mirror of https://github.com/ArduPilot/ardupilot
409 lines
14 KiB
C++
409 lines
14 KiB
C++
#include "HAL_Linux_Class.h"
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#include <assert.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/RCOutput_Tap.h>
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#include <AP_HAL/utility/getopt_cpp.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
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#include <AP_Module/AP_Module.h>
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#include "AnalogIn_ADS1115.h"
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#include "AnalogIn_IIO.h"
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#include "AnalogIn_Navio2.h"
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#