ardupilot/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <AP_HAL_PX4.h>
#include "AP_HAL_PX4_Namespace.h"
#include "HAL_PX4_Class.h"
#include "Console.h"
#include "Scheduler.h"
#include "UARTDriver.h"
#include "Storage.h"
#include "RCInput.h"
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#include "RCOutput.h"
#include <AP_HAL_Empty.h>
#include <AP_HAL_Empty_Private.h>
#include <stdlib.h>
#include <poll.h>
#include <systemlib/systemlib.h>
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
using namespace PX4;
static Empty::EmptySemaphore i2cSemaphore;
static Empty::EmptyI2CDriver i2cDriver(&i2cSemaphore);
static Empty::EmptySPIDeviceManager spiDeviceManager;
static Empty::EmptyAnalogIn analogIn;
static Empty::EmptyGPIO gpioDriver;
static Empty::EmptyUtil utilInstance;
static PX4ConsoleDriver consoleDriver;
static PX4Scheduler schedulerInstance;
static PX4EEPROMStorage storageDriver;
static PX4RCInput rcinDriver;
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static PX4RCOutput rcoutDriver;
#define UARTA_DEVICE "/dev/ttyS2"
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#define UARTB_DEVICE "/dev/ttyS3"
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// only two real UART drivers for now
static PX4UARTDriver uartADriver(UARTA_DEVICE);
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static PX4UARTDriver uartBDriver(UARTB_DEVICE);
static Empty::EmptyUARTDriver uartCDriver;
HAL_PX4::HAL_PX4() :
AP_HAL::HAL(
&uartADriver, /* uartA */
&uartBDriver, /* uartB */
&uartCDriver, /* uartC */
&i2cDriver, /* i2c */
&spiDeviceManager, /* spi */
&analogIn, /* analogin */
&storageDriver, /* storage */
&consoleDriver, /* console */
&gpioDriver, /* gpio */
&rcinDriver, /* rcinput */
&rcoutDriver, /* rcoutput */
&schedulerInstance, /* scheduler */
&utilInstance) /* util */
{}
static bool thread_should_exit = false; /**< Daemon exit flag */
static bool thread_running = false; /**< Daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
extern const AP_HAL::HAL& hal;
static int main_loop(int argc, char **argv)
{
extern void setup(void);
extern void loop(void);
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hal.uartA->begin(115200);
hal.console->init((void*) hal.uartA);
hal.scheduler->init(NULL);
hal.rcin->init(NULL);
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hal.rcout->init(NULL);
setup();
while (true) {
loop();
// yield the CPU for 1ms between loops to let other apps
// get some CPU time
poll(NULL, 0, 1);
}
return 0;
}
void HAL_PX4::init(int argc, char * const argv[]) const
{
if (argc < 1) {
printf("%s: missing command (try '%s start')",
SKETCHNAME, SKETCHNAME);
exit(1);
}
if (strcmp(argv[1], "start") == 0) {
if (thread_running) {
printf("%s already running\n", SKETCHNAME);
/* this is not an error */
exit(0);
}
printf("Starting %s on %s\n", SKETCHNAME, UARTA_DEVICE);
thread_should_exit = false;
daemon_task = task_spawn(SKETCHNAME,
SCHED_RR,
SCHED_PRIORITY_DEFAULT,
4096,
main_loop,
NULL);
exit(0);
}
if (strcmp(argv[1], "stop") == 0) {
thread_should_exit = true;
exit(0);
}
if (strcmp(argv[1], "status") == 0) {
if (thread_running) {
printf("\t%s is running\n", SKETCHNAME);
} else {
printf("\t%s is not started\n", SKETCHNAME);
}
exit(0);
}
printf("%s: unrecognized command ('start', 'stop' or 'status')", SKETCHNAME);
exit(1);
}
const HAL_PX4 AP_HAL_PX4;
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4