ArduCopter: changes to use CONFIG_HIL_BOARD

ArduCopter/APM_Config.h

@@ -1,14 +1,11 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.
+// Example config file. Take a look at config.h. Any term define there can be
+// overridden by defining it here.
 
-//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
 
-// Ordinary users should please ignore the following define.
-// APM2_BETA_HARDWARE is used to support early (September-October 2011) APM2
-// hardware which had the BMP085 barometer onboard. Only a handful of
-// developers have these boards.
-//#define APM2_BETA_HARDWARE
+// If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
+// valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
 //#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 //#define HIL_MODE				HIL_MODE_ATTITUDE

ArduCopter/ArduCopter.pde

@@ -109,9 +109,20 @@
 #include "Parameters.h"
 #include "GCS.h"
 
+////////////////////////////////////////////////////////////////////////////////
+// cliSerial
+////////////////////////////////////////////////////////////////////////////////
+// cliSerial isn't strictly necessary - it is an alias for hal.console. It may
+// be deprecated in favor of hal.console in later releases.
+AP_HAL::BetterStream* cliSerial;
+
+// N.B. we need to keep a static declaration which isn't guarded by macros
+// at the top to cooperate with the prototype mangler. 
+
 ////////////////////////////////////////////////////////////////////////////////
 // AP_HAL instance
 ////////////////////////////////////////////////////////////////////////////////
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
@@ -122,7 +133,6 @@ const AP_HAL::HAL& hal = AP_HAL_AVR_SITL;
 SITL sitl;
 #endif
 
-AP_HAL::BetterStream* cliSerial;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Parameters

ArduCopter/Makefile

@@ -18,8 +18,11 @@ hilnocli:
 heli:
 	make -f Makefile EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME"
 
+apm1:
+	make -f Makefile HAL_BOARD=HAL_BOARD_APM1
+
 apm2:
-	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2"
+	make -f Makefile HAL_BOARD=HAL_BOARD_APM2
 
 dmp:
 	make -f Makefile EXTRAFLAGS="-DDMP_ENABLED=ENABLED"

ArduCopter/config.h

@@ -41,19 +41,16 @@
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 
-//////////////////////////////////////////////////////////////////////////////
-// APM HARDWARE
-//
 
-#ifndef CONFIG_APM_HARDWARE
- # define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
+#ifdef CONFIG_APM_HARDWARE
+#error CONFIG_APM_HARDWARE option is deprecated! use CONFIG_HAL_BOARD instead
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
 // APM2 HARDWARE DEFAULTS
 //
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
  # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000
  # define CONFIG_PUSHBUTTON DISABLED
  # define CONFIG_RELAY      DISABLED
@@ -134,7 +131,7 @@
 ////////////////////////////////////////////////////////
 // LED and IO Pins
 //
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
  # define A_LED_PIN        37
  # define B_LED_PIN        36
  # define C_LED_PIN        35
@@ -147,7 +144,7 @@
  # define OPTFLOW_CS_PIN   34
  # define BATTERY_VOLT_PIN      0      // Battery voltage on A0
  # define BATTERY_CURR_PIN      1      // Battery current on A1
-#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
  # define A_LED_PIN        27
  # define B_LED_PIN        26
  # define C_LED_PIN        25
@@ -157,7 +154,7 @@
  # define PUSHBUTTON_PIN   (-1)
  # define CLI_SLIDER_ENABLED DISABLED
  # define USB_MUX_PIN      23
- # define OPTFLOW_CS_PIN   A3
+ # define OPTFLOW_CS_PIN   57          // Optflow CS on A3
  # define BATTERY_VOLT_PIN      1      // Battery voltage on A1
  # define BATTERY_CURR_PIN      2      // Battery current on A2
 #endif
@@ -173,7 +170,7 @@
 #define COPTER_LED_ON           HIGH
 #define COPTER_LED_OFF          LOW
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
  #define COPTER_LED_1 AN4       // Motor or Aux LED
  #define COPTER_LED_2 AN5       // Motor LED or Beeper
  #define COPTER_LED_3 AN6       // Motor or GPS LED
@@ -182,7 +179,7 @@
  #define COPTER_LED_6 AN9       // Motor LED
  #define COPTER_LED_7 AN10      // Motor LED
  #define COPTER_LED_8 AN11      // Motor LED
-#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
  #define COPTER_LED_1 AN8       // Motor or Aux LED
  #define COPTER_LED_2 AN9       // Motor LED
  #define COPTER_LED_3 AN10      // Motor or GPS LED
@@ -235,7 +232,7 @@
  # endif
 #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
  # ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
-  #  define CONFIG_SONAR_SOURCE_ANALOG_PIN A0
+  #  define CONFIG_SONAR_SOURCE_ANALOG_PIN 0
  # endif
 #else
  # warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar

