2016-07-29 16:31:02 -03:00
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#include "HAL_Linux_Class.h"
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2015-10-19 11:38:47 -03:00
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#include <assert.h>
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2016-10-26 18:27:12 -03:00
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#include <signal.h>
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2013-09-22 03:01:24 -03:00
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#include <stdio.h>
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#include <stdlib.h>
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2016-05-17 23:26:57 -03:00
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#include <unistd.h>
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2013-09-22 03:01:24 -03:00
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2016-05-17 23:26:57 -03:00
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/getopt_cpp.h>
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2015-08-11 03:28:43 -03:00
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
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2016-07-13 20:25:46 -03:00
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#include <AP_Module/AP_Module.h>
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2014-08-19 00:48:56 -03:00
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2016-07-29 16:31:02 -03:00
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#include "AnalogIn_ADS1115.h"
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#include "AnalogIn_IIO.h"
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#include "AnalogIn_Navio2.h"
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#include "AnalogIn_Raspilot.h"
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#include "GPIO.h"
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#include "I2CDevice.h"
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#include "OpticalFlow_Onboard.h"
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#include "RCInput.h"
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#include "RCInput_AioPRU.h"
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#include "RCInput_DSM.h"
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#include "RCInput_Navio2.h"
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#include "RCInput_PRU.h"
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#include "RCInput_RPI.h"
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#include "RCInput_Raspilot.h"
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#include "RCInput_SBUS.h"
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#include "RCInput_UART.h"
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#include "RCInput_UDP.h"
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2016-09-16 05:43:27 -03:00
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#include "RCInput_115200.h"
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#include "RCInput_Multi.h"
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2016-08-29 14:10:04 -03:00
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#include "RCOutput_AeroIO.h"
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2016-07-29 16:31:02 -03:00
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#include "RCOutput_AioPRU.h"
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#include "RCOutput_Bebop.h"
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#include "RCOutput_Disco.h"
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#include "RCOutput_PCA9685.h"
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#include "RCOutput_PRU.h"
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#include "RCOutput_Raspilot.h"
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#include "RCOutput_Sysfs.h"
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#include "RCOutput_ZYNQ.h"
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#include "RPIOUARTDriver.h"
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2016-07-22 11:18:25 -03:00
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#include "SPIDevice.h"
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2016-07-29 16:31:02 -03:00
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#include "SPIUARTDriver.h"
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#include "Scheduler.h"
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#include "Storage.h"
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#include "UARTDriver.h"
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#include "Util.h"
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#include "Util_RPI.h"
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2016-05-17 23:26:57 -03:00
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2013-09-22 03:01:24 -03:00
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using namespace Linux;
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2015-11-28 05:38:56 -04:00
