There's an implicit (apart from the name) dependency between SPI and
SPIUARTDriver which results in a crush on a restart or a shutdown.
By moving the initialization we're making sure that all objects are
deleted in the right order.
This allows to terminate the flight stack nicely, ensuring it returns 0
so init system can check by return code if it terminated nicely or if it
was due to a crash.
Contributions from:
- Gustavo Jose de Sousa <gustavo.sousa@intel.com>
- José Roberto de Souza <jose.souza@intel.com>
- Lucas De Marchi <lucas.demarchi@intel.com>
- Patrick J.P <patrick.pereira@intel.com>
This centralized private header encourages centralizing things on
umbrella headers that are a pain to maintain. Force each part of
AP_HAL_Linux to include what is used.
This is selectable by a define and is never changed. Just remove
everything referencing it: we can come up with a better solution if it
is actually used later.
There's little point in having the Linux::AnalogIn just to implement and
empty interface. All implementations inside AP_HAL_Linux are already
inheriting directly from AP_HAL, so just remove it.
Minor changes to follow coding style and improve readability:
- sort headers
- move struct definition to compilation unit rather than header
- Add braces to if, for, etc
Sort include alphabetically and make them in order:
Main header
system headers
library headers
local headers
While reordering, change a include of endian.h to our sparse-endian.h
which is more reliant to toolchain changes.
We don't need all the comments in the array declaration and we can
inline its declaration in the function call. This makes it easier to
copy it to other places.
This allows us to re-use I2CDevice from I2CDriver while the drivers are
converted. We create a fake device with addr = 0 for each I2CDriver but
we only use the register/unregister logic. The transfer logic still uses
the methods from I2CDriver in order to use the right address.
Now we can interoperate I2CDevice drivers with the ones base in
I2CDriver since they are going to use the same semaphore and bus.
The I2CDriver constructors were changed to re-use the logic in I2CDevice
(it uses a number rather than an string) and the semaphore doesn't live
outside anymore, its embedded in the fake I2CDevice, as well as the
bus's file descritor.
This commit adds support for OpticalFlow to MinnowBoardMax trying to
leave the OpticalFlow implementation as generic as it already is.
We had to add some format conversion and software crop to the cameras that
do not have this features.
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'.
It's possible to use the internal clock in PCA96895 if we account for
the drift it contains. This is a bit different from solutions in other
projects like the Adafruit library and the PX4 firmware: instead of
applying a correction to the final frequency we apply the correction to
the clock since this is the source of the error.
With this fix we arrived to much better results across different lots of
sensors.
The Navio board continues to use the external clock and should have no
difference behavior.
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.
Preliminary support for Zynq/Linux on the 'ZyboPilot' HW platform.
see https://github.com/trjw/ZyboPilot-bsp for the PetaLinux / Vivado project
files.
At this stage CPPM/Pulse in and PWM out work, and in CLI mode the passthru
test works correctly.
The platform has passed minimal smoke testing in HIL mode.
ZYNQ IS NOT FLIGHT TESTED YET! FLY THIS PLATFORM AT YOUR OWN RISK!
Signed-off-by: John Williams <john@whelanwilliams.net>
