AP_HAL_FLYMAPLE: implement HAL::run()

libraries/AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE_Main.h

@@ -23,11 +23,9 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
 #define AP_HAL_MAIN() extern "C" {\
     int main (void) {\
-	hal.init(0, NULL);			\
+        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
-        setup();\
+        hal.run(0, NULL, &callbacks); \
-        hal.scheduler->system_initialized(); \
+        return 0; \
-        for(;;) loop();\
-        return 0;\
     }\
     }
 #endif // HAL_BOARD_FLYMAPLE

libraries/AP_HAL_FLYMAPLE/HAL_FLYMAPLE_Class.cpp

@@ -19,6 +19,8 @@
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
 
+#include <assert.h>
+
 #include "HAL_FLYMAPLE_Class.h"
 #include "AP_HAL_FLYMAPLE_Private.h"
 
@@ -85,6 +87,20 @@ void HAL_FLYMAPLE::init(int argc,char* const argv[]) const {
     storage->init(NULL); // Uses EEPROM.*, flash_stm* copied from AeroQuad_v3.2
 }
 
+void HAL_FLYMAPLE::run(int argc, char* const argv[], Callbacks* callbacks) const
+{
+    assert(callbacks);
+
+    init(argc, argv);
+
+    callbacks->setup();
+    scheduler->system_initialized();
+
+    for (;;) {
+        callbacks->loop();
+    }
+}
+
 const AP_HAL::HAL& AP_HAL::get_HAL() {
     static const HAL_FLYMAPLE hal;
     return hal;

libraries/AP_HAL_FLYMAPLE/HAL_FLYMAPLE_Class.h

@@ -27,6 +27,7 @@ class HAL_FLYMAPLE : public AP_HAL::HAL {
 public:
     HAL_FLYMAPLE();
     void init(int argc, char * const * argv) const;
+    void run(int argc, char* const* argv, Callbacks* callbacks) const override;
 };
 
 extern const HAL_FLYMAPLE AP_HAL_FLYMAPLE;