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