ardupilot/libraries/AP_HAL/HAL.h

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#pragma once
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class AP_Param;
#include "AP_HAL_Namespace.h"
#include "AnalogIn.h"
#include "GPIO.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "SPIDevice.h"
#include "WSPIDevice.h"
#include "Storage.h"
#include "UARTDriver.h"
#include "system.h"
#include "OpticalFlow.h"
#include "DSP.h"
#include "CANIface.h"
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class AP_HAL::HAL {
public:
HAL(AP_HAL::UARTDriver* _serial0, // console
AP_HAL::UARTDriver* _serial1, // telem1
AP_HAL::UARTDriver* _serial2, // telem2
AP_HAL::UARTDriver* _serial3, // 1st GPS
AP_HAL::UARTDriver* _serial4, // 2nd GPS
AP_HAL::UARTDriver* _serial5, // extra1
AP_HAL::UARTDriver* _serial6, // extra2
AP_HAL::UARTDriver* _serial7, // extra3
AP_HAL::UARTDriver* _serial8, // extra4
AP_HAL::UARTDriver* _serial9, // extra5
AP_HAL::I2CDeviceManager* _i2c_mgr,
AP_HAL::SPIDeviceManager* _spi,
AP_HAL::WSPIDeviceManager* _wspi,
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AP_HAL::AnalogIn* _analogin,
AP_HAL::Storage* _storage,
AP_HAL::UARTDriver* _console,
AP_HAL::GPIO* _gpio,
AP_HAL::RCInput* _rcin,
AP_HAL::RCOutput* _rcout,
AP_HAL::Scheduler* _scheduler,
AP_HAL::Util* _util,
AP_HAL::OpticalFlow*_opticalflow,
AP_HAL::Flash* _flash,
#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
class AP_HAL::SIMState* _simstate,
#endif
AP_HAL::DSP* _dsp,
#if HAL_NUM_CAN_IFACES > 0
AP_HAL::CANIface* _can_ifaces[HAL_NUM_CAN_IFACES])
#else
AP_HAL::CANIface** _can_ifaces)
#endif
:
serial_array{
_serial0,
_serial1,
_serial2,
_serial3,
_serial4,
_serial5,
_serial6,
_serial7,
_serial8,
_serial9},
i2c_mgr(_i2c_mgr),
spi(_spi),
wspi(_wspi),
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analogin(_analogin),
storage(_storage),
console(_console),
gpio(_gpio),
rcin(_rcin),
rcout(_rcout),
scheduler(_scheduler),
util(_util),
opticalflow(_opticalflow),
flash(_flash),
#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
simstate(_simstate),
#endif
dsp(_dsp)
{
#if HAL_NUM_CAN_IFACES > 0
if (_can_ifaces == nullptr) {
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++)
can[i] = nullptr;
} else {
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++)
can[i] = _can_ifaces[i];
}
#endif
AP_HAL::init();
}
struct Callbacks {
virtual void setup() = 0;
virtual void loop() = 0;
};
struct FunCallbacks : public Callbacks {
FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void));
void setup() override { _setup(); }
void loop() override { _loop(); }
private:
void (*_setup)(void);
void (*_loop)(void);
};
virtual void run(int argc, char * const argv[], Callbacks* callbacks) const = 0;
public:
AP_HAL::I2CDeviceManager* i2c_mgr;
AP_HAL::SPIDeviceManager* spi;
AP_HAL::WSPIDeviceManager* wspi;
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AP_HAL::AnalogIn* analogin;
AP_HAL::Storage* storage;
AP_HAL::UARTDriver* console;
AP_HAL::GPIO* gpio;
AP_HAL::RCInput* rcin;
AP_HAL::RCOutput* rcout;
AP_HAL::Scheduler* scheduler;
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AP_HAL::Util *util;
AP_HAL::OpticalFlow *opticalflow;
AP_HAL::Flash *flash;
AP_HAL::DSP *dsp;
#if HAL_NUM_CAN_IFACES > 0
AP_HAL::CANIface* can[HAL_NUM_CAN_IFACES];
#else
AP_HAL::CANIface** can;
#endif
// access to serial ports using SERIALn_ numbering
UARTDriver* serial(uint8_t sernum) const;
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static constexpr uint8_t num_serial = 10;
private:
// UART drivers in SERIALn_ order
AP_HAL::UARTDriver* serial_array[num_serial];
public:
#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
AP_HAL::SIMState *simstate;
#endif
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#ifndef HAL_CONSOLE_DISABLED
# define DEV_PRINTF(fmt, args ...) do { hal.console->printf(fmt, ## args); } while(0)
#else
# define DEV_PRINTF(fmt, args ...)
#endif
};
// access serial ports using SERIALn numbering
inline AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
{
if (sernum >= ARRAY_SIZE(serial_array)) {
return nullptr;
}
return serial_array[sernum];
}