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HAL_PX4: enabled AnalogIn driver

This commit is contained in:
Andrew Tridgell 2013-01-21 13:56:57 +11:00
parent 4deee014d6
commit 52f560a4c2
2 changed files with 13 additions and 7 deletions
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2
libraries/AP_HAL_PX4/AP_HAL_PX4_Namespace.h
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@ -9,6 +9,8 @@ namespace PX4 {
class PX4EEPROMStorage; class PX4EEPROMStorage;
class PX4RCInput; class PX4RCInput;
class PX4RCOutput; class PX4RCOutput;
class PX4AnalogIn;
class PX4AnalogSource;
} }
#endif //__AP_HAL_PX4_NAMESPACE_H__ #endif //__AP_HAL_PX4_NAMESPACE_H__

18
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
View File

@ -13,6 +13,7 @@
#include "Storage.h" #include "Storage.h"
#include "RCInput.h" #include "RCInput.h"
#include "RCOutput.h" #include "RCOutput.h"
#include "AnalogIn.h"
#include <AP_HAL_Empty.h> #include <AP_HAL_Empty.h>
#include <AP_HAL_Empty_Private.h> #include <AP_HAL_Empty_Private.h>
@ -29,7 +30,6 @@ using namespace PX4;
static Empty::EmptySemaphore i2cSemaphore; static Empty::EmptySemaphore i2cSemaphore;
static Empty::EmptyI2CDriver i2cDriver(&i2cSemaphore); static Empty::EmptyI2CDriver i2cDriver(&i2cSemaphore);
static Empty::EmptySPIDeviceManager spiDeviceManager; static Empty::EmptySPIDeviceManager spiDeviceManager;
static Empty::EmptyAnalogIn analogIn;
static Empty::EmptyGPIO gpioDriver; static Empty::EmptyGPIO gpioDriver;
static Empty::EmptyUtil utilInstance; static Empty::EmptyUtil utilInstance;
@ -38,6 +38,7 @@ static PX4Scheduler schedulerInstance;
static PX4EEPROMStorage storageDriver; static PX4EEPROMStorage storageDriver;
static PX4RCInput rcinDriver; static PX4RCInput rcinDriver;
static PX4RCOutput rcoutDriver; static PX4RCOutput rcoutDriver;
static PX4AnalogIn analogIn;
#define UARTA_DEFAULT_DEVICE "/dev/ttyS0" #define UARTA_DEFAULT_DEVICE "/dev/ttyS0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS3" #define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
@ -64,7 +65,7 @@ HAL_PX4::HAL_PX4() :
&utilInstance) /* util */ &utilInstance) /* util */
{} {}
static bool thread_should_exit = false; /**< Daemon exit flag */ bool _px4_thread_should_exit = false; /**< Daemon exit flag */
static bool thread_running = false; /**< Daemon status flag */ static bool thread_running = false; /**< Daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */ static int daemon_task; /**< Handle of daemon task / thread */
@ -75,17 +76,18 @@ static int main_loop(int argc, char **argv)
extern void setup(void); extern void setup(void);
extern void loop(void); extern void loop(void);
hal.uartA->begin(115200); hal.uartA->begin(57600);
hal.console->init((void*) hal.uartA); hal.console->init((void*) hal.uartA);
hal.scheduler->init(NULL); hal.scheduler->init(NULL);
hal.rcin->init(NULL); hal.rcin->init(NULL);
hal.rcout->init(NULL); hal.rcout->init(NULL);
hal.analogin->init(NULL);
setup(); setup();
hal.scheduler->system_initialized(); hal.scheduler->system_initialized();
thread_running = true; thread_running = true;
while (!thread_should_exit) { while (!_px4_thread_should_exit) {
loop(); loop();
// yield the CPU for 1ms between loops to let other apps // yield the CPU for 1ms between loops to let other apps
@ -128,7 +130,7 @@ void HAL_PX4::init(int argc, char * const argv[]) const
uartADriver.set_device_path(device); uartADriver.set_device_path(device);
printf("Starting %s on %s\n", SKETCHNAME, device); printf("Starting %s on %s\n", SKETCHNAME, device);
thread_should_exit = false; _px4_thread_should_exit = false;
daemon_task = task_spawn(SKETCHNAME, daemon_task = task_spawn(SKETCHNAME,
SCHED_RR, SCHED_RR,
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
@ -139,12 +141,14 @@ void HAL_PX4::init(int argc, char * const argv[]) const
} }
if (strcmp(argv[i], "stop") == 0) { if (strcmp(argv[i], "stop") == 0) {
thread_should_exit = true; _px4_thread_should_exit = true;
exit(0); exit(0);
} }
if (strcmp(argv[i], "status") == 0) { if (strcmp(argv[i], "status") == 0) {
if (thread_running) { if (_px4_thread_should_exit && thread_running) {
printf("\t%s is exiting\n", SKETCHNAME);
} else if (thread_running) {
printf("\t%s is running\n", SKETCHNAME); printf("\t%s is running\n", SKETCHNAME);
} else { } else {
printf("\t%s is not started\n", SKETCHNAME); printf("\t%s is not started\n", SKETCHNAME);