD | RCIN_RPI_DMA_CHANNEL << 8]);
for(j = 1; j >= -1; j--){
x = circle_buffer->get_virt_addr((ad + j)->dst);
if(x != NULL) {
break;}
for (j = 1; j >= -1 && x == nullptr; j--) {
x = circle_buffer->get_virt_addr((ad + j)->dst);
}
//How many bytes have DMA transfered (and we can process)?
counter = circle_buffer->bytes_available(curr_pointer, circle_buffer->get_offset(circle_buffer->_virt_pages, (uintptr_t)x));
//We can't stay in method for a long time, because it may lead to delays
@ -480,7 +493,7 @@ void RCInput_RPI::_timer_tick()
}
//Processing ready bytes
for (;counter > 0x40;counter--) {
for (;counter > 0x40;) {
//Is it timer samle?
if (curr_pointer % (64) == 0) {
curr_tick = *((uint64_t*) circle_buffer->get_page(circle_buffer->_virt_pages, curr_pointer));
@ -488,40 +501,48 @@ void RCInput_RPI::_timer_tick()
counter-=8;
}
//Reading required bit
curr_signal = *((uint8_t*) circle_buffer->get_page(circle_buffer->_virt_pages, curr_pointer)) & 0x10 ? 1 : 0;
//If the signal changed
if (curr_signal != last_signal) {
delta_time = curr_tick - prev_tick;
prev_tick = curr_tick;
switch (state) {
case RCIN_RPI_INITIAL_STATE:
state = RCIN_RPI_ZERO_STATE;
break;
case RCIN_RPI_ZERO_STATE:
if (curr_signal == 0) {
width_s0 = (uint16_t) delta_time;
state = RCIN_RPI_ONE_STATE;
break;
signal_states = *((uint64_t*) circle_buffer->get_page(circle_buffer->_virt_pages, curr_pointer));
for (uint32_t i = 0; i < RCIN_RPI_CHN_NUM; ++i) {
rc_channels[i].curr_signal = (signal_states & (1 << RcChnGpioTbl[i])) ? RCIN_RPI_SIG_HIGH
: RCIN_RPI_SIG_LOW;
//If the signal changed
if (rc_channels[i].curr_signal != rc_channels[i].last_signal) {
rc_channels[i].delta_time = curr_tick - rc_channels[i].prev_tick;
rc_channels[i].prev_tick = curr_tick;
switch (rc_channels[i].state) {
case RCIN_RPI_INITIAL_STATE:
rc_channels[i].state = RCIN_RPI_ZERO_STATE;
break;
case RCIN_RPI_ZERO_STATE:
if (rc_channels[i].curr_signal == 0) {
rc_channels[i].width_s0 = (uint16_t)rc_channels[i].delta_time;
rc_channels[i].state = RCIN_RPI_ONE_STATE;
}
break;
case RCIN_RPI_ONE_STATE:
if (rc_channels[i].curr_signal == 1) {
rc_channels[i].width_s1 = (uint16_t)rc_channels[i].delta_time;
rc_channels[i].state = RCIN_RPI_ZERO_STATE;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
_process_rc_pulse(rc_channels[i].width_s0,
rc_channels[i].width_s1, i);
#else
_process_rc_pulse(rc_channels[i].width_s0,
rc_channels[i].width_s1);
#endif
}
break;
}
else
break;
case RCIN_RPI_ONE_STATE:
if (curr_signal == 1) {
width_s1 = (uint16_t) delta_time;
state = RCIN_RPI_ZERO_STATE;
_process_rc_pulse(width_s0, width_s1);
break;
}
else
break;
}
rc_channels[i].last_signal = rc_channels[i].curr_signal;
}
last_signal = curr_signal;
curr_pointer++;
curr_pointer += 8;
counter -= 8;
if (curr_pointer >= circle_buffer->get_page_count()*PAGE_SIZE) {
curr_pointer = 0;
}
curr_tick+=curr_tick_inc;
curr_tick += curr_tick_inc;
}
}
#endif // CONFIG_HAL_BOARD_SUBTYPE
#endif

