mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.6 KiB
C++
62 lines
1.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include <AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
|
|
#include <AP_HAL_PX4.h>
|
|
#include "AP_HAL_PX4_Namespace.h"
|
|
#include "HAL_PX4_Class.h"
|
|
#include "Console.h"
|
|
|
|
#include <AP_HAL_Empty.h>
|
|
#include <AP_HAL_Empty_Private.h>
|
|
|
|
#include <stdio.h>
|
|
|
|
using namespace PX4;
|
|
|
|
static Empty::EmptyUARTDriver uartADriver;
|
|
static Empty::EmptyUARTDriver uartBDriver;
|
|
static Empty::EmptyUARTDriver uartCDriver;
|
|
static Empty::EmptyI2CDriver i2cDriver;
|
|
static Empty::EmptySPIDeviceManager spiDeviceManager;
|
|
static Empty::EmptyAnalogIn analogIn;
|
|
static Empty::EmptyStorage storageDriver;
|
|
static Empty::EmptyGPIO gpioDriver;
|
|
static Empty::EmptyRCInput rcinDriver;
|
|
static Empty::EmptyRCOutput rcoutDriver;
|
|
static Empty::EmptyScheduler schedulerInstance;
|
|
static Empty::EmptyUtil utilInstance;
|
|
|
|
static PX4ConsoleDriver consoleDriver;
|
|
|
|
HAL_PX4::HAL_PX4() :
|
|
AP_HAL::HAL(
|
|
&uartADriver, /* uartA */
|
|
&uartBDriver, /* uartB */
|
|
&uartCDriver, /* uartC */
|
|
&i2cDriver, /* i2c */
|
|
&spiDeviceManager, /* spi */
|
|
&analogIn, /* analogin */
|
|
&storageDriver, /* storage */
|
|
&consoleDriver, /* console */
|
|
&gpioDriver, /* gpio */
|
|
&rcinDriver, /* rcinput */
|
|
&rcoutDriver, /* rcoutput */
|
|
&schedulerInstance, /* scheduler */
|
|
&utilInstance) /* util */
|
|
{}
|
|
|
|
void HAL_PX4::init(int argc, char * const argv[]) const
|
|
{
|
|
scheduler->init(NULL);
|
|
uartA->begin(115200);
|
|
console->init((void*) uartA);
|
|
}
|
|
|
|
const HAL_PX4 AP_HAL_PX4;
|
|
|
|
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
|