AP_HAL_PX4: trivial console header

libraries/AP_HAL_PX4/AP_HAL_PX4.cpp

@@ -0,0 +1,26 @@
+
+#include <AP_HAL.h>
+#include "AP_HAL_PX4.h"
+
+#include "HAL_PX4.h"
+#include "UARTDriver.h"
+
+using namespace AP_HAL;
+using namespace AP_HAL_PX4;
+
+
+const HAL_PX4 AP_HAL_PX4_Instance(
+        (UARTDriver*) NULL, 
+        (UARTDriver*) NULL,
+        (UARTDriver*) NULL,
+        (UARTDriver*) NULL,
+        (I2CDriver*) NULL,
+        (SPIDriver*) NULL,
+        (AnalogIn*) NULL,
+        (Storage*) NULL,
+        (Dataflash*) NULL,
+        (ConsoleDriver*) NULL,
+        (GPIO*) NULL,
+        (RCInput*) NULL,
+        (RCOutput*) NULL,
+        (Scheduler*) NULL);

libraries/AP_HAL_PX4/AP_HAL_PX4.h

@@ -0,0 +1,17 @@
+
+#ifndef __AP_HAL_PX4_H__
+#define __AP_HAL_PX4_H__
+
+#include <AP_HAL.h>
+#include "HAL_PX4.h"
+
+/**
+ * This module exports AP_HAL instances only.
+ * All internal drivers must conform to AP_HAL interfaces
+ * and not expose implementation details.
+ */
+
+extern const AP_HAL_PX4::HAL_PX4 AP_HAL_PX4_Instance;
+
+#endif // __AP_HAL_PX4_H__
+

libraries/AP_HAL_PX4/AP_HAL_PX4_Namespace.h

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+
+#ifndef __AP_HAL_PX4_NAMESPACE_H__
+#define __AP_HAL_PX4_NAMESPACE_H__
+
+namespace AP_HAL_PX4 {
+    class HAL_PX4;
+
+    class PX4ConsoleDriver;
+}
+
+#endif //__AP_HAL_PX4_NAMESPACE_H__
+

libraries/AP_HAL_PX4/Console.h

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+
+#ifndef __AP_HAL_PX4_CONSOLE_DRIVER_H__
+#define __AP_HAL_PX4_CONSOLE_DRIVER_H__
+
+#include <AP_HAL.h>
+#include <AP_HAL_PX4_Namespace.h>
+
+class AP_HAL_PX4::PX4ConsoleDriver : public AP_HAL::ConsoleDriver {
+    PX4ConsoleDriver();
+    void init(void*);
+    void backend_open();
+    void backend_close();
+    int backend_read(uint8_t *data, int len);
+    int backend_write(const uint8_t *data, int len);
+
+    /* Implementations of BetterStream virtual methods */
+    void print_P(const prog_char_t *s);
+    void println_P(const prog_char_t *s);
+    void printf(const char *s, ...)
+            __attribute__ ((format(__printf__, 2, 3)));
+    void _printf_P(const prog_char *s, ...)
+            __attribute__ ((format(__printf__, 2, 3)));
+
+    /* Implementations of Stream virtual methods */
+    int available();
+    int txspace();
+    int read();
+    int peek();
+
+    /* Implementations of Print virtual methods */
+    size_t write(uint8_t c);
+
+};
+
+#endif // __AP_HAL_PX4_CONSOLE_DRIVER_H__

libraries/AP_HAL_PX4/HAL_PX4.cpp

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+
+#include "HAL_PX4.h"
+using namespace AP_HAL_PX4;
+
+void HAL_PX4::init(void* opts) const {
+
+    console->init(NULL);
+};
+

libraries/AP_HAL_PX4/HAL_PX4.h

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+
+
+#ifndef __AP_HAL_PX4_HAL_PX4_H__
+#define __AP_HAL_PX4_HAL_PX4_H__
+
+#include <AP_HAL.h>
+#include "AP_HAL_PX4_Namespace.h"
+
+/**
+ * HAL_PX4 class derives from HAL but provides an PX4-specific
+ * init method.
+ */
+
+class AP_HAL_PX4::HAL_PX4 : public AP_HAL::HAL {
+public:
+    HAL_PX4(
+        AP_HAL::UARTDriver* _uart0,
+        AP_HAL::UARTDriver* _uart1,
+        AP_HAL::UARTDriver* _uart2,
+        AP_HAL::UARTDriver* _uart3,
+        AP_HAL::I2CDriver*  _i2c,
+        AP_HAL::SPIDriver*  _spi,
+        AP_HAL::AnalogIn*   _analogin,
+        AP_HAL::Storage*    _storage,
+        AP_HAL::Dataflash*  _dataflash,
+        AP_HAL::ConsoleDriver* _console,
+        AP_HAL::GPIO*       _gpio,
+        AP_HAL::RCInput*    _rcin,
+        AP_HAL::RCOutput*   _rcout,
+        AP_HAL::Scheduler*  _scheduler)
+        : AP_HAL::HAL(  _uart0, _uart1, _uart2, _uart3,
+                        _i2c, _spi, _analogin, _storage,
+                        _dataflash, _console, _gpio, _rcin,
+                        _rcout, _scheduler) {}
+
+    void init(void* opts) const;
+};
+#endif // __AP_HAL_PX4_HAL_PX4_H__
+

libraries/AP_HAL_PX4/examples/simple/Makefile

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

libraries/AP_HAL_PX4/examples/simple/simple.pde

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+
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_HAL.h>
+#include <AP_HAL_PX4.h>
+
+const AP_HAL::HAL& hal = AP_HAL_PX4_Instance;
+
+void loop (void) {
+    hal.console->println(".");
+}
+
+void setup (void) {
+    hal.console->println("Hello World");
+}
+
+
+extern "C" {
+int main (void) {
+    hal.init(NULL);
+    setup();
+    for(;;) loop();
+    return 0;
+}
+}