ardupilot/libraries/AP_HAL/HAL.h

98 lines
2.6 KiB
C++

#pragma once
#include "AP_HAL_Namespace.h"
#include "AnalogIn.h"
#include "GPIO.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "SPIDriver.h"
#include "Storage.h"
#include "UARTDriver.h"
#include "system.h"
#include "OpticalFlow.h"
class AP_HAL::HAL {
public:
HAL(AP_HAL::UARTDriver* _uartA, // console
AP_HAL::UARTDriver* _uartB, // 1st GPS
AP_HAL::UARTDriver* _uartC, // telem1
AP_HAL::UARTDriver* _uartD, // telem2
AP_HAL::UARTDriver* _uartE, // 2nd GPS
AP_HAL::I2CDeviceManager* _i2c_mgr,
AP_HAL::I2CDriver* _i2c0,
AP_HAL::I2CDriver* _i2c1,
AP_HAL::I2CDriver* _i2c2,
AP_HAL::SPIDeviceManager* _spi,
AP_HAL::AnalogIn* _analogin,
AP_HAL::Storage* _storage,
AP_HAL::UARTDriver* _console,
AP_HAL::GPIO* _gpio,
AP_HAL::RCInput* _rcin,
AP_HAL::RCOutput* _rcout,
AP_HAL::Scheduler* _scheduler,
AP_HAL::Util* _util,
AP_HAL::OpticalFlow *_opticalflow)
:
uartA(_uartA),
uartB(_uartB),
uartC(_uartC),
uartD(_uartD),
uartE(_uartE),
i2c_mgr(_i2c_mgr),
i2c(_i2c0),
i2c1(_i2c1),
i2c2(_i2c2),
spi(_spi),
analogin(_analogin),
storage(_storage),
console(_console),
gpio(_gpio),
rcin(_rcin),
rcout(_rcout),
scheduler(_scheduler),
util(_util),
opticalflow(_opticalflow)
{
AP_HAL::init();
}
struct Callbacks {
virtual void setup() = 0;
virtual void loop() = 0;
};
struct FunCallbacks : public Callbacks {
FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void));
void setup() override { _setup(); }
void loop() override { _loop(); }
private:
void (*_setup)(void);
void (*_loop)(void);
};
virtual void run(int argc, char * const argv[], Callbacks* callbacks) const = 0;
AP_HAL::UARTDriver* uartA;
AP_HAL::UARTDriver* uartB;
AP_HAL::UARTDriver* uartC;
AP_HAL::UARTDriver* uartD;
AP_HAL::UARTDriver* uartE;
AP_HAL::I2CDeviceManager* i2c_mgr;
AP_HAL::I2CDriver* i2c;
AP_HAL::I2CDriver* i2c1;
AP_HAL::I2CDriver* i2c2;
AP_HAL::SPIDeviceManager* spi;
AP_HAL::AnalogIn* analogin;
AP_HAL::Storage* storage;
AP_HAL::UARTDriver* console;
AP_HAL::GPIO* gpio;
AP_HAL::RCInput* rcin;
AP_HAL::RCOutput* rcout;
AP_HAL::Scheduler* scheduler;
AP_HAL::Util *util;
AP_HAL::OpticalFlow *opticalflow;
};