mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.6 KiB
C++
101 lines
2.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <assert.h>
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#include "AP_HAL_SITL.h"
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#include "AP_HAL_SITL_Namespace.h"
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#include "HAL_SITL_Class.h"
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#include "Scheduler.h"
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#include "AnalogIn.h"
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#include "UARTDriver.h"
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#include "Storage.h"
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#include "RCInput.h"
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#include "RCOutput.h"
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#include "SITL_State.h"
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#include "Util.h"
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
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using namespace HALSITL;
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static SITLEEPROMStorage sitlEEPROMStorage;
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static SITL_State sitlState;
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static SITLScheduler sitlScheduler(&sitlState);
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static SITLRCInput sitlRCInput(&sitlState);
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static SITLRCOutput sitlRCOutput(&sitlState);
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static SITLAnalogIn sitlAnalogIn(&sitlState);
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// use the Empty HAL for hardware we don't emulate
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static Empty::GPIO emptyGPIO;
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static Empty::Semaphore emptyI2Csemaphore;
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static Empty::I2CDriver emptyI2C(&emptyI2Csemaphore);
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static Empty::SPIDeviceManager emptySPI;
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static Empty::OpticalFlow emptyOpticalFlow;
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static SITLUARTDriver sitlUart0Driver(0, &sitlState);
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static SITLUARTDriver sitlUart1Driver(1, &sitlState);
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static SITLUARTDriver sitlUart2Driver(2, &sitlState);
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static SITLUARTDriver sitlUart3Driver(3, &sitlState);
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static SITLUARTDriver sitlUart4Driver(4, &sitlState);
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static SITLUtil utilInstance;
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HAL_SITL::HAL_SITL() :
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AP_HAL::HAL(
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&sitlUart0Driver, /* uartA */
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&sitlUart1Driver, /* uartB */
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&sitlUart2Driver, /* uartC */
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&sitlUart3Driver, /* uartD */
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&sitlUart4Driver, /* uartE */
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&emptyI2C, /* i2c */
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&emptyI2C, /* i2c */
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&emptyI2C, /* i2c */
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&emptySPI, /* spi */
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&sitlAnalogIn, /* analogin */
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&sitlEEPROMStorage, /* storage */
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&sitlUart0Driver, /* console */
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&emptyGPIO, /* gpio */
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&sitlRCInput, /* rcinput */
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&sitlRCOutput, /* rcoutput */
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&sitlScheduler, /* scheduler */
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&utilInstance, /* util */
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&emptyOpticalFlow), /* onboard optical flow */
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_sitl_state(&sitlState)
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{}
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void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
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{
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assert(callbacks);
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_sitl_state->init(argc, argv);
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scheduler->init();
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uartA->begin(115200);
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rcin->init();
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rcout->init();
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//spi->init();
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//i2c->begin();
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//i2c->setTimeout(100);
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analogin->init();
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callbacks->setup();
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scheduler->system_initialized();
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for (;;) {
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callbacks->loop();
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}
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}
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const AP_HAL::HAL& AP_HAL::get_HAL() {
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static const HAL_SITL hal;
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return hal;
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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