rename module HW to HAL

Author: qqqlab

extras/TestMadflight/baro/baro.ino

@@ -13,7 +13,7 @@ void setup() {
   Serial.begin(115200);
   while(!Serial);
 
-  hw_setup(); //hardware specific setup for spi and Wire (see hw_xxx.h)
+  hal_setup(); //hardware specific setup for spi and Wire (see hw_xxx.h)
 
   int rv = baro.setup(100);
   if(rv) {

extras/TestMadflight/cfg.ino

@@ -8,23 +8,23 @@
   //----------------------------------------------------------------------------------------------------------
   #include <EEPROM.h>
 
-  void hw_eeprom_begin() {
+  void hal_eeprom_begin() {
     Serial.println("EEPROM: Unbuffered IO");
     //EEPROM.begin(); //STM does not use size in begin() call
   }
 
-  uint8_t hw_eeprom_read(uint32_t adr) {   
+  uint8_t hal_eeprom_read(uint32_t adr) {   
     uint8_t val = EEPROM.read(adr);
     //Serial.printf("EEPROM.read(%d) = 0x%02X\n", adr, val);
     return val;
   }
 
-  void hw_eeprom_write(uint32_t adr, uint8_t val) {   
+  void hal_eeprom_write(uint32_t adr, uint8_t val) {   
     EEPROM.update(adr, val); //update only writes when changed
     //Serial.printf("EEPROM.write(%d, 0x%02X)\n", adr, val);
   }
 
-  void hw_eeprom_commit() {
+  void hal_eeprom_commit() {
     //EEPROM.commit();  //STM does not use commit(), write() also executes commit()
   }
 #else
@@ -33,26 +33,26 @@
   //----------------------------------------------------------------------------------------------------------
   #include <EEPROM.h>
 
-  void hw_eeprom_begin() {
+  void hal_eeprom_begin() {
     (void)(EEPROM); //keep compiler happy
     Serial.println("EEPROM: Buffered IO");
     //Serial.println("START reading from flash");Serial.flush();
     eeprom_buffer_fill(); //Copy the data from the flash to the buffer
     //Serial.println("DONE reading");Serial.flush();
   }
 
-  uint8_t hw_eeprom_read(uint32_t adr) {
+  uint8_t hal_eeprom_read(uint32_t adr) {
     uint8_t val = eeprom_buffered_read_byte(adr); //read from buffer
-    //Serial.printf("hw_eeprom_read(%d) = 0x%02X\n", adr, val);Serial.flush();
+    //Serial.printf("hal_eeprom_read(%d) = 0x%02X\n", adr, val);Serial.flush();
     return val;
   }
 
-  void hw_eeprom_write(uint32_t adr, uint8_t val) {
-    //Serial.printf("hw_eeprom_write(%d, 0x%02X)\n", adr, val);Serial.flush();
+  void hal_eeprom_write(uint32_t adr, uint8_t val) {
+    //Serial.printf("hal_eeprom_write(%d, 0x%02X)\n", adr, val);Serial.flush();
     eeprom_buffered_write_byte(adr, val); //write to buffer
   }
 
-  void hw_eeprom_commit() {
+  void hal_eeprom_commit() {
     //Serial.println("START writing to flash");Serial.flush();
     eeprom_buffer_flush(); //Copy the data from the buffer to the flash
     //Serial.println("DONE writing");Serial.flush();
@@ -64,19 +64,19 @@
   //NON STM32
   #include <EEPROM.h>
 
-  void hw_eeprom_begin() {
+  void hal_eeprom_begin() {
     EEPROM.begin(2048);
   }
 
-  uint8_t hw_eeprom_read(uint32_t adr) {
+  uint8_t hal_eeprom_read(uint32_t adr) {
     return EEPROM.read(adr);
   }
 
-  void hw_eeprom_write(uint32_t adr, uint8_t val) {
+  void hal_eeprom_write(uint32_t adr, uint8_t val) {
     EEPROM.write(adr, val);
   }
 
-  void hw_eeprom_commit() {
+  void hal_eeprom_commit() {
     EEPROM.commit();
   }
 #endif

extras/TestMadflight/crsf/crsf.ino

@@ -18,15 +18,15 @@ CRSF crsf;
     const int HW_PIN_RCIN_RX  = 35;
     const int HW_PIN_RCIN_TX  = 32;
     HardwareSerial *rcin_Serial = &Serial1; //&Serial1 or &Serial2 (&Serial is used for debugging)
-    void hw_setup()
+    void hal_setup()
     {
       rcin_Serial->setPins(HW_PIN_RCIN_RX, HW_PIN_RCIN_TX);
     }
 #elif defined ARDUINO_ARCH_RP2040
     const int HW_PIN_RCIN_RX  = 1; //uart0: 1(default), 5, 13, 17   uart1: 5, 9(default)
     const int HW_PIN_RCIN_TX  = 0; //uart0: 0(default), 4, 12, 16   uart1: 4, 8(default)
     SerialUART *rcin_Serial = new SerialUART(uart0, HW_PIN_RCIN_TX, HW_PIN_RCIN_RX); //uart0 or uart1
-    void hw_setup() 
+    void hal_setup() 
     { 
     }
 #else 
@@ -156,7 +156,7 @@ void setup() {
     while(!Serial);
     Serial.println("CRSF DEMO");
    
