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https://github.com/ArduPilot/ardupilot
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AP_HAL: Stub implementations of pure virtual AP_HAL classes
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23
libraries/AP_HAL/AP_HAL.h
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23
libraries/AP_HAL/AP_HAL.h
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#ifndef __AP_HAL_H__
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#define __AP_HAL_H__
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#include "AP_HAL_Namespace.h"
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/* HAL Module Classes (all pure virtual) */
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#include "UARTDriver.h"
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#include "I2CDriver.h"
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#include "SPIDriver.h"
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#include "AnalogIn.h"
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#include "Storage.h"
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#include "Log.h"
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#include "Console.h"
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#include "GPIO.h"
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#include "PPMInput.h"
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#include "PWMOutput.h"
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/* HAL Class definition */
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#include "HAL.h"
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#endif // __AP_HAL_H__
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40
libraries/AP_HAL/AP_HAL_Namespace.h
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libraries/AP_HAL/AP_HAL_Namespace.h
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#ifndef __AP_HAL_NAMESPACE_H__
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#define __AP_HAL_NAMESPACE_H__
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namespace AP_HAL {
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/* Toplevel pure virtual class Hal.*/
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class HAL;
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/* Toplevel class names for drivers: */
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class UARTDriver;
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class I2CDriver;
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class SPIDriver;
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class AnalogIn;
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class Storage;
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class Log;
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class Console;
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class GPIO;
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class PPMInput;
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class PWMOutput;
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/* AVR / Arduino Implementations for APM1 and APM2 */
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class AVRUARTDriver;
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class AVRI2CDriver;
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class ArduinoSPIDriver;
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class ArduinoAnalogIn;
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class AVREEPROMStorage;
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class DataFlashAPM1Log;
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class DataFlashAPM2Log;
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class AVRUARTConsole;
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class ArduinoGPIO;
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class APM1PPMInput;
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class APM2PPMInput;
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class APM1PWMOutput;
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class APM2PWMOutput;
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}
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#endif // __AP_HAL_NAMESPACE_H__
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14
libraries/AP_HAL/AnalogIn.h
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libraries/AP_HAL/AnalogIn.h
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#ifndef __AP_HAL_ANALOG_IN_H__
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#define __AP_HAL_ANALOG_IN_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::AnalogIn {
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public:
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AnalogIn() {}
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virtual void init(int machtnicht) = 0;
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};
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#endif // __AP_HAL_ANALOG_IN_H__
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14
libraries/AP_HAL/Console.h
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libraries/AP_HAL/Console.h
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#ifndef __AP_HAL_CONSOLE_H__
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#define __AP_HAL_CONSOLE_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::Console {
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public:
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Console() {}
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virtual void init(int machtnicht) = 0;
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};
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#endif // __AP_HAL_CONSOLE_H__
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13
libraries/AP_HAL/GPIO.h
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libraries/AP_HAL/GPIO.h
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#ifndef __AP_HAL_GPIO_H__
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#define __AP_HAL_GPIO_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::GPIO {
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public:
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GPIO() {}
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virtual void init(int machtnicht) = 0;
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};
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#endif // __AP_HAL_GPIO_H__
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66
libraries/AP_HAL/HAL.h
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libraries/AP_HAL/HAL.h
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#ifndef __AP_HAL_HAL_H__
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#define __AP_HAL_HAL_H__
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#include "AP_HAL_Namespace.h"
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#include "../AP_HAL/UARTDriver.h"
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#include "../AP_HAL/SPIDriver.h"
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#include "../AP_HAL/AnalogIn.h"
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#include "../AP_HAL/Storage.h"
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#include "../AP_HAL/Log.h"
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#include "../AP_HAL/Console.h"
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#include "../AP_HAL/GPIO.h"
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#include "../AP_HAL/PPMInput.h"
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#include "../AP_HAL/PWMOutput.h"
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class AP_HAL::HAL {
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public:
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HAL(AP_HAL::UARTDriver* _uart0,
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AP_HAL::UARTDriver* _uart1,
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AP_HAL::UARTDriver* _uart2,
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AP_HAL::UARTDriver* _uart3,
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AP_HAL::I2CDriver* _i2c,
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AP_HAL::SPIDriver* _spi,
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AP_HAL::AnalogIn* _analogIn,
