ardupilot/libraries/AP_HAL_FLYMAPLE/HAL_FLYMAPLE_Class.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Flymaple port by Mike McCauley
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include <assert.h>
#include "HAL_FLYMAPLE_Class.h"
#include "AP_HAL_FLYMAPLE_Private.h"
using namespace AP_HAL_FLYMAPLE_NS;
class HardwareSerial;
extern HardwareSerial Serial1; // Serial1 is labelled "COM1" on Flymaple pins 7 and 8
extern HardwareSerial Serial2; // Serial2 is Flymaple pins 0 and 1
extern HardwareSerial Serial3; // Serial3 is labelled "GPS" on Flymaple pins 29 and 30
static FLYMAPLEUARTDriver uartADriver(&Serial1); // AP Console and highspeed mavlink
static FLYMAPLEUARTDriver uartBDriver(&Serial2); // AP GPS connection
static FLYMAPLEUARTDriver uartCDriver(&Serial3); // Optional AP telemetry radio
static FLYMAPLESemaphore i2cSemaphore;
static FLYMAPLEI2CDriver i2cDriver(&i2cSemaphore);
static FLYMAPLESPIDeviceManager spiDeviceManager;
static FLYMAPLEAnalogIn analogIn;
static FLYMAPLEStorage storageDriver;
static FLYMAPLEGPIO gpioDriver;
static FLYMAPLERCInput rcinDriver;
static FLYMAPLERCOutput rcoutDriver;
static FLYMAPLEScheduler schedulerInstance;
static FLYMAPLEUtil utilInstance;
HAL_FLYMAPLE::HAL_FLYMAPLE() :
AP_HAL::HAL(
&uartADriver,
&uartBDriver,
&uartCDriver,
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NULL, /* no uartD */
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NULL, /* no uartE */
&i2cDriver,
NULL, /* only 1 i2c */
NULL, /* only 1 i2c */
&spiDeviceManager,
&analogIn,
&storageDriver,
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&uartADriver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance
)
{}
void HAL_FLYMAPLE::run(int argc, char* const argv[], Callbacks* callbacks) const
{
assert(callbacks);
/* initialize all drivers and private members here.
* up to the programmer to do this in the correct order.
* Scheduler should likely come first. */
scheduler->init(NULL);
/* uartA is the serial port used for the console, so lets make sure
* it is initialized at boot */
uartA->begin(115200);
rcin->init(NULL);
rcout->init(NULL);
spi->init(NULL);
i2c->begin();
i2c->setTimeout(100);
analogin->init(NULL);
storage->init(NULL); // Uses EEPROM.*, flash_stm* copied from AeroQuad_v3.2
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callbacks->setup();
scheduler->system_initialized();
for (;;) {
callbacks->loop();
}
}
const AP_HAL::HAL& AP_HAL::get_HAL() {
static const HAL_FLYMAPLE hal;
return hal;
}
#endif