AP_HAL: added workaround for AVR delegates in PROGMEM

libraries/AP_HAL/AP_HAL_Namespace.h

@@ -2,9 +2,31 @@
 #ifndef __AP_HAL_NAMESPACE_H__
 #define __AP_HAL_NAMESPACE_H__
 
+
 #include "string.h"
 #include "utility/FastDelegate.h"
 
+#if defined(__AVR__) 
+/*
+  gcc on AVR doesn't allow for delegates in progmem. It gives a
+  warning that the progmem area is uninitialised, and fills the area
+  with zeros. This is a workaround.
+ */
+#define DELEGATE_FUNCTION_VOID_TYPEDEF(type)  typedef void (*type)(const void *)
+#define AP_HAL_CLASSPROC_VOID(classptr, func) (void (*)(const void*))func
+#else
+#define DELEGATE_FUNCTION_VOID_TYPEDEF(type)  typedef fastdelegate::FastDelegate0<void> type
+#define AP_HAL_CLASSPROC_VOID(classptr, func) fastdelegate::MakeDelegate(classptr, func)
+#endif
+
+// macros to hide the details of delegate functions using FastDelegate
+#define AP_HAL_CLASSPROC(classptr, func) fastdelegate::MakeDelegate(classptr, func)
+#define AP_HAL_MEMBERPROC(func) AP_HAL_CLASSPROC(this, func)
+
+#define DELEGATE_FUNCTION0(rettype)          fastdelegate::FastDelegate0<rettype>
+#define DELEGATE_FUNCTION1(rettype, args...) fastdelegate::FastDelegate1<args, rettype>
+#define DELEGATE_FUNCTION2(rettype, args...) fastdelegate::FastDelegate2<args, rettype>
+
 namespace AP_HAL {
 
     /* Toplevel pure virtual class Hal.*/
@@ -40,7 +62,7 @@ namespace AP_HAL {
        which allows us to encapculate a member function as a type
      */
     typedef void(*Proc)(void);
-    typedef fastdelegate::FastDelegate0<> MemberProc;
+    typedef DELEGATE_FUNCTION0(void) MemberProc;
 
     /**
      * Global names for all of the existing SPI devices on all platforms.
@@ -63,7 +85,4 @@ namespace AP_HAL {
 
 }
 
-// macro to hide the details of AP_HAL::MemberProc
-#define AP_HAL_MEMBERPROC(func) fastdelegate::MakeDelegate(this, func)
-
 #endif // __AP_HAL_NAMESPACE_H__