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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2016-01-20 09:14:48 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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2015-11-28 05:38:56 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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2016-01-05 06:36:30 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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2016-10-17 15:02:48 -03:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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2016-03-07 04:30:27 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_URUS || \
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2016-01-05 06:36:30 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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2015-11-10 13:58:59 -04:00
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static UtilRPI utilInstance;
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#else
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static Util utilInstance;
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#endif
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2013-09-28 11:51:43 -03:00
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// 3 serial ports on Linux for now
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2015-10-20 18:13:25 -03:00
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static UARTDriver uartADriver(true);
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2015-11-28 05:38:56 -04:00
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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2016-01-20 09:14:48 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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2015-11-28 05:38:56 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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2015-10-20 18:13:25 -03:00
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static SPIUARTDriver uartBDriver;
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2014-11-07 06:17:50 -04:00
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#else
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2015-10-20 18:13:25 -03:00
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static UARTDriver uartBDriver(false);
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2014-11-07 06:17:50 -04:00
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#endif
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2015-08-17 23:34:28 -03:00
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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2015-10-20 18:13:25 -03:00
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static RPIOUARTDriver uartCDriver;
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2015-08-17 23:34:28 -03:00
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#else
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2015-10-20 18:13:25 -03:00
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static UARTDriver uartCDriver(false);
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2015-08-17 23:34:28 -03:00
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#endif
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2015-12-13 23:19:54 -04:00
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static UARTDriver uartDDriver(false);
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2015-10-20 18:13:25 -03:00
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static UARTDriver uartEDriver(false);
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2016-04-19 00:47:25 -03:00
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static UARTDriver uartFDriver(false);
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2013-09-22 03:01:24 -03:00
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2015-11-22 20:07:42 -04:00
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static I2CDeviceManager i2c_mgr_instance;
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2016-07-22 11:22:14 -03:00
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static SPIDeviceManager spi_mgr_instance;
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2015-11-22 20:07:42 -04:00
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2015-11-28 05:38:56 -04:00
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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2016-01-05 06:36:30 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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2016-01-28 20:34:51 -04:00
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static AnalogIn_ADS1115 analogIn;
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2015-08-17 23:34:28 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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2016-01-28 20:56:04 -04:00
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static AnalogIn_Raspilot analogIn;
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2016-01-25 15:36:27 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
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2016-02-18 00:11:12 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
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2016-12-29 10:49:38 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
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2016-02-17 23:11:10 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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2016-01-11 12:48:07 -04:00
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static AnalogIn_IIO analogIn;
