build: dont generate PRU/BB dependent objects for kthreads
BB/PRU: generate .p -> .bin dependency files
build/PRU: depend Makefile on PRU dependencies and include them

also, remove useless spillover from development branch
build/PRU: remove useless mkdep.py
Makefile cleanup to fix various PRU dependency and build issues

Signed-off-by: Charles Steinkuehler <charles@steinkuehler.net>
Fix PRU dependency rules for multi-threaded make
Use implicit rule with multiple targets, per:
http://stackoverflow.com/questions/19822435/multiple-targets-from-one-recipe-and-parallel-execution

Signed-off-by: Charles Steinkuehler <charles@steinkuehler.net>
Add stepinvert option to pru_generic driver for controlling step polarity

Signed-off-by: Charles Steinkuehler <charles@steinkuehler.net>
PRU Encoder: first signs of life

Signed-off-by: Charles Steinkuehler <charles@steinkuehler.net>
gmoccapy_1_0_5 - cleaned up the gmoccapy/config/dir

I cleaned up in the config dir, so we only have one postgui file,
I moved all other needed hal connections to own hal files and that
ones are loaded with the embedded tab commands.

To all Admins: please do not delete or ignore the

gmoccapy_tool_sensor.para

file. It is a preference file and has on purpose the ending para to
not being ignort from git. Without this file the user will miss
initial settings and the simulation may not run!

Norbert
Trajectory planner overhaul for lookahead

* Refactored tpRunCycle, tpAddLine, tpAddCircle, and tpAddRigidTap
* Cleaned up const specifiers for many function pointers
* Implemented pass-by-constant pointer for a few large inputs
* Reformatted documentation to be Doxygen compatible
Prototype pass by constant pointer for posemath.

Demonstrates const pointer passing instead of pass-by-value to a few
posemath functions that are used in the trajectory planner.
Added const specifiers and misc fixes.

* Fixed a few more structs passed by value
* Formatting fixes
Draft conversion of pmCartXXX functions to pass by constant pointer

Converted most quaternon functions to pass by constant pointer to constant data

Converted remainder of posemath to use constant pointer to constant value

Fixed pmLineInit

Stripped out remaining PmPose and PmLine references in TP.

An alternative to PmLine was added in PmCartLine, which strips out all
of the rotation information. Because each axis is treated as orthogonal
and linear as far as trajectory planning, there is no use for an
additional rotation term. More complex kinematics are dealt with
external to TP, so there is no need for the extra space and processing.

Minor misc. conversions to pointer input / output
Whitespace fixes
First cut of 3D arc calculation.

This implementation is basically a copy/paste from the octave
scratchwork.

Fixed a bunch of dumb errors

Need to track down init error in Circle init function.
Added debug info and fixed some obvious errors.

The output looks nominally correct for a simple test case.
Working blend arcs with zero final velocity.
Fixed tight corner and small angle case
Added some test NC code for blend comparison.
Fixed typo in teleop data struct