AP_HAL_AVR: Stub implementations of AP_HAL_AVR concrete classes

libraries/AP_HAL_AVR/AP_HAL_AVR.cpp

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+
+#include <AP_HAL.h>
+#include "AP_HAL_AVR.h"
+
+/* Include AVR-specific implementations of the HAL classes */
+#include "UARTDriver.h"
+#include "I2CDriver.h"
+#include "SPIDriver.h"
+#include "AnalogIn.h"
+#include "Storage.h"
+#include "Log.h"
+#include "Console.h"
+#include "GPIO.h"
+#include "PPMInput.h"
+#include "PWMOutput.h"
+
+using namespace AP_HAL;
+
+static AVRUARTDriver    avrUart0Driver( 0 );
+static AVRUARTDriver    avrUart1Driver( 1 );
+static AVRUARTDriver    avrUart2Driver( 2 );
+static AVRUARTDriver    avrUart3Driver( 3 );
+static AVRI2CDriver     avrI2CDriver;
+static ArduinoSPIDriver arduinoSPIDriver;
+static ArduinoAnalogIn  arduinoAnalogIn;
+static AVREEPROMStorage avrEEPROMStorage;
+static DataFlashAPM1Log apm1DataFlashLog;
+static DataFlashAPM2Log apm2DataFlashLog;
+static AVRUARTConsole   avrUartConsole(&avrUart0Driver);
+static ArduinoGPIO      arduinoGPIO;
+static APM1PPMInput     apm1PPMInput;
+static APM2PPMInput     apm2PPMInput;
+static APM1PWMOutput    apm1PWMOutput;
+static APM2PWMOutput    apm2PWMOutput;
+
+const HAL AP_HAL_AVR_APM1(
+        &avrUart0Driver,
+        &avrUart1Driver,
+        &avrUart2Driver,
+        &avrUart3Driver,
+        &avrI2CDriver,
+        &arduinoSPIDriver,
+        &arduinoAnalogIn,
+        &avrEEPROMStorage,
+        &apm1DataFlashLog,
+        &avrUartConsole,
+        &arduinoGPIO,
+        &apm1PPMInput,
+        &apm1PWMOutput );
+
+const HAL AP_HAL_AVR_APM2(
+        &avrUart0Driver,
+        &avrUart1Driver,
+        &avrUart2Driver,
+        &avrUart3Driver,
+        &avrI2CDriver,
+        &arduinoSPIDriver,
+        &arduinoAnalogIn,
+        &avrEEPROMStorage,
+        &apm2DataFlashLog,
+        &avrUartConsole,
+        &arduinoGPIO,
+        &apm2PPMInput,
+        &apm2PWMOutput );
+

libraries/AP_HAL_AVR/AP_HAL_AVR.h

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+
+#ifndef __AP_HAL_AVR_H__
+#define __AP_HAL_AVR_H__
+
+#include <AP_HAL.h>
+
+extern const AP_HAL::HAL AP_HAL_AVR_APM1;
+extern const AP_HAL::HAL AP_HAL_AVR_APM2;
+
+#endif // __AP_HAL_AVR_H__
+

libraries/AP_HAL_AVR/AnalogIn.h

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+
+#ifndef __AP_HAL_AVR_ANALOG_IN_H__
+#define __AP_HAL_AVR_ANALOG_IN_H__
+
+#include <AP_HAL.h>
+
+class AP_HAL::ArduinoAnalogIn : public AP_HAL::AnalogIn {
+public:
+    ArduinoAnalogIn() : _init(0) {}
+    void init(int machtnicht) { _init = 1; }
+private:
+    int _init;
+};
+
+#endif // __AP_HAL_AVR_ANALOG_IN_H__
+

libraries/AP_HAL_AVR/Console.h

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+
+#ifndef __AP_HAL_AVR_CONSOLE_H__
+#define __AP_HAL_AVR_CONSOLE_H__
+
+#include <AP_HAL.h>
+#include "UARTDriver.h"
+
+class AP_HAL::AVRUARTConsole : public AP_HAL::Console {
+public:
+    AVRUARTConsole( AVRUARTDriver* driver ) : _driver(driver), _init(0) {}
+    void init(int machtnicht) { _init = 1; }
+private:
+    const AVRUARTDriver* _driver;
+    int _init;
+};
+
+
+#endif // __AP_HAL_AVR_CONSOLE_H__
+

libraries/AP_HAL_AVR/GPIO.h

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+
+#ifndef __AP_HAL_AVR_GPIO_H__
+#define __AP_HAL_AVR_GPIO_H__
+
+#include <AP_HAL.h>
+
+class AP_HAL::ArduinoGPIO : public AP_HAL::GPIO {
+public:
+    ArduinoGPIO() : _init(0) {}
+    void init(int machtnicht) { _init = machtnicht; }
+private:
+    int _init;
+};
+
+#endif // __AP_HAL_AVR_GPIO_H__
+

libraries/AP_HAL_AVR/I2CDriver.h

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+
+#ifndef __AP_HAL_AVR_I2C_DRIVER_H__
+#define __AP_HAL_AVR_I2C_DRIVER_H__
+
+#include <AP_HAL.h>
+
+class AP_HAL::AVRI2CDriver : public AP_HAL::I2CDriver {
+public:
+    AVRI2CDriver(): _init(0) {}
+    void init() { _init = 1; } 
+private:
+    int _init;
+};
+
+#endif // __AP_HAL_AVR_I2C_DRIVER_H__
+