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2016-01-20 09:14:48 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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static AnalogIn_Navio2 analogIn;
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2014-11-26 08:03:06 -04:00
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#else
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2016-07-28 11:01:53 -03:00
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static Empty::AnalogIn analogIn;
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2014-11-26 08:03:06 -04:00
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#endif
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2014-08-25 13:18:48 -03:00
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2015-10-20 18:13:25 -03:00
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static Storage storageDriver;
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2014-09-18 10:35:22 -03:00
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/*
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2016-12-29 10:49:38 -04:00
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use the BBB gpio driver on ERLE, PXF, BBBMINI and BLUE
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2014-09-18 10:35:22 -03:00
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*/
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2016-12-29 10:49:38 -04:00
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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2015-10-20 18:13:25 -03:00
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static GPIO_BBB gpioDriver;
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2014-09-18 10:35:22 -03:00
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/*
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use the RPI gpio driver on Navio
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*/
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2015-11-28 05:38:56 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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2016-01-20 09:14:48 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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2015-11-28 05:38:56 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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2016-01-05 06:36:30 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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2016-10-17 15:02:48 -03:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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2016-03-07 04:30:27 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_URUS || \
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2016-01-05 06:36:30 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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2015-10-20 18:13:25 -03:00
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static GPIO_RPI gpioDriver;
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2016-06-06 19:16:25 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
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2016-08-29 14:10:04 -03:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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2015-10-21 12:18:27 -03:00
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static GPIO_Sysfs gpioDriver;
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2014-09-18 10:35:22 -03:00
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#else
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2015-12-07 15:01:33 -04:00
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static Empty::GPIO gpioDriver;
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2014-09-18 10:35:22 -03:00
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#endif
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2014-08-19 00:48:56 -03:00
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/*
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2015-02-27 17:37:37 -04:00
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use the PRU based RCInput driver on ERLE and PXF
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2014-08-19 00:48:56 -03:00
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*/
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2015-09-06 18:35:13 -03:00
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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2015-10-20 18:13:25 -03:00
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static RCInput_PRU rcinDriver;
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2016-12-29 10:49:38 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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2015-10-20 18:13:25 -03:00
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static RCInput_AioPRU rcinDriver;
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2015-11-28 05:38:56 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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2016-01-05 06:36:30 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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2016-10-17 15:02:48 -03:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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2016-07-10 00:26:27 -03:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_URUS || \
