mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
122 lines
3.3 KiB
C++
122 lines
3.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <AP_Common/AP_Common.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Param/AP_Param.h>
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#include <Filter/Filter.h>
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#include <AP_ADC/AP_ADC.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Baro/AP_Baro.h>
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#include <DataFlash/DataFlash.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_Mission/AP_Mission.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_Declination/AP_Declination.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL_AVR/AP_HAL_AVR.h>
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#include <AP_HAL_SITL/AP_HAL_SITL.h>
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#include <AP_HAL_Linux/AP_HAL_Linux.h>
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#include <AP_HAL_PX4/AP_HAL_PX4.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h>
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_Notify/ToshibaLED.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_NavEKF/AP_NavEKF.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Declination/AP_Declination.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static ToshibaLED_PX4 toshiba_led;
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#else
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static ToshibaLED_I2C toshiba_led;
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#endif
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static uint8_t led_state;
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static uint8_t red, green, blue;
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void setup(void)
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{
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// display welcome message
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hal.console->print_P(PSTR("Toshiba LED test ver 0.1\n"));
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// initialise LED
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toshiba_led.init();
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// check if healthy
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if (!toshiba_led.healthy()) {
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hal.console->print_P(PSTR("Failed to initialise Toshiba LED\n"));
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}
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// turn on initialising notification
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AP_Notify::flags.initialising = false;
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AP_Notify::flags.save_trim = true;
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AP_Notify::flags.gps_status = 1;
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AP_Notify::flags.armed = 1;
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AP_Notify::flags.pre_arm_check = 1;
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}
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void loop(void)
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{
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// blink test
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//hal.console->print_P(PSTR("Blink test\n"));
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//blink();
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/*
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// full spectrum test
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hal.console->print_P(PSTR("Spectrum test\n"));
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full_spectrum();
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*/
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// update the toshiba led
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toshiba_led.update();
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// wait 1/50th of a second
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hal.scheduler->delay(20);
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}
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// full_spectrum - runs through the full spectrum of colours the led can display
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void full_spectrum()
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{
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// go through the full range of colours but only up to the dim light level
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for (uint8_t red=0; red<=0x05; red++) {
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for (uint8_t green=0; green<=0x05; green++) {
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for (uint8_t blue=0; blue<=0x05; blue++) {
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toshiba_led.set_rgb(red,green,blue);
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hal.scheduler->delay(5);
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}
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}
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}
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}
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#define LED_DIM 0x11
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// blink - blink the led at 10hz for 10 seconds
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void blink()
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{
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// set colour to red
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toshiba_led.set_rgb(LED_DIM,0,0);
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// full spectrum test
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for (uint8_t c=0; c<=2; c++ ) {
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if (c==0) {
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toshiba_led.set_rgb(LED_DIM,0,0); // red
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}else if (c==1) {
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toshiba_led.set_rgb(0,LED_DIM,0); // green
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}else{
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toshiba_led.set_rgb(0,0,LED_DIM); // blue
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}
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}
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}
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AP_HAL_MAIN();
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