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SITL: switched to empty driver for unimplemented backends

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This commit is contained in:
Andrew Tridgell 2012-12-18 13:33:46 +11:00
parent a3e20324ac
commit 334b96b375
2 changed files with 22 additions and 10 deletions
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1
libraries/AP_HAL_AVR_SITL/AP_HAL_AVR_SITL_Namespace.h
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@ -10,6 +10,7 @@ namespace AVR_SITL {
class SITLEEPROMStorage;
class SITLAnalogIn;
class ADCSource;
class RCInput;
}
#endif // __AP_HAL_AVR_SITL_NAMESPACE_H__

31
libraries/AP_HAL_AVR_SITL/HAL_AVR_SITL_Class.cpp
View File

@ -14,19 +14,27 @@
#include "UARTDriver.h"
#include "Storage.h"
#include "Console.h"
#include "RCInput.h"
#include "SITL_State.h"
#include <AP_HAL_Empty.h>
#include <AP_HAL_Empty_Private.h>
using namespace AVR_SITL;
static SITLScheduler sitlScheduler;
static SITLEEPROMStorage sitlEEPROMStorage;
static SITLConsoleDriver consoleDriver;
static SITLAnalogIn sitlAnalogIn;
static SITL_State sitlState;
static SITLUARTDriver sitlUart0Driver(0);
static SITLUARTDriver sitlUart1Driver(1);
static SITLUARTDriver sitlUart2Driver(2);
static Empty::EmptyRCInput emptyRCInput;
static Empty::EmptyRCOutput emptyRCOutput;
static Empty::EmptyGPIO emptyGPIO;
static Empty::EmptyAnalogIn emptyAnalogIn;
static SITLUARTDriver sitlUart0Driver(0, &sitlState);
static SITLUARTDriver sitlUart1Driver(1, &sitlState);
static SITLUARTDriver sitlUart2Driver(2, &sitlState);
HAL_AVR_SITL::HAL_AVR_SITL() :
AP_HAL::HAL(
@ -35,12 +43,14 @@ HAL_AVR_SITL::HAL_AVR_SITL() :
&sitlUart2Driver, /* uartC */
NULL, /* i2c */
NULL, /* spi */
&sitlAnalogIn, /* analogin */
&emptyAnalogIn, /* analogin */
&sitlEEPROMStorage, /* storage */
&consoleDriver, /* console */
NULL, /* gpio */
NULL, /* rcinput */
NULL, /* rcoutput */
&emptyGPIO, /* gpio */
&emptyRCInput, /* rcinput */
&emptyRCOutput, /* rcoutput */
&sitlScheduler), /* scheduler */
_sitl_state(&sitlState)
{}
@ -52,8 +62,9 @@ void HAL_AVR_SITL::init(int argc, char * const argv[]) const
uartA->begin(115200);
console->init((void*) uartA);
//rcin->init(NULL);
//rcout->init(NULL);
rcin->init(NULL);
rcout->init(NULL);
//spi->init(NULL);
//i2c->begin();
//i2c->setTimeout(100);