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2016-01-05 06:36:30 -04:00
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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2015-11-02 11:24:33 -04:00
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static RCInput_RPI rcinDriver;
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2015-08-17 23:34:28 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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2015-10-20 18:13:25 -03:00
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static RCInput_Raspilot rcinDriver;
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2014-11-13 19:16:59 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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2015-10-20 18:13:25 -03:00
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static RCInput_ZYNQ rcinDriver;
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2016-06-07 02:06:35 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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2015-10-20 18:13:25 -03:00
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static RCInput_UDP rcinDriver;
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2015-10-21 12:22:45 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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static RCInput_UART rcinDriver("/dev/ttyS2");
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2015-12-13 23:19:54 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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static RCInput_DSM rcinDriver;
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2016-09-16 05:43:27 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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static RCInput_Multi rcinDriver{2, new RCInput_SBUS, new RCInput_115200("/dev/uart-sumd")};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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2016-06-07 02:06:35 -03:00
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static RCInput_SBUS rcinDriver;
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2016-01-20 09:14:48 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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static RCInput_Navio2 rcinDriver;
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2014-08-19 00:37:10 -03:00
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#else
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2015-10-20 18:13:25 -03:00
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static RCInput rcinDriver;
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2014-08-19 00:37:10 -03:00
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#endif
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2014-08-19 00:48:56 -03:00
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/*
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2015-02-27 17:37:37 -04:00
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use the PRU based RCOutput driver on ERLE and PXF
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2014-08-19 00:48:56 -03:00
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*/
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2015-09-06 18:35:13 -03:00
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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2015-10-20 18:13:25 -03:00
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static RCOutput_PRU rcoutDriver;
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2016-12-29 10:49:38 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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2015-10-20 18:13:25 -03:00
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static RCOutput_AioPRU rcoutDriver;
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2014-09-18 10:29:47 -03:00
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/*
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2015-11-02 11:24:33 -04:00
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use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2
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2014-09-18 10:29:47 -03:00
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*/
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2016-01-05 06:36:30 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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2016-05-27 09:35:59 -03:00
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, RPI_GPIO_27);
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2015-11-28 05:38:56 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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2016-05-27 09:35:59 -03:00
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATENARY_ADDRESS), false, 0, RPI_GPIO_4);
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2016-10-17 15:02:48 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), false, 0, RPI_GPIO_27);
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2015-08-17 23:34:28 -03:00
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/*
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use the STM32 based RCOutput driver on Raspilot
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*/
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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2015-10-20 18:13:25 -03:00