35
libraries/AP_HAL_Linux/RCInput_RPI.h
View File

@ -22,6 +22,11 @@
#include <assert.h>
#include <queue>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define RCIN_RPI_CHN_NUM 8
#else
#define RCIN_RPI_CHN_NUM 1
#endif
enum state_t{
RCIN_RPI_INITIAL_STATE = -1,
@ -98,23 +103,33 @@ private:
Memory_table *con_blocks;
uint64_t curr_tick;
uint64_t prev_tick;
uint64_t delta_time;
uint32_t curr_tick_inc;
uint32_t curr_pointer;
uint32_t curr_channel;
uint32_t counter;
uint16_t width_s0;
uint16_t width_s1;
struct RcChannel {
RcChannel() :
prev_tick(0), delta_time(0),
width_s0(0), width_s1(0),
curr_signal(0), last_signal(0),
enable_pin(0), state(RCIN_RPI_INITIAL_STATE)
{}
uint8_t curr_signal;
uint8_t last_signal;
state_t state;
AP_HAL::DigitalSource *enable_pin;
uint64_t prev_tick;
uint64_t delta_time;
uint16_t width_s0;
uint16_t width_s1;
uint8_t curr_signal;
uint8_t last_signal;
state_t state;
AP_HAL::DigitalSource *enable_pin;
} rc_channels[RCIN_RPI_CHN_NUM];
void init_dma_cb(dma_cb_t** cbp, uint32_t mode, uint32_t source, uint32_t dest, uint32_t length, uint32_t stride, uint32_t next_cb);
void* map_peripheral(uint32_t base, uint32_t len);

62
libraries/AP_HAL_Linux/VideoIn.cpp
View File

@ -250,29 +250,71 @@ void VideoIn::prepare_capture()
}
}
void VideoIn::shrink_8bpp(uint8_t *buffer, uint8_t *new_buffer,
uint32_t width, uint32_t height, uint32_t left,
uint32_t selection_width, uint32_t top,
uint32_t selection_height, uint32_t fx, uint32_t fy)
{
uint32_t i, j, k, kk, px, block_x, block_y, block_position;
uint32_t out_width = selection_width / fx;
uint32_t out_height = selection_height / fy;
uint32_t width_per_fy = width * fy;
uint32_t fx_fy = fx * fy;
uint32_t width_sum, out_width_sum = 0;
/* selection offset */
block_y = top * width;
block_position = left + block_y;
for (i = 0; i < out_height; i++) {
block_x = left;
for (j = 0; j < out_width; j++) {
px = 0;
width_sum = 0;
for(k = 0; k < fy; k++) {
for(kk = 0; kk < fx; kk++) {
px += buffer[block_position + kk + width_sum];
}
width_sum += width;
}
new_buffer[j + out_width_sum] = px / (fx_fy);
block_x += fx;
block_position = block_x + block_y;
}
block_y += width_per_fy;
out_width_sum += out_width;
}
}
void VideoIn::crop_8bpp(uint8_t *buffer, uint8_t *new_buffer,
uint32_t width, uint32_t left, uint32_t crop_width,
uint32_t top, uint32_t crop_height)
{
for (uint32_t j = top; j < top + crop_height; j++) {
for (uint32_t i = left; i < left + crop_width; i++) {
new_buffer[(i - left) + (j - top) * crop_width] =
buffer[i + j * width];
uint32_t crop_x = left + crop_width;
uint32_t crop_y = top + crop_height;
uint32_t buffer_index = top * width;
uint32_t new_buffer_index = 0;
for (uint32_t j = top; j < crop_y; j++) {
for (uint32_t i = left; i < crop_x; i++) {
new_buffer[i - left + new_buffer_index] = buffer[i + buffer_index];
}
buffer_index += width;
new_buffer_index += crop_width;
}
}
void VideoIn::yuyv_to_grey(uint8_t *buffer, uint32_t buffer_size,
uint8_t *new_buffer)
{
uint32_t i;
uint32_t new_buffer_position = 0;
for (i = 0; i < buffer_size; i++) {
if (i % 2 == 0) {
new_buffer[new_buffer_position] = buffer[i];
new_buffer_position++;
}
for (uint32_t i = 0; i < buffer_size; i += 2) {
new_buffer[new_buffer_position] = buffer[i];
new_buffer_position++;
}
}