-    hw_setup();
+    hal_setup();
     rcin_Serial->setFIFOSize(256);
     rcin_Serial->begin(CRSF_BAUD);
 

extras/TestMadflight/imu/imu.ino

@@ -26,7 +26,7 @@ void setup() {
   Serial.begin(115200);
   while(!Serial);
 
-  hw_setup(); //hardware specific setup for spi and Wire (see hw_xxx.h)
+  hal_setup(); //hardware specific setup for spi and Wire (see hw_xxx.h)
 
   //IMU: keep on trying until no error is returned (some sensors need a couple of tries...)
   while(true) {       

extras/TestMadflight/pwm/pwm.ino

@@ -51,7 +51,7 @@
 void setup() {
   Serial.begin(115100);
 
-  hw_setup(); //hardware specific setup for spi and Wire (see hw_xxx.h)
+  hal_setup(); //hardware specific setup for spi and Wire (see hw_xxx.h)
 
   for(int i=0;i<HW_OUT_COUNT;i++) {
     //out[i].begin(HW_PIN_OUT[i], 50, 1000, 2000); //Standard servo at 50Hz

extras/TestMadflight/rcin/rcin.ino

@@ -22,7 +22,7 @@ void setup() {
   while(!Serial);
 
   //cli.print_boardInfo(); //print board info and pinout
-  hw_setup(); //hardware specific setup for spi and Wire (see hw_xxx.h)
+  hal_setup(); //hardware specific setup for spi and Wire (see hw_xxx.h)
 
   rcin.setup(); //Initialize radio communication. Set correct USE_RCIN_xxx user specified defines above. Note: rcin_Setup() function is defined in rcin.h, but normally no changes needed there.
 

extras/TestMadflight/rp2040_crsf/rp2040_crsf.ino

@@ -53,7 +53,7 @@ void setup() {
   Serial.begin(115200);
   while(!Serial);
   Serial.println("CRSF DEMO");
-  hw_setup();
+  hal_setup();
   imu.setup(1000);
   imu.onUpdate = imu_loop;
   rcin.setup();

src/madflight.h

@@ -41,16 +41,7 @@ MF_Serial *rcin_Serial = nullptr; //serial bus for RCIN
 MF_Serial *gps_Serial = nullptr;  //serial bus for GPS
 MF_I2C *mf_i2c = nullptr;         //I2C (Wire) bus for sensors
 
-//include hardware specific code & default board pinout
-#if defined ARDUINO_ARCH_ESP32
-  #include "madflight/hw_ESP32/hw_ESP32.h"
-#elif defined ARDUINO_ARCH_RP2040
-  #include "madflight/hw_RP2040/hw_RP2040.h"
-#elif defined ARDUINO_ARCH_STM32
-  #include "madflight/hw_STM32/hw_STM32.h"
-#else 
-  #error "Unknown hardware architecture, expected ESP32 / RP2040 / STM32"
-#endif
+#include "madflight/hal/hal.h"
 
 //default for ALT (Altitude Estimation)
 #ifndef ALT_USE
@@ -146,8 +137,8 @@ void madflight_setup() {
     cli.cmd_execute_batch(madflight_init_commands);
   }
 
-  //hardware specific setup for busses: serial, spi and i2c (see hw_xxx.h)
-  hw_setup();
+  //hardware abstraction layer setup: serial, spi, i2c (see hal.h)
+  hal_setup();
 
   //prevent nullpointers
   if(!rcin_Serial) rcin_Serial = new MF_SerialNone();

src/madflight/cfg/cfg_interface.h

@@ -267,7 +267,7 @@ class Config {
   }
 
   void begin() {
-    hw_eeprom_begin();
+    hal_eeprom_begin();
     read();
   }
 
@@ -327,7 +327,7 @@ class Config {
           fvalues[i] = val.toInt();
           break;
         case 'p': //pinnumber/pinname
-          fvalues[i] = hw_get_pin_number(val);
+          fvalues[i] = hal_get_pin_number(val);
           break;
         default:
           //assume 'f'
@@ -377,7 +377,7 @@ class Config {
     uint16_t n = sizeof(Config);
     //Serial.printf("eeprom_read[%d]:", n);
     for(uint16_t i=0; i<n; i++) {
-      buf[i] = hw_eeprom_read(i);
+      buf[i] = hal_eeprom_read(i);
       //Serial.printf("%02X ",buf[i]);
     }
     //Serial.println();
@@ -401,10 +401,10 @@ class Config {
     uint16_t n = sizeof(Config);
     Serial.printf("eeprom_write[%d]:", n);
     for(int i=0; i<n; i++) {
-      hw_eeprom_write(i, buf[i]);
+      hal_eeprom_write(i, buf[i]);
       Serial.printf("%02X ",buf[i]);
     }
-    hw_eeprom_commit();
+    hal_eeprom_commit();
     Serial.println();
   }
 

src/madflight/cli/cli.h

@@ -367,7 +367,7 @@ class CLI {
     }else if (cmd == "i2c") {
       print_i2cScan();
     }else if (cmd == "reboot") {
-      hw_reboot();
+      hal_reboot();
     }else if (cmd == "poff") {
       cli_print_all(false);
     }else if (cmd == "pall") {