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static RCOutput_Raspilot rcoutDriver;
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2014-11-13 19:16:59 -04:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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2015-10-20 18:13:25 -03:00
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static RCOutput_ZYNQ rcoutDriver;
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2016-06-07 02:06:35 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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2016-07-12 15:55:39 -03:00
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static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
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2015-10-21 12:23:28 -03:00
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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2016-07-22 15:02:19 -03:00
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static const std::vector<const char *> i2c_devpaths({
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/* UEFI with lpss set to ACPI */
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"platform/80860F41:05",
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/* UEFI with lpss set to PCI */
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"pci0000:00/0000:00:18.6",
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});
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(
|
|
|
|
{ /* UEFI with lpss set to ACPI */
|
|
|
|
"platform/80860F41:05",
|
|
|
|
/* UEFI with lpss set to PCI */
|
|
|
|
"pci0000:00/0000:00:18.6" },
|
|
|
|
PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1);
|
2015-12-13 23:19:54 -04:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
|
|
|
static RCOutput_QFLIGHT rcoutDriver;
|
2016-06-07 02:06:35 -03:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
|
2016-07-14 07:16:06 -03:00
|
|
|
static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR));
|
2016-01-20 09:14:48 -04:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
|
2016-06-07 02:06:35 -03:00
|
|
|
static RCOutput_Sysfs rcoutDriver(0, 0, 14);
|
2016-08-29 14:10:04 -03:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
|
|
|
|
static RCOutput_AeroIO rcoutDriver;
|
2014-08-19 00:48:56 -03:00
|
|
|
#else
|
2015-12-07 15:01:33 -04:00
|
|
|
static Empty::RCOutput rcoutDriver;
|
2014-08-19 00:48:56 -03:00
|
|
|
#endif
|
2014-09-18 10:29:47 -03:00
|
|
|
|
2015-10-20 18:13:25 -03:00
|
|
|
static Scheduler schedulerInstance;
|
2013-09-22 03:01:24 -03:00
|
|
|
|
2015-05-10 21:16:01 -03:00
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
|
2016-02-06 16:14:51 -04:00
|
|
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
|
|
|
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
|
2015-11-24 09:46:26 -04:00
|
|
|
static OpticalFlow_Onboard opticalFlow;
|
|
|
|
#else
|
|
|
|
static Empty::OpticalFlow opticalFlow;
|
|
|
|
#endif
|
|
|
|
|
2013-09-22 03:01:24 -03:00
|
|
|
HAL_Linux::HAL_Linux() :
|
|
|
|
AP_HAL::HAL(
|
|
|
|
&uartADriver,
|
|
|
|
&uartBDriver,
|
|
|
|
&uartCDriver,
|
2015-12-13 23:19:54 -04:00
|
|
|
&uartDDriver,
|
2015-02-12 06:00:52 -04:00
|
|
|
&uartEDriver,
|
2016-04-19 00:47:25 -03:00
|
|
|
&uartFDriver,
|
2015-11-22 20:07:42 -04:00
|
|
|
&i2c_mgr_instance,
|
2016-07-22 11:22:14 -03:00
|
|
|
&spi_mgr_instance,
|
2013-09-22 03:01:24 -03:00
|
|
|
&analogIn,
|
|
|
|
&storageDriver,
|
2013-10-05 05:32:57 -03:00
|
|
|
&uartADriver,
|
2013-09-22 03:01:24 -03:00
|
|
|
&gpioDriver,
|
|
|
|
&rcinDriver,
|
|
|
|
&rcoutDriver,
|
|
|
|
&schedulerInstance,
|
2015-11-24 09:46:26 -04:00
|
|
|
&utilInstance,
|
|
|
|
&opticalFlow)
|
2013-09-22 03:01:24 -03:00
|
|
|
{}
|
|
|
|
|
2014-06-11 03:34:07 -03:00
|
|
|
void _usage(void)
|
|
|
|
{
|
2016-04-19 00:47:25 -03:00
|
|
|
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath\n");
|
2014-06-11 03:34:07 -03:00
|
|
|
printf("Options:\n");
|
2016-07-07 05:27:07 -03:00
|
|
|
printf("\tserial:\n");
|
|
|
|
printf(" -A /dev/ttyO4\n");
|
2016-05-17 23:26:57 -03:00
|
|
|
printf("\t -B /dev/ttyS1\n");
|
2016-07-07 05:27:07 -03:00
|
|
|
printf("\tnetworking tcp:\n");
|
|
|
|
printf("\t -C tcp:192.168.2.15:1243:wait\n");
|
2016-05-17 23:26:57 -03:00
|
|
|
printf("\t -A tcp:11.0.0.2:5678\n");
|
2016-06-28 08:00:44 -03:00
|
|
|
printf("\t -A udp:11.0.0.2:14550\n");
|
2016-07-07 05:27:07 -03:00
|
|
|
printf("\tnetworking UDP:\n");
|
2016-06-28 08:00:44 -03:00
|
|
|
printf("\t -A udp:11.0.0.255:14550:bcast\n");
|
|
|
|
printf("\t -A udpin:0.0.0.0:14550\n");
|
2016-07-07 05:27:07 -03:00
|
|
|
printf("\tcustom log path:\n");
|
2015-06-28 16:04:08 -03:00
|
|
|
printf("\t --log-directory /var/APM/logs\n");
|
|
|
|
printf("\t -l /var/APM/logs\n");
|
2016-07-07 05:27:07 -03:00
|
|
|
printf("\tcustom terrain path:\n");
|
2015-06-28 16:04:08 -03:00
|
|
|
printf("\t --terrain-directory /var/APM/terrain\n");
|
|
|
|
printf("\t -t /var/APM/terrain\n");
|
2016-07-07 05:27:07 -03:00
|
|
|
printf("\tmodule support:\n");
|
2016-07-13 20:24:11 -03:00
|
|
|
printf("\t --module-directory %s\n", AP_MODULE_DEFAULT_DIRECTORY);
|
|
|
|
printf("\t -M %s\n", AP_MODULE_DEFAULT_DIRECTORY);
|
2014-06-11 03:34:07 -03:00
|
|
|
}
|
|
|
|
|
2015-10-19 12:59:47 -03:00
|
|
|
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
|
2013-09-22 03:01:24 -03:00
|
|
|
{
|