ArduCopter/defines.h

@@ -411,10 +411,6 @@ enum gcs_severity {
 #define CONFIG_IMU_OILPAN 1
 #define CONFIG_IMU_MPU6000 2
 
-// APM Hardware selection
-#define APM_HARDWARE_APM1 1
-#define APM_HARDWARE_APM2 2
-
 #define AP_BARO_BMP085    1
 #define AP_BARO_MS5611    2
 

ArduCopter/leds.pde

@@ -207,7 +207,7 @@ static void copter_leds_on(void) {
     if ( !bitRead(g.copter_leds_mode, 2) ) {
         digitalWriteFast(COPTER_LED_1, COPTER_LED_ON);
     }
- #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+ #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     if ( !bitRead(g.copter_leds_mode, 3) ) {
         digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
     }
@@ -228,7 +228,7 @@ static void copter_leds_off(void) {
     if ( !bitRead(g.copter_leds_mode, 2) ) {
         digitalWriteFast(COPTER_LED_1, COPTER_LED_OFF);
     }
- #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+ #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     if ( !bitRead(g.copter_leds_mode, 3) ) {
         digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
     }
@@ -275,7 +275,7 @@ static void copter_leds_oscillate(void) {
         if ( !bitRead(g.copter_leds_mode, 2) ) {
             digitalWriteFast(COPTER_LED_1, COPTER_LED_ON);
         }
- #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+ #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
         if ( !bitRead(g.copter_leds_mode, 3) ) {
             digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
         }
@@ -294,7 +294,7 @@ static void copter_leds_oscillate(void) {
         if ( !bitRead(g.copter_leds_mode, 2) ) {
             digitalWriteFast(COPTER_LED_1, COPTER_LED_OFF);
         }
- #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+ #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
         if ( !bitRead(g.copter_leds_mode, 3) ) {
             digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
         }

ArduCopter/system.pde

@@ -149,11 +149,16 @@ static void init_ardupilot()
     // init the GCS
     gcs0.init(hal.uartA);
 
+    // Register the mavlink service callback. This will run
+    // anytime there are more than 5ms remaining in a call to
+    // hal.scheduler->delay.
+    hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);
+
 #if USB_MUX_PIN > 0
     if (!ap_system.usb_connected) {
         // we are not connected via USB, re-init UART0 with right
         // baud rate
-        cliSerial->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
+        hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
     }
 #else
     // we have a 2nd serial port for telemetry
@@ -603,9 +608,9 @@ static void check_usb_mux(void)
     // the user has switched to/from the telemetry port
     ap_system.usb_connected = usb_check;
     if (ap_system.usb_connected) {
-        cliSerial->begin(SERIAL0_BAUD);
+        hal.uartA->begin(SERIAL0_BAUD);
     } else {
-        cliSerial->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
+        hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
     }
 }
 #endif
@@ -633,23 +638,8 @@ uint16_t board_voltage(void)
 /*
   force a software reset of the APM
  */
-static void reboot_apm(void)
-{
-    cliSerial->printf_P(PSTR("REBOOTING\n"));
-    delay(100); // let serial flush
-    // see http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1250663814/
-    // for the method
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-    // this relies on the bootloader resetting the watchdog, which
-    // APM1 doesn't do
-    cli();
-    wdt_enable(WDTO_15MS);
-#else
-    // this works on APM1
-    void (*fn)(void) = NULL;
-    fn();
-#endif
-    while (1);
+static void reboot_apm(void) {
+    hal.scheduler->reboot();
 }
 
 //