mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.0 KiB
C++
85 lines
2.0 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "HAL_Linux_Class.h"
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#include "AP_HAL_Linux_Private.h"
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#include <AP_HAL_Empty.h>
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#include <AP_HAL_Empty_Private.h>
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#include <getopt.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <stdlib.h>
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using namespace Linux;
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// only using 2 serial ports on Linux for now
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static LinuxUARTDriver uartADriver;
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static LinuxUARTDriver uartBDriver;
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static Empty::EmptyUARTDriver uartCDriver;
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static LinuxSemaphore i2cSemaphore;
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static LinuxI2CDriver i2cDriver(&i2cSemaphore, "/dev/i2c-1");
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static Empty::EmptySPIDeviceManager spiDeviceManager;
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static LinuxAnalogIn analogIn;
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static LinuxStorage storageDriver;
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static LinuxConsoleDriver consoleDriver(&uartADriver);
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static LinuxGPIO gpioDriver;
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static LinuxRCInput rcinDriver;
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static LinuxRCOutput rcoutDriver;
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static LinuxScheduler schedulerInstance;
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static LinuxUtil utilInstance;
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HAL_Linux::HAL_Linux() :
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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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&i2cDriver,
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&spiDeviceManager,
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&analogIn,
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&storageDriver,
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&consoleDriver,
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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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void HAL_Linux::init(int argc,char* const argv[]) const
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{
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int opt;
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/*
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parse command line options
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*/
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while ((opt = getopt(argc, argv, "A:B:h")) != -1) {
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switch (opt) {
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case 'A':
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uartADriver.set_device_path(optarg);
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break;
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case 'B':
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uartBDriver.set_device_path(optarg);
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break;
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case 'h':
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printf("Usage: -A uartAPath -B uartAPath\n");
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exit(0);
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default:
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printf("Unknown option '%c'\n", (char)opt);
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exit(1);
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}
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}
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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->begin(115200);
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i2c->begin();
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}
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const HAL_Linux AP_HAL_Linux;
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#endif
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