2016-07-13 20:24:11 -03:00
|
|
|
const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
|
2016-07-07 05:27:07 -03:00
|
|
|
|
2015-10-19 12:59:47 -03:00
|
|
|
assert(callbacks);
|
|
|
|
|
2013-09-22 03:01:24 -03:00
|
|
|
int opt;
|
2015-06-28 16:04:08 -03:00
|
|
|
const struct GetOptLong::option options[] = {
|
|
|
|
{"uartA", true, 0, 'A'},
|
|
|
|
{"uartB", true, 0, 'B'},
|
|
|
|
{"uartC", true, 0, 'C'},
|
2015-12-13 23:19:54 -04:00
|
|
|
{"uartD", true, 0, 'D'},
|
2015-06-28 16:04:08 -03:00
|
|
|
{"uartE", true, 0, 'E'},
|
2016-04-19 00:47:25 -03:00
|
|
|
{"uartF", true, 0, 'F'},
|
2015-12-13 23:19:54 -04:00
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
|
|
|
{"dsm", true, 0, 'S'},
|
|
|
|
{"ESC", true, 0, 'e'},
|
|
|
|
#endif
|
2015-06-28 16:04:08 -03:00
|
|
|
{"log-directory", true, 0, 'l'},
|
|
|
|
{"terrain-directory", true, 0, 't'},
|
2016-07-07 05:27:07 -03:00
|
|
|
{"module-directory", true, 0, 'M'},
|
2015-06-28 16:04:08 -03:00
|
|
|
{"help", false, 0, 'h'},
|
|
|
|
{0, false, 0, 0}
|
|
|
|
};
|
|
|
|
|
2016-07-07 05:27:07 -03:00
|
|
|
GetOptLong gopt(argc, argv, "A:B:C:D:E:F:l:t:he:SM:",
|
2015-06-28 16:04:08 -03:00
|
|
|
options);
|
|
|
|
|
2013-09-22 03:01:24 -03:00
|
|
|
/*
|
|
|
|
parse command line options
|
|
|
|
*/
|
2015-06-28 16:04:08 -03:00
|
|
|
while ((opt = gopt.getoption()) != -1) {
|
2013-09-22 03:01:24 -03:00
|
|
|
switch (opt) {
|
|
|
|
case 'A':
|
2015-06-28 16:04:08 -03:00
|
|
|
uartADriver.set_device_path(gopt.optarg);
|
2013-09-22 03:01:24 -03:00
|
|
|
break;
|
|
|
|
case 'B':
|
2015-06-28 16:04:08 -03:00
|
|
|
uartBDriver.set_device_path(gopt.optarg);
|
2013-09-22 03:01:24 -03:00
|
|
|
break;
|
2013-09-28 11:51:43 -03:00
|
|
|
case 'C':
|
2015-06-28 16:04:08 -03:00
|
|
|
uartCDriver.set_device_path(gopt.optarg);
|
2013-09-28 11:51:43 -03:00
|
|
|
break;
|
2015-12-13 23:19:54 -04:00
|
|
|
case 'D':
|
|
|
|
uartDDriver.set_device_path(gopt.optarg);
|
|
|
|
break;
|
2015-02-12 06:00:52 -04:00
|
|
|
case 'E':
|
2015-06-28 16:04:08 -03:00
|
|
|
uartEDriver.set_device_path(gopt.optarg);
|
|
|
|
break;
|
2016-04-19 00:47:25 -03:00
|
|
|
case 'F':
|
|
|
|
uartFDriver.set_device_path(gopt.optarg);
|
|
|
|
break;
|
2015-12-13 23:19:54 -04:00
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
|
|
|
case 'e':
|
|
|
|
rcoutDriver.set_device_path(gopt.optarg);
|
|
|
|
break;
|
|
|
|
case 'S':
|
|
|
|
rcinDriver.set_device_path(gopt.optarg);
|
|
|
|
break;
|
|
|
|
#endif // CONFIG_HAL_BOARD_SUBTYPE
|
2016-05-17 23:26:57 -03:00
|
|
|
case 'l':
|
2015-06-29 22:42:30 -03:00
|
|
|
utilInstance.set_custom_log_directory(gopt.optarg);
|
2015-06-28 16:04:08 -03:00
|
|
|
break;
|
|
|
|
case 't':
|
2015-06-29 22:42:30 -03:00
|
|
|
utilInstance.set_custom_terrain_directory(gopt.optarg);
|
2015-02-12 06:00:52 -04:00
|
|
|
break;
|
2016-07-07 05:27:07 -03:00
|
|
|
case 'M':
|
|
|
|
module_path = gopt.optarg;
|
|
|
|
break;
|
2013-09-22 03:01:24 -03:00
|
|
|
case 'h':
|
2014-06-11 03:34:07 -03:00
|
|
|
_usage();
|
2013-09-22 03:01:24 -03:00
|
|
|
exit(0);
|
|
|
|
default:
|
|
|
|
printf("Unknown option '%c'\n", (char)opt);
|
|
|
|
exit(1);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2016-10-26 18:27:12 -03:00
|
|
|
setup_signal_handlers();
|
|
|
|
|
2015-12-02 11:14:20 -04:00
|
|
|
scheduler->init();
|
2014-07-13 20:20:47 -03:00
|
|
|
gpio->init();
|
2015-12-02 11:14:20 -04:00
|
|
|
rcout->init();
|
|
|
|
rcin->init();
|
2016-05-17 23:26:57 -03:00
|
|
|
uartA->begin(115200);
|
|
|
|
uartE->begin(115200);
|
|
|
|
uartF->begin(115200);
|
2015-12-02 11:14:20 -04:00
|
|
|
analogin->init();
|
2015-07-01 07:40:07 -03:00
|
|
|
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
|
2015-10-19 11:38:47 -03:00
|
|
|
|
|
|
|
// NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
|
|
|
|
// deadlock, and infinite loop in setup()") for details about the
|
|
|
|
// order of scheduler initialize and setup on Linux.
|
|
|
|
scheduler->system_initialized();
|
2016-07-07 05:27:07 -03:00
|
|
|
|
|
|
|
// possibly load external modules
|
|
|
|
if (module_path != nullptr) {
|
|
|
|
AP_Module::init(module_path);
|
|
|
|
}
|
|
|
|
|
|
|
|
AP_Module::call_hook_setup_start();
|
2015-10-19 11:38:47 -03:00
|
|
|
callbacks->setup();
|
2016-07-07 05:27:07 -03:00
|
|
|
AP_Module::call_hook_setup_complete();
|
2015-10-19 11:38:47 -03:00
|
|
|
|
2016-10-26 18:27:12 -03:00
|
|
|
while (!_should_exit) {
|
2015-10-19 11:38:47 -03:00
|
|
|
callbacks->loop();
|
|
|
|
}
|
2016-10-26 18:27:12 -03:00
|
|
|
|
|
|
|
rcin->teardown();
|
|
|
|
I2CDeviceManager::from(i2c_mgr)->teardown();
|
|
|
|
SPIDeviceManager::from(spi)->teardown();
|
2016-10-26 18:58:57 -03:00
|
|
|
Scheduler::from(scheduler)->teardown();
|
2016-10-26 18:27:12 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
void HAL_Linux::setup_signal_handlers() const
|
|
|
|
{
|
|
|
|
struct sigaction sa = { };
|
|
|
|
|
|
|
|
sa.sa_flags = SA_NOCLDSTOP;
|
|
|
|
sa.sa_handler = HAL_Linux::exit_signal_handler;
|
|
|
|
sigaction(SIGTERM, &sa, NULL);
|
|
|
|
sigaction(SIGINT, &sa, NULL);
|
2015-10-19 11:38:47 -03:00
|
|
|
}
|
|
|
|
|
2016-10-26 18:27:12 -03:00
|
|
|
static HAL_Linux halInstance;
|
|
|
|
|
|
|
|
void HAL_Linux::exit_signal_handler(int signum)
|
|
|
|
{
|
|
|
|
halInstance._should_exit = true;
|
|
|
|
}
|
|
|
|
|
|
|
|
const AP_HAL::HAL &AP_HAL::get_HAL()
|
|
|
|
{
|
|
|
|
return halInstance;
|
2015-10-16 17:22:11 -03:00
|
|
|
}
|