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AP_HAL::Storage* _storage,
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AP_HAL::Log* _log,
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AP_HAL::Console* _console,
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AP_HAL::GPIO* _gpio,
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AP_HAL::PPMInput* _ppmin,
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AP_HAL::PWMOutput* _pwmout)
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:
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uart0(_uart0),
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uart1(_uart1),
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uart2(_uart2),
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uart3(_uart3),
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i2c(_i2c),
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spi(_spi),
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analogIn(_analogIn),
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storage(_storage),
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log(_log),
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console(_console),
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gpio(_gpio),
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ppmin(_ppmin),
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pwmout(_pwmout)
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{}
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AP_HAL::UARTDriver* uart0;
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AP_HAL::UARTDriver* uart1;
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AP_HAL::UARTDriver* uart2;
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AP_HAL::UARTDriver* uart3;
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AP_HAL::I2CDriver* i2c;
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AP_HAL::SPIDriver* spi;
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AP_HAL::AnalogIn* analogIn;
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AP_HAL::Storage* storage;
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AP_HAL::Log* log;
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AP_HAL::Console* console;
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AP_HAL::GPIO* gpio;
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AP_HAL::PPMInput* ppmin;
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AP_HAL::PWMOutput* pwmout;
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};
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#endif // __AP_HAL_HAL_H__
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14
libraries/AP_HAL/I2CDriver.h
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libraries/AP_HAL/I2CDriver.h
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#ifndef __AP_HAL_I2C_DRIVER_H__
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#define __AP_HAL_I2C_DRIVER_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::I2CDriver {
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public:
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I2CDriver() {}
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virtual void init() = 0;
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};
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#endif // __AP_HAL_I2C_DRIVER_H__
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14
libraries/AP_HAL/Log.h
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libraries/AP_HAL/Log.h
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#ifndef __AP_HAL_LOG_H__
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#define __AP_HAL_LOG_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::Log{
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public:
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Log() {}
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virtual void init(int machtnicht) = 0;
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};
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#endif // __AP_HAL_LOG_H__
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14
libraries/AP_HAL/PPMInput.h
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libraries/AP_HAL/PPMInput.h
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#ifndef __AP_HAL_PPM_INPUT_H__
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#define __AP_HAL_PPM_INPUT_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::PPMInput {
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public:
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PPMInput() {}
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virtual void init(int machtnicht) = 0;
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};
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#endif // __AP_HAL_PPM_INPUT_H__
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14
libraries/AP_HAL/PWMOutput.h
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libraries/AP_HAL/PWMOutput.h
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#ifndef __AP_HAL_PWM_OUTPUT_H__
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#define __AP_HAL_PWM_OUTPUT_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::PWMOutput {
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public:
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PWMOutput() {}
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virtual void init(int machtnicht) = 0;
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};
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#endif // __AP_HAL_PWM_OUTPUT_H__
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14
libraries/AP_HAL/SPIDriver.h
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libraries/AP_HAL/SPIDriver.h
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#ifndef __AP_HAL_SPI_DRIVER_H__
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#define __AP_HAL_SPI_DRIVER_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::SPIDriver {
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public:
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SPIDriver() {}
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virtual void init() = 0;
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};
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#endif // __AP_HAL_SPI_DRIVER_H__
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libraries/AP_HAL/Storage.h
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libraries/AP_HAL/Storage.h
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#ifndef __AP_HAL_STORAGE_H__
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#define __AP_HAL_STORAGE_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::Storage {
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public:
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Storage() {}
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virtual void init(int machtnicht) = 0;
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};
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#endif // __AP_HAL_STORAGE_H__
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19
libraries/AP_HAL/UARTDriver.h
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libraries/AP_HAL/UARTDriver.h
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#ifndef __AP_HAL_UART_DRIVER_H__
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#define __AP_HAL_UART_DRIVER_H__
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#include <stdint.h>
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#include "AP_HAL_Namespace.h"
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/* Pure virtual UARTDriver class */
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class AP_HAL::UARTDriver {
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public:
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UARTDriver() {}
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virtual void init(uint16_t baud) = 0;
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/* XXX stub */
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};
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#endif // __AP_HAL_UART_DRIVER_H__
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