Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
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'.
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.
When writting or reading a block, if the block doesn't fit the area where it begins, the next base address is always zero. Thus the calculations to define the next value of addr are unnecessary.
Here's a quick validity proof using the previous calculations:
First: Considering the case where the block doesn't fit it's first area:
That means that (count + addr > length), what makes:
count = length - addr; (1)
So the following operations:
addr += count;
addr -= length;
Are the same as doing:
addr = addr + count - length; (2)
Using (1) and (2) we have:
addr = addr + length - addr - length = 0
Second: When the block fits the area where it's at:
That means that variable count is not changed,
thus (n -= count) evaluates to 0, which makes the loop exit.
Another change was (b += count;) being moved after the condition to break the loop, since we just need to move the block pointer when it doesn't fit the first area.
Lucas De Marchi
Caio Marcelo de Oliveira Filho
Gustavo Jose de Sousa
Andrew Tridgell
Randy Mackay
Andrew Tridgell