5
libraries/AP_HAL_Linux/VideoIn.h
View File

@ -51,6 +51,11 @@ public:
uint32_t width, uint32_t height);
void prepare_capture();
static void shrink_8bpp(uint8_t *buffer, uint8_t *new_buffer,
uint32_t width, uint32_t height, uint32_t left,
uint32_t selection_width, uint32_t top,
uint32_t selection_height, uint32_t fx, uint32_t fy);
static void crop_8bpp(uint8_t *buffer, uint8_t *new_buffer,
uint32_t width, uint32_t left,
uint32_t crop_width, uint32_t top,

67
libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp Normal file
View File

@ -0,0 +1,67 @@
#include <AP_gbenchmark.h>
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#include <AP_HAL_Linux/VideoIn.h>
static void BM_Crop8bpp(benchmark::State& state)
{
uint8_t *buffer, *new_buffer;
uint32_t width = 640;
uint32_t height = 480;
uint32_t left = width / 2 - state.range_x() / 2;
uint32_t top = height / 2 - state.range_y() / 2;
buffer = (uint8_t *)malloc(width * height);
if (!buffer) {
fprintf(stderr, "error: couldn't malloc buffer\n");
return;
}
new_buffer = (uint8_t *)malloc(state.range_x() * state.range_y());
if (!new_buffer) {
fprintf(stderr, "error: couldn't malloc new_buffer\n");
return;
}
while (state.KeepRunning()) {
Linux::VideoIn::crop_8bpp(buffer, new_buffer, width,
left, state.range_x(), top, state.range_y());
}
free(buffer);
free(new_buffer);
}
BENCHMARK(BM_Crop8bpp)->ArgPair(64, 64)->ArgPair(240, 240)->ArgPair(640, 480);
static void BM_YuyvToGrey(benchmark::State& state)
{
uint8_t *buffer, *new_buffer;
buffer = (uint8_t *)malloc(state.range_x());
if (!buffer) {
fprintf(stderr, "error: couldn't malloc buffer\n");
return;
}
new_buffer = (uint8_t *)malloc(state.range_x() / 2);
if (!new_buffer) {
fprintf(stderr, "error: couldn't malloc new_buffer\n");
return;
}
while (state.KeepRunning()) {
Linux::VideoIn::yuyv_to_grey(buffer, state.range_x(), new_buffer);
}
free(buffer);
free(new_buffer);
}
BENCHMARK(BM_YuyvToGrey)->Arg(64 * 64)->Arg(320 * 240)->Arg(640 * 480);
#endif
BENCHMARK_MAIN()

10
libraries/AP_HAL_Linux/benchmarks/wscript Normal file
View File

@ -0,0 +1,10 @@
#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.find_benchmarks(
bld,
use='ap',
)

2
libraries/AP_HAL_Linux/examples/BusTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_HAL_PX4/examples/simple/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_InertialSensor/examples/INS_generic/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_InertialSensor/examples/VibTest/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Math/examples/eulers/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Math/examples/location/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Math/examples/polygon/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Math/examples/rotations/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Mission/examples/AP_Mission_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Motors/examples/AP_Motors_Time_test/wscript
View File

@ -7,7 +7,7 @@ def build(bld):
# TODO: Test code doesn't build. Fix or delete the test.
return
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Motors/examples/AP_Motors_test/wscript
View File

@ -7,7 +7,7 @@ def build(bld):
# TODO: Test code doesn't build. Fix or delete the test.
return
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Mount/examples/trivial_AP_Mount/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Notify/examples/AP_Notify_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Notify/examples/ToshibaLED_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Parachute/examples/AP_Parachute_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_RangeFinder/examples/RFIND_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/AP_Scheduler/examples/Scheduler_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/DataFlash/examples/DataFlash_test/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/Filter/examples/Derivative/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

2
libraries/Filter/examples/Filter/wscript
View File

@ -4,7 +4,7 @@
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
ardupilotwaf.example(
bld,
use='ap',
)

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