libraries/AP_HAL_AVR/Log.h

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+
+#ifndef __AP_HAL_AVR_LOG_H__
+#define __AP_HAL_AVR_LOG_H__
+
+#include <AP_HAL.h>
+
+class AP_HAL::DataFlashAPM1Log : public AP_HAL::Log {
+public:
+    DataFlashAPM1Log() : _init(0) {}
+    void init(int machtnicht) { _init = 1; }
+private:
+    int _init;
+};
+
+class AP_HAL::DataFlashAPM2Log : public AP_HAL::Log {
+public:
+    DataFlashAPM2Log() : _init(0) {}
+    void init(int machtnicht) { _init = 2; }
+private:
+    int _init;
+};
+
+#endif // __AP_HAL_AVR_LOG_H__
+

libraries/AP_HAL_AVR/PPMInput.h

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+
+#ifndef __AP_HAL_AVR_PPM_INPUT_H__
+#define __AP_HAL_AVR_PPM_INPUT_H__
+
+#include <AP_HAL.h>
+
+class AP_HAL::APM1PPMInput : public AP_HAL::PPMInput {
+public:
+    APM1PPMInput() : _init(0) {}
+    void init(int machtnicht) { _init = 1; }
+private:
+    int _init;
+};
+
+class AP_HAL::APM2PPMInput : public AP_HAL::PPMInput {
+public:
+    APM2PPMInput() : _init(0) {}
+    void init(int machtnicht) { _init = 2; }
+private:
+    int _init;
+};
+
+#endif // __AP_HAL_AVR_PPM_INPUT_H__
+

libraries/AP_HAL_AVR/PWMOutput.h

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+
+#ifndef __AP_HAL_AVR_PWM_OUTPUT_H__
+#define __AP_HAL_AVR_PWM_OUTPUT_H__
+
+#include <AP_HAL.h>
+
+class AP_HAL::APM1PWMOutput : public AP_HAL::PWMOutput {
+public:
+    APM1PWMOutput() : _init(0) {}
+    void init(int machtnicht) { _init = 1; }
+private:
+    int _init;
+};
+
+class AP_HAL::APM2PWMOutput : public AP_HAL::PWMOutput {
+public:
+    APM2PWMOutput() : _init(0) {}
+    void init(int machtnicht) { _init = 2; }
+private:
+    int _init;
+};
+
+#endif // __AP_HAL_AVR_PWM_OUTPUT_H__
+

libraries/AP_HAL_AVR/SPIDriver.h

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+
+#ifndef __AP_HAL_ARDUINO_SPI_DRIVER_H__
+#define __AP_HAL_ARDUINO_SPI_DRIVER_H__
+
+#include <AP_HAL.h>
+
+class AP_HAL::ArduinoSPIDriver : public AP_HAL::SPIDriver {
+public:
+    ArduinoSPIDriver() : _init(0) {}
+    void init() { _init = 1; }
+private:
+    int _init;
+};
+
+#endif // __AP_HAL_ARDUINO_SPI_DRIVER_H__
+

libraries/AP_HAL_AVR/Storage.h

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+
+
+#ifndef __AP_HAL_AVR_STORAGE_H__
+#define __AP_HAL_AVR_STORAGE_H__
+
+#include <AP_HAL.h>
+
+class AP_HAL::AVREEPROMStorage : public AP_HAL::Storage {
+public:
+    AVREEPROMStorage() : _init(0) {}
+    void init(int machtnicht) { _init = 1; }
+private:
+    int _init;
+};
+
+#endif // __AP_HAL_AVR_STORAGE_H__

libraries/AP_HAL_AVR/UARTDriver.h

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+
+#ifndef __AP_HAL_AVR_UART_DRIVER_H__
+#define __AP_HAL_AVR_UART_DRIVER_H__
+
+#include <stdint.h>
+
+#include <AP_HAL.h>
+
+/**
+ * AVRUARTDriver is an implementation of UARTDriver for the AVR.
+ * It will be a thin wrapper on FastSerial.
+ */
+
+class AP_HAL::AVRUARTDriver : public AP_HAL::UARTDriver {
+public:
+    AVRUARTDriver(int num) : _num(num) {}
+    void init(uint16_t baud) { _baud = baud; }
+    /* XXX stub implementation! */
+private:
+    int      _num;
+    uint16_t _baud;
+};
+
+
+#endif // __AP_HAL_AVR_UART_DRIVER_H__
+

libraries/AP_HAL_AVR/examples/APM1/APM1.pde

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+
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+
+const AP_HAL::HAL& hal1 = AP_HAL_AVR_APM1;
+const AP_HAL::HAL& hal2 = AP_HAL_AVR_APM2;
+
+void loop (void) {
+
+}
+
+void setup (void) {
+    hal1.uart0->init(9600);
+    hal2.uart0->init(9600);
+}
+
+

libraries/AP_HAL_AVR/examples/APM1/Makefile

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+include ../../../AP_Common/Arduino.mk