/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* Flymaple port by Mike McCauley */ #include #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE #include "HAL_FLYMAPLE_Class.h" #include "AP_HAL_FLYMAPLE_Private.h" using namespace AP_HAL_FLYMAPLE_NS; class HardwareSerial; extern HardwareSerial Serial1; // Serial1 is labelled "COM1" on Flymaple pins 7 and 8 extern HardwareSerial Serial2; // Serial2 is Flymaple pins 0 and 1 extern HardwareSerial Serial3; // Serial3 is labelled "GPS" on Flymaple pins 29 and 30 static FLYMAPLEUARTDriver uartADriver(&Serial1); // AP Console and highspeed mavlink static FLYMAPLEUARTDriver uartBDriver(&Serial2); // AP GPS connection static FLYMAPLEUARTDriver uartCDriver(&Serial3); // Optional AP telemetry radio static FLYMAPLESemaphore i2cSemaphore; static FLYMAPLEI2CDriver i2cDriver(&i2cSemaphore); static FLYMAPLESPIDeviceManager spiDeviceManager; static FLYMAPLEAnalogIn analogIn; static FLYMAPLEStorage storageDriver; static FLYMAPLEGPIO gpioDriver; static FLYMAPLERCInput rcinDriver; static FLYMAPLERCOutput rcoutDriver; static FLYMAPLEScheduler schedulerInstance; static FLYMAPLEUtil utilInstance; HAL_FLYMAPLE::HAL_FLYMAPLE() : AP_HAL::HAL( &uartADriver, &uartBDriver, &uartCDriver, NULL, /* no uartD */ &i2cDriver, &spiDeviceManager, &analogIn, &storageDriver, &uartADriver, &gpioDriver, &rcinDriver, &rcoutDriver, &schedulerInstance, &utilInstance ) {} void HAL_FLYMAPLE::init(int argc,char* const argv[]) const { /* initialize all drivers and private members here. * up to the programmer to do this in the correct order. * Scheduler should likely come first. */ scheduler->init(NULL); /* uartA is the serial port used for the console, so lets make sure * it is initialized at boot */ uartA->begin(115200); /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry* * as the init argument */ rcin->init(NULL); rcout->init(NULL); spi->init(NULL); i2c->begin(); i2c->setTimeout(100); analogin->init(NULL); storage->init(NULL); // Uses EEPROM.*, flash_stm* copied from AeroQuad_v3.2 } const HAL_FLYMAPLE AP_HAL_FLYMAPLE; #endif