APM_OBC: translate to AP_HAL, make trivial test sketch to test build

libraries/APM_OBC/APM_OBC.cpp

@@ -8,9 +8,11 @@
 	as published by the Free Software Foundation; either version 2.1
 	of the License, or (at your option) any later version.
 */
-#include <FastSerial.h>
+#include <AP_HAL.h>
 #include <APM_OBC.h>
 
+extern const AP_HAL::HAL& hal;
+
 // table of user settable parameters
 const AP_Param::GroupInfo APM_OBC::var_info[] PROGMEM = {
     // @Param: MAN_PIN
@@ -64,9 +66,6 @@ extern bool geofence_breached(void);
 // function to change waypoint
 extern void change_command(uint8_t cmd_index);
 
-// for sending messages
-extern void gcs_send_text_fmt(const prog_char_t *fmt, ...);
-
 // check for Failsafe conditions. This is called at 10Hz by the main
 // ArduPlane code
 void
@@ -77,7 +76,7 @@ APM_OBC::check(APM_OBC::control_mode mode,
 	// we always check for fence breach
 	if (geofence_breached()) {
 		if (!_terminate) {
-			gcs_send_text_fmt(PSTR("Fence TERMINATE"));
+			hal.console->println_P(PSTR("Fence TERMINATE"));
 			_terminate.set(1);
 		}
 	}
@@ -87,13 +86,13 @@ APM_OBC::check(APM_OBC::control_mode mode,
 	// receiver
 	if (_manual_pin != -1) {
 		if (_manual_pin != _last_manual_pin) {
-			pinMode(_manual_pin, OUTPUT);
+			hal.gpio->pinMode(_manual_pin, GPIO_OUTPUT);
 			_last_manual_pin = _manual_pin;
 		}
-		digitalWrite(_manual_pin, mode==OBC_MANUAL);
+		hal.gpio->write(_manual_pin, mode==OBC_MANUAL);
 	}
 
-	uint32_t now = millis();
+	uint32_t now = hal.scheduler->millis();
 	bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000);
 	bool gps_lock_ok = ((now - last_gps_fix_ms) < 3000);
 
@@ -102,7 +101,7 @@ APM_OBC::check(APM_OBC::control_mode mode,
 		// we startup in preflight mode. This mode ends when
 		// we first enter auto.
 		if (mode == OBC_AUTO) {
-			gcs_send_text_fmt(PSTR("Starting OBC_AUTO"));
+			hal.console->println_P(PSTR("Starting OBC_AUTO"));
 			_state = STATE_AUTO;
 		}
 		break;
@@ -110,7 +109,7 @@ APM_OBC::check(APM_OBC::control_mode mode,
 	case STATE_AUTO:
 		// this is the normal mode. 
 		if (!gcs_link_ok) {
-			gcs_send_text_fmt(PSTR("State DATA_LINK_LOSS"));
+			hal.console->println_P(PSTR("State DATA_LINK_LOSS"));
 			_state = STATE_DATA_LINK_LOSS;
 			if (_wp_comms_hold) {
 				if (_command_index != NULL) {
@@ -121,7 +120,7 @@ APM_OBC::check(APM_OBC::control_mode mode,
 			break;
 		}
 		if (!gps_lock_ok) {
-			gcs_send_text_fmt(PSTR("State GPS_LOSS"));
+			hal.console->println_P(PSTR("State GPS_LOSS"));
 			_state = STATE_GPS_LOSS;
 			if (_wp_gps_loss) {
 				if (_command_index != NULL) {
@@ -137,11 +136,11 @@ APM_OBC::check(APM_OBC::control_mode mode,
 		if (!gps_lock_ok) {
 			// losing GPS lock when data link is lost
 			// leads to termination
-			gcs_send_text_fmt(PSTR("Dual loss TERMINATE"));
+			hal.console->println_P(PSTR("Dual loss TERMINATE"));
 			_terminate.set(1);
 		} else if (gcs_link_ok) {
 			_state = STATE_AUTO;
-			gcs_send_text_fmt(PSTR("GCS OK"));
+			hal.console->println_P(PSTR("GCS OK"));
 			if (_saved_wp != 0) {
 				change_command(_saved_wp);			
 				_saved_wp = 0;
@@ -153,10 +152,10 @@ APM_OBC::check(APM_OBC::control_mode mode,
 		if (!gcs_link_ok) {
 			// losing GCS link when GPS lock lost
 			// leads to termination
-			gcs_send_text_fmt(PSTR("Dual loss TERMINATE"));
+			hal.console->println_P(PSTR("Dual loss TERMINATE"));
 			_terminate.set(1);
 		} else if (gps_lock_ok) {
-			gcs_send_text_fmt(PSTR("GPS OK"));
+			hal.console->println_P(PSTR("GPS OK"));
 			_state = STATE_AUTO;
 			if (_saved_wp != 0) {
 				change_command(_saved_wp);			
@@ -170,19 +169,19 @@ APM_OBC::check(APM_OBC::control_mode mode,
 	// pin configured then toggle the heartbeat pin at 10Hz
 	if (_heartbeat_pin != -1 && (_terminate_pin != -1 || !_terminate)) {
 		if (_heartbeat_pin != _last_heartbeat_pin) {
-			pinMode(_heartbeat_pin, OUTPUT);
+			hal.gpio->pinMode(_heartbeat_pin, GPIO_OUTPUT);
 			_last_heartbeat_pin = _heartbeat_pin;
 		}
 		_heartbeat_pin_value = !_heartbeat_pin_value;
-		digitalWrite(_heartbeat_pin, _heartbeat_pin_value);
+		hal.gpio->write(_heartbeat_pin, _heartbeat_pin_value);
 	}	
 
 	// set the terminate pin
 	if (_terminate_pin != -1) {
 		if (_terminate_pin != _last_terminate_pin) {
-			pinMode(_terminate_pin, OUTPUT);
+			hal.gpio->pinMode(_terminate_pin, GPIO_OUTPUT);
 			_last_terminate_pin = _terminate_pin;
 		}
-		digitalWrite(_terminate_pin, _terminate?HIGH:LOW);
+		hal.gpio->write(_terminate_pin, _terminate?1:0);
 	}	
 }

libraries/APM_OBC/examples/trivial_APM_OBC/Makefile

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

libraries/APM_OBC/examples/trivial_APM_OBC/trivial_APM_OBC.pde

@@ -0,0 +1,18 @@
+
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_Param.h>
+#include <AP_Math.h>
+#include <AP_HAL.h>
+#include <APM_OBC.h>
+
+#include <AP_HAL_AVR.h>
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+
+void setup () {
+    hal.console->println_P(PSTR("Unit test for APM_OBC. This sketch"
+                "has no functionality, it only tests build."));
+}
+void loop () {}
+
+AP_HAL_MAIN();