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ardupilot/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

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#include "HAL_Linux_Class.h"
#include <assert.h>
#include <signal.h>
#include <sched.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/RCOutput_Tap.h>
#include <AP_HAL/utility/getopt_cpp.h>
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
#include <AP_Module/AP_Module.h>
#include "AnalogIn_ADS1115.h"
#include "AnalogIn_IIO.h"
#include "AnalogIn_Navio2.h"
#include "GPIO.h"
#include "I2CDevice.h"
#include "OpticalFlow_Onboard.h"
#include "RCInput.h"
#include "RCInput_AioPRU.h"
#include "RCInput_Navio2.h"
#include "RCInput_PRU.h"
#include "RCInput_RPI.h"
#include "RCInput_SoloLink.h"
#include "RCInput_UART.h"
#include "RCInput_UDP.h"
#include "RCInput_Multi.h"
#include "RCInput_ZYNQ.h"
#include "RCInput_RCProtocol.h"
#include "RCOutput_AioPRU.h"
#include "RCOutput_Bebop.h"
#include "RCOutput_Disco.h"
#include "RCOutput_PCA9685.h"
#include "RCOutput_PRU.h"
#include "RCOutput_Sysfs.h"
#include "RCOutput_ZYNQ.h"
#include "SPIDevice.h"
#include "SPIUARTDriver.h"
#include "Scheduler.h"
#include "Storage.h"
#include "UARTDriver.h"
#include "Util.h"
#include "Util_RPI.h"
#include "CANSocketIface.h"
using namespace Linux;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static UtilRPI utilInstance;
#else
static Util utilInstance;
#endif
// 10 serial ports on Linux
static UARTDriver serial0Driver(true);
static UARTDriver serial1Driver(false);
static UARTDriver serial2Driver(false);
// serial3Driver declared below depending on board type
static UARTDriver serial4Driver(false);
static UARTDriver serial5Driver(false);
static UARTDriver serial6Driver(false);
static UARTDriver serial7Driver(false);
static UARTDriver serial8Driver(false);
static UARTDriver serial9Driver(false);
static I2CDeviceManager i2c_mgr_instance;
static SPIDeviceManager spi_mgr_instance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static SPIUARTDriver serial3Driver;
#else
static UARTDriver serial3Driver(false);
#endif
static UARTDriver* serialDrivers[] = {
&serial0Driver,
&serial1Driver,
&serial2Driver,
&serial3Driver,
&serial4Driver,
&serial5Driver,
&serial6Driver,
&serial7Driver,
&serial8Driver,
&serial9Driver,
};
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR|| \
((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1)) || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static AnalogIn_ADS1115 analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
static AnalogIn_IIO analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static AnalogIn_Navio2 analogIn;
#else
static Empty::AnalogIn analogIn;
#endif
static Storage storageDriver;
/*
use the BBB gpio driver on ERLE, PXF, BBBMINI, BLUE and PocketPilot
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
static GPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
static GPIO_Navigator gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static GPIO_Sysfs gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
static GPIO_Sysfs gpioDriver;
#else
static Empty::GPIO gpioDriver;
#endif
/*
use the PRU based RCInput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
static RCInput_PRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
static RCInput_AioPRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_RCProtocol(NULL, "/dev/ttyO4")};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static RCInput_RPI rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
static RCInput_ZYNQ rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCInput_UDP rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static RCInput_Multi rcinDriver{2, new RCInput_RCProtocol("/dev/uart-sbus", "/dev/uart-sumd"), new RCInput_UDP()};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
static RCInput_SoloLink rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static RCInput_Navio2 rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
// this is needed to allow for RC input using SERIALn_PROTOCOL=23. No fd is opened
// in the linux driver and instead user needs to provide a uart via SERIALn_PROTOCOL
static RCInput_RCProtocol rcinDriver{nullptr, nullptr};
#else
static RCInput rcinDriver;
#endif
/*
use the PRU based RCOutput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
static RCOutput_PRU rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
static RCOutput_AioPRU rcoutDriver;
/*
use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 24576000, 3, RPI_GPIO_<27>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 24576000, 3, NAVIO_GPIO_PCA_OE);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATENARY_ADDRESS), 0, 0, RPI_GPIO_<4>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), 0, 0, RPI_GPIO_<27>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(4, PCA9685_PRIMARY_ADDRESS), 24576000, 0, RPI_GPIO_<26>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
static RCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static RCOutput_Sysfs rcoutDriver(0, 0, 14);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
static ap::RCOutput_Tap rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static RCOutput_Sysfs rcoutDriver(0, 0, 15);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
static RCOutput_Sysfs rcoutDriver(0, 0, 8);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static RCOutput_Sysfs rcoutDriver(0, 0, 2);
#else
static Empty::RCOutput rcoutDriver;
#endif
static Scheduler schedulerInstance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static OpticalFlow_Onboard opticalFlow;
#else
static Empty::OpticalFlow opticalFlow;
#endif
#if HAL_WITH_DSP
static Empty::DSP dspDriver;
#endif
static Empty::Flash flashDriver;
static Empty::WSPIDeviceManager wspi_mgr_instance;
#if HAL_NUM_CAN_IFACES
static CANIface* canDrivers[HAL_NUM_CAN_IFACES];
#endif
HAL_Linux::HAL_Linux() :
AP_HAL::HAL(
&serial0Driver,
&serial1Driver,
&serial2Driver,
&serial3Driver,
&serial4Driver,
&serial5Driver,
&serial6Driver,
&serial7Driver,
&serial8Driver,
&serial9Driver,
&i2c_mgr_instance,
&spi_mgr_instance,
&wspi_mgr_instance,
&analogIn,
&storageDriver,
&serial0Driver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance,
&opticalFlow,
&flashDriver,
#if HAL_WITH_DSP
&dspDriver,
#endif
#if HAL_NUM_CAN_IFACES
(AP_HAL::CANIface**)canDrivers
#else
nullptr
#endif
)
{}
void _usage(void)
{
printf("Usage: --serial0 serial0Path --serial1 serial1Path \n");
printf("Examples:\n");
printf("\tserial (0 through 9 available):\n");
printf("\t --serial0 /dev/ttyO4\n");
printf("\t --serial3 /dev/ttyS1\n");
printf("\tlegacy UART options are deprecated, their mappings are:\n");
printf("\t -A/--uartA is SERIAL0\n");
printf("\t -C/--uartC is SERIAL1\n"); // ordering captures the historical use of uartB as SERIAL3
printf("\t -D/--uartD is SERIAL2\n");
printf("\t -B/--uartB is SERIAL3\n");
printf("\t -E/--uartE is SERIAL4\n");
printf("\t -F/--uartF is SERIAL5\n");
printf("\t -G/--uartG is SERIAL6\n");
printf("\t -H/--uartH is SERIAL7\n");
printf("\t -I/--uartI is SERIAL8\n");
printf("\t -J/--uartJ is SERIAL9\n");
printf("\tnetworking tcp:\n");
printf("\t --serial1 tcp:192.168.2.15:1243:wait\n");
printf("\t --serial0 tcp:11.0.0.2:5678\n");
printf("\t --serial0 udp:11.0.0.2:14550\n");
printf("\t --serial0 udp:11.0.0.2:14550\n");
printf("\tnetworking UDP:\n");
printf("\t --serial0 udp:11.0.0.255:14550:bcast\n");
printf("\t --serial0 udpin:0.0.0.0:14550\n");
printf("\tcustom log path:\n");
printf("\t --log-directory /var/APM/logs\n");
printf("\t -l /var/APM/logs\n");
printf("\tcustom terrain path:\n");
printf("\t --terrain-directory /var/APM/terrain\n");
printf("\t -t /var/APM/terrain\n");
printf("\tcustom storage path:\n");
printf("\t --storage-directory /var/APM/storage\n");
printf("\t -s /var/APM/storage\n");
#if AP_MODULE_SUPPORTED
printf("\tmodule support:\n");
printf("\t --module-directory %s\n", AP_MODULE_DEFAULT_DIRECTORY);
printf("\t -M %s\n", AP_MODULE_DEFAULT_DIRECTORY);
#endif
printf("\tcpu affinity:\n");
printf("\t --cpu-affinity 1 (single cpu) or 1,3 (multiple cpus) or 1-3 (range of cpus)\n");
printf("\t -c 1 (single cpu) or 1,3 (multiple cpus) or 1-3 (range of cpus)\n");
}
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{
#if AP_MODULE_SUPPORTED
const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
#endif
enum long_options {
CMDLINE_SERIAL0 = 1, // must be in 0-9 order and numbered consecutively
CMDLINE_SERIAL1,
CMDLINE_SERIAL2,
CMDLINE_SERIAL3,
CMDLINE_SERIAL4,
CMDLINE_SERIAL5,
CMDLINE_SERIAL6,
CMDLINE_SERIAL7,
CMDLINE_SERIAL8,
CMDLINE_SERIAL9,
};
int opt;
const struct GetOptLong::option options[] = {
{"uartA", true, 0, 'A'},
{"uartB", true, 0, 'B'},
{"uartC", true, 0, 'C'},
{"uartD", true, 0, 'D'},
{"uartE", true, 0, 'E'},
{"uartF", true, 0, 'F'},
{"uartG", true, 0, 'G'},
{"uartH", true, 0, 'H'},
{"uartI", true, 0, 'I'},
{"uartJ", true, 0, 'J'},
{"serial0", true, 0, CMDLINE_SERIAL0},
{"serial1", true, 0, CMDLINE_SERIAL1},
{"serial2", true, 0, CMDLINE_SERIAL2},
{"serial3", true, 0, CMDLINE_SERIAL3},
{"serial4", true, 0, CMDLINE_SERIAL4},
{"serial5", true, 0, CMDLINE_SERIAL5},
{"serial6", true, 0, CMDLINE_SERIAL6},
{"serial7", true, 0, CMDLINE_SERIAL7},
{"serial8", true, 0, CMDLINE_SERIAL8},
{"serial9", true, 0, CMDLINE_SERIAL9},
{"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'},
{"storage-directory", true, 0, 's'},
{"module-directory", true, 0, 'M'},
{"defaults", true, 0, 'd'},
{"cpu-affinity", true, 0, 'c'},
{"help", false, 0, 'h'},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "A:B:C:D:E:F:G:H:I:J:l:t:s:he:SM:c:",
options);
/*
parse command line options
*/
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'A':
case 'B':
case 'C':
case 'D':
case 'E':
case 'F':
case 'G':
case 'H':
case 'I':
case 'J': {
int uart_idx = opt - 'A';
// ordering captures the historical use of uartB as SERIAL3
static const uint8_t mapping[] = { 0, 3, 1, 2, 4, 5, 6, 7, 8, 9 };
int serial_idx = mapping[uart_idx];
printf("WARNING: deprecated option --uart%c/-%c will be removed in "
"a future release. Use --serial%d instead.\n",
(char)opt, (char)opt, serial_idx);
serialDrivers[serial_idx]->set_device_path(gopt.optarg);
break;
}
case CMDLINE_SERIAL0:
case CMDLINE_SERIAL1:
case CMDLINE_SERIAL2:
case CMDLINE_SERIAL3:
case CMDLINE_SERIAL4:
case CMDLINE_SERIAL5:
case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9:
serialDrivers[opt - CMDLINE_SERIAL0]->set_device_path(gopt.optarg);
break;
case 'l':
utilInstance.set_custom_log_directory(gopt.optarg);
break;
case 't':
utilInstance.set_custom_terrain_directory(gopt.optarg);
break;
case 's':
utilInstance.set_custom_storage_directory(gopt.optarg);
break;
#if AP_MODULE_SUPPORTED
case 'M':
module_path = gopt.optarg;
break;
#endif
case 'd':
utilInstance.set_custom_defaults_path(gopt.optarg);
break;
case 'c':
cpu_set_t cpu_affinity;
if (!utilInstance.parse_cpu_set(gopt.optarg, &cpu_affinity)) {
fprintf(stderr, "Could not parse cpu affinity: %s\n", gopt.optarg);
exit(1);
}
Linux::Scheduler::from(scheduler)->set_cpu_affinity(cpu_affinity);
break;
case 'h':
_usage();
exit(0);
default:
printf("Unknown option '%c'\n", (char)opt);
exit(1);
}
}
// NOTE: signal handlers are only set before the main loop, so
// that if anything before the loops hangs, the default signals
// can still stop the process proprely, although without proper
// teardown.
// This isn't perfect, but still prevents an unkillable process.
scheduler->init();
gpio->init();
rcout->init();
rcin->init();
serial(0)->begin(115200);
analogin->init();
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
// NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
// deadlock, and infinite loop in setup()") for details about the
// order of scheduler initialize and setup on Linux.
scheduler->set_system_initialized();
// possibly load external modules
#if AP_MODULE_SUPPORTED
if (module_path != nullptr) {
AP_Module::init(module_path);
}
#endif
#if AP_MODULE_SUPPORTED
AP_Module::call_hook_setup_start();
#endif
callbacks->setup();
#if AP_MODULE_SUPPORTED
AP_Module::call_hook_setup_complete();
#endif
setup_signal_handlers();
while (!_should_exit) {
callbacks->loop();
}
// At least try to stop all PWM before shutting down
rcout->force_safety_on();
rcin->teardown();
I2CDeviceManager::from(i2c_mgr)->teardown();
SPIDeviceManager::from(spi)->teardown();
Scheduler::from(scheduler)->teardown();
}
void HAL_Linux::setup_signal_handlers() const
{
struct sigaction sa = { };
sa.sa_flags = SA_NOCLDSTOP;
sa.sa_handler = HAL_Linux::exit_signal_handler;
sigaction(SIGTERM, &sa, NULL);
sigaction(SIGINT, &sa, NULL);
}
HAL_Linux hal_linux;
void HAL_Linux::exit_signal_handler(int signum)
{
hal_linux._should_exit = true;
}
const AP_HAL::HAL &AP_HAL::get_HAL()
{
return hal_linux;
}
AP_HAL::HAL &AP_HAL::get_HAL_mutable()
{
return hal_linux;
}
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