mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.1 KiB
C++
79 lines
2.1 KiB
C++
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#include <AP_HAL.h>
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#include "AP_HAL_AVR.h"
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/* Include AVR-specific implementations of the HAL classes */
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#include "HAL_AVR.h"
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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 "Dataflash.h"
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#include "Console.h"
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#include "GPIO.h"
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#include "RCInput.h"
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#include "RCOutput.h"
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#include "Scheduler.h"
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using namespace AP_HAL;
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using namespace AP_HAL_AVR;
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AVRUARTDriverISRs(0);
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AVRUARTDriverISRs(1);
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AVRUARTDriverISRs(2);
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AVRUARTDriverISRs(3);
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static AVRUARTDriverInstance(avrUart0Driver, 0);
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static AVRUARTDriverInstance(avrUart1Driver, 1);
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static AVRUARTDriverInstance(avrUart2Driver, 2);
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static AVRUARTDriverInstance(avrUart3Driver, 3);
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static AVRI2CDriver avrI2CDriver;
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static APM1SPIDeviceManager apm1SPIDriver;
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static APM2SPIDeviceManager apm2SPIDriver;
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static AVRAnalogIn avrAnalogIn;
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static AVREEPROMStorage avrEEPROMStorage;
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static APM1Dataflash apm1Dataflash;
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static APM2Dataflash apm2Dataflash;
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static AVRConsoleDriver consoleDriver;
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static AVRGPIO avrGPIO;
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static APM1RCInput apm1RCInput;
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static APM2RCInput apm2RCInput;
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static APM1RCOutput apm1RCOutput;
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static APM2RCOutput apm2RCOutput;
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static AVRScheduler avrScheduler;
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/* On APM1 the physical UART2 is used for SPI. */
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const HAL_AVR AP_HAL_AVR_APM1(
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(UARTDriver*) &avrUart0Driver, /* phys UART0 -> uartA */
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(UARTDriver*) &avrUart1Driver, /* phys UART1 -> uartB */
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(UARTDriver*) &avrUart3Driver, /* phys UART3 -> uartC */
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&avrI2CDriver,
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&apm1SPIDriver,
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&avrAnalogIn,
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&avrEEPROMStorage,
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&apm1Dataflash,
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&consoleDriver,
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&avrGPIO,
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&apm1RCInput,
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&apm1RCOutput,
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&avrScheduler );
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/* On APM1 the physical UART3 is used for SPI. */
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const HAL_AVR AP_HAL_AVR_APM2(
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(UARTDriver*) &avrUart0Driver,
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(UARTDriver*) &avrUart1Driver,
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(UARTDriver*) &avrUart2Driver,
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&avrI2CDriver,
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&apm2SPIDriver,
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&avrAnalogIn,
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&avrEEPROMStorage,
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&apm2Dataflash,
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&consoleDriver,
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&avrGPIO,
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&apm2RCInput,
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&apm2RCOutput,
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&avrScheduler );
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