b0368f7af0
Split the board specific code into a HAL API. Added a POSIX HAL and hacked everything over to it.
76 lines
1.8 KiB
Plaintext
76 lines
1.8 KiB
Plaintext
Hacking
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=======
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Build
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-----
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Uses the GNU autotools. Run `autogen -i`; `mkdir build`; `cd build`;
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`../configure --prefix=$PWD/install`; `make`.
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Layout
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------
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Headers are mixed with implementation. Code is platform-agnistic,
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except for the innermost functions which are defined in independent
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code and implemented under platforms/. Implementations favour a cheap
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embedded implementation.
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lib/
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- common library functions
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platform/
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- platform specific implementations
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experiments/
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- small experiments made along the way
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external/
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- third party libraries
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Style
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-----
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Uses C++11, GCC extensions, and binutils features to make the code
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easier to read and maintain.
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Product specific behaviour is done by implementing functions in the
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common classes. The functions are normally wired together in a
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product specific file.
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For example, Timer::dispatch() is called when a timer expires. The
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platform wiring implements Timer::dispatch() to call
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Switcher::trigger() with the platform specific timer callback ID. The
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wiring also implements Switcher::dispatch() which calls the event
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handler.
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Hardware interface
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------------------
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Events are generated by the HAL, timers, and other functions. Events
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are recorded in a Switcher and then dispatched in priority order.
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Event handlers are short and run to completion.
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Status
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------
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Always out of date, but still.
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STM32:
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* Basic startup
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* System tick driver
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* GPIO driver
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* USART driver (for GPS)
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* PWM input driver (for reading the receiver demands)
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* PWM output driver (for driving the servo)
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* USB ACM driver
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* Watchdog driver
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* Serial log based debugging
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roverif:
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* Application level timers
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* Switcher for dispatching events
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* Status LED
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* Supervisor
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* Fail safe configuration
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* Software fault fail safe
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* GPS driver
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* Accelerometer driver
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* Gyro driver
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