HAL_Linux: initial support for Disco

libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp

@@ -407,7 +407,7 @@ void CameraSensor_Mt9v117::_init_sensor()
 
     id = _read_reg16(CHIP_ID);
     if (id != MT9V117_CHIP_ID) {
-        AP_HAL::panic("Mt9v117: bad chip id\n");
+        AP_HAL::panic("Mt9v117: bad chip id 0x%04x\n", id);
     }
     _soft_reset();
     _apply_patch();

libraries/AP_HAL_Linux/GPIO.h

@@ -25,6 +25,6 @@ private:
 #include "GPIO_RPI.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
 #include "GPIO_Minnow.h"
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 #include "GPIO_Bebop.h"
 #endif

libraries/AP_HAL_Linux/GPIO_Bebop.cpp

@@ -2,7 +2,7 @@
 
 #include "GPIO_Bebop.h"
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 
 const unsigned Linux::GPIO_Sysfs::pin_table[] = {
     [BEBOP_GPIO_CAMV_NRST] = 129,

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -45,7 +45,7 @@ static UARTDriver uartFDriver(false);
 
 static I2CDeviceManager i2c_mgr_instance;
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 static I2CDriver i2cDriver0(0);
 static I2CDriver i2cDriver1(1);
 static I2CDriver i2cDriver2(2);
@@ -113,7 +113,9 @@ static GPIO_BBB gpioDriver;
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
 static GPIO_RPI gpioDriver;
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 static GPIO_Sysfs gpioDriver;
 #else
 static Empty::GPIO gpioDriver;
@@ -135,7 +137,8 @@ static RCInput_RPI rcinDriver;
 static RCInput_Raspilot rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
 static RCInput_ZYNQ rcinDriver;
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 static RCInput_UDP  rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
 static RCInput_UART rcinDriver("/dev/ttyS2");
@@ -169,7 +172,8 @@ static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATE
 static RCOutput_Raspilot rcoutDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
 static RCOutput_ZYNQ rcoutDriver;
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
 static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(i2c_devpaths, PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1);
@@ -200,7 +204,7 @@ HAL_Linux::HAL_Linux() :
         &uartEDriver,
         &uartFDriver,
         &i2c_mgr_instance,
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
         &i2cDriver0,
         &i2cDriver1,
         &i2cDriver2,
@@ -330,7 +334,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
     scheduler->init();
     gpio->init();
     i2c->begin();
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
     i2c1->begin();
     i2c2->begin();
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE

libraries/AP_HAL_Linux/Heat_Pwm.cpp

@@ -16,7 +16,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 #include <cmath>
 #include <fcntl.h>
 #include <linux/limits.h>

libraries/AP_HAL_Linux/RCOutput_Bebop.cpp

@@ -1,6 +1,6 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 #include "RCOutput_Bebop.h"
 
 #include <errno.h>
@@ -176,7 +176,7 @@ int RCOutput_Bebop::read_obs_data(BebopBLDC_ObsData &obs)
     _dev->get_semaphore()->give();
 
     if (data.checksum != _checksum((uint8_t *)&data, sizeof(data) - 1)) {
-        hal.console->printf("RCOutput_Bebop: bad checksum in obs data");
+        return -EBUSY;
     }
 
     /* fill obs class */
@@ -425,6 +425,8 @@ void RCOutput_Bebop::_run_rcout()
         _max_rpm = BEBOP_BLDC_MAX_RPM_1;
     } else if (hw_version == UTIL_HARDWARE_BEBOP2) {
         _max_rpm = BEBOP_BLDC_MAX_RPM_2;
+    } else if (hw_version == UTIL_HARDWARE_DISCO) {
+        _max_rpm = BEBOP_BLDC_MAX_RPM_2;
     } else if (hw_version < 0) {
         AP_HAL::panic("failed to get hw version %s", strerror(hw_version));
     } else {

libraries/AP_HAL_Linux/SPIDriver.cpp

@@ -75,7 +75,7 @@ SPIDeviceDriver SPIDeviceManager::_device[] = {
     SPIDeviceDriver("mpu9250", 0, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ,   20*MHZ),
     SPIDeviceDriver("ublox",   0, 0, AP_HAL::SPIDevice_Ublox,   SPI_MODE_0, 8, RPI_GPIO_8, 250*KHZ, 5*MHZ),
 };
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 SPIDeviceDriver SPIDeviceManager::_device[] = {
     SPIDeviceDriver("bebop", 1, 0, AP_HAL::SPIDevice_Bebop, SPI_MODE_0, 8, SPI_CS_KERNEL,  320*KHZ, 320*KHZ),
 };

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -185,7 +185,7 @@ void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
 bool Scheduler::register_timer_process(AP_HAL::MemberProc proc,
                                        uint8_t freq_div)
 {
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
     if (freq_div > 1) {
         return _register_timesliced_proc(proc, freq_div);
     }

libraries/AP_HAL_Linux/Storage.cpp

@@ -20,7 +20,7 @@ using namespace Linux;
 
 // name the storage file after the sketch so you can use the same board
 // card for ArduCopter and ArduPlane
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 #define STORAGE_DIR "/data/ftp/internal_000/APM"
 #elif APM_BUILD_TYPE(APM_BUILD_Replay)
 #define STORAGE_DIR "."

libraries/AP_HAL_Linux/Util.cpp

@@ -178,6 +178,7 @@ const char *Linux::Util::_hw_names[UTIL_NUM_HARDWARES] = {
     [UTIL_HARDWARE_RPI2]   = "BCM2709",
     [UTIL_HARDWARE_BEBOP]  = "Mykonos3 board",
     [UTIL_HARDWARE_BEBOP2] = "Milos board",
+    [UTIL_HARDWARE_DISCO]  = "Evinrude board",
 };
 
 #define MAX_SIZE_LINE 50

libraries/AP_HAL_Linux/Util.h

@@ -13,6 +13,7 @@ enum hw_type {
     UTIL_HARDWARE_RPI2,
     UTIL_HARDWARE_BEBOP,
     UTIL_HARDWARE_BEBOP2,
+    UTIL_HARDWARE_DISCO,
     UTIL_NUM_HARDWARES,
 };