ardupilot/libraries/AP_HAL_AVR/HAL_AVR_APM2_Class.cpp

#include <AP_HAL/AP_HAL.h>

/* To save linker space, we need to make sure the HAL_AVR_APM2 class
 * is built iff we are building for HAL_BOARD_APM2. These defines must
 * wrap the whole HAL_AVR_APM2 class declaration and definition. */
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2

#include <assert.h>

#include "AP_HAL_AVR.h"
#include "AP_HAL_AVR_private.h"
#include "HAL_AVR_APM2_Class.h"

using namespace AP_HAL;
using namespace AP_HAL_AVR;

AVRUARTDriverISRs(0);
AVRUARTDriverISRs(1);
AVRUARTDriverISRs(2);

AVRUARTDriverInstance(avrUart0Driver, 0);
AVRUARTDriverInstance(avrUart1Driver, 1);
AVRUARTDriverInstance(avrUart2Driver, 2);

static AVRSemaphore     i2cSemaphore;
static AVRI2CDriver     avrI2CDriver(&i2cSemaphore);
static APM2SPIDeviceManager apm2SPIDriver;
static AVRAnalogIn      avrAnalogIn;
static AVREEPROMStorage avrEEPROMStorage;
static AVRGPIO          avrGPIO;
static APM2RCInput      apm2RCInput;
static APM2RCOutput     apm2RCOutput;
static AVRScheduler     avrScheduler;
static AVRUtil          avrUtil;

static ISRRegistry isrRegistry;

HAL_AVR_APM2::HAL_AVR_APM2() :
    AP_HAL::HAL(
        &avrUart0Driver, /* phys UART0 -> uartA */
        &avrUart1Driver, /* phys UART1 -> uartB */
        &avrUart2Driver, /* phys UART2 -> uartC */
        NULL,            /* no uartD */
        NULL,            /* no uartE */
        &avrI2CDriver,
        NULL, /* only one i2c */
        NULL, /* only one i2c */
        &apm2SPIDriver,
        &avrAnalogIn,
        &avrEEPROMStorage,
        &avrUart0Driver,
        &avrGPIO,
        &apm2RCInput,
        &apm2RCOutput,
        &avrScheduler,
        &avrUtil )
{}

void HAL_AVR_APM2::run(int argc, char* const argv[], Callbacks* callbacks) const
{
    assert(callbacks);

    scheduler->init((void*)&isrRegistry);

    /* uartA is the serial port used for the console, so lets make sure
     * it is initialized at boot */
    uartA->begin(115200, 128, 128);
    /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
     * as the init argument */
    rcin->init((void*)&isrRegistry);
    rcout->init(NULL);
    spi->init(NULL);
    i2c->begin();
    i2c->setTimeout(100);
    analogin->init(NULL);

    /* Enable the pullups on the RX pins of the 3 UARTs This is important when
     * the RX line is high-Z: capacitive coupling between input and output pins
     * can cause bytes written to show up as an input. Occasionally this causes
     * us to detect a phantom GPS by seeing our own outgoing config message.
     * PE0 : RX0 (uartA)
     * PD2 : RX1 (uartB)
     * PH0 : RX2 (uartC)
     */

    PORTE |= _BV(0);
    PORTD |= _BV(2);
    PORTH |= _BV(0);

    callbacks->setup();
    scheduler->system_initialized();

    for (;;) {
        callbacks->loop();
    }
}

const AP_HAL::HAL& AP_HAL::get_HAL() {
    static const HAL_AVR_APM2 hal;
    return hal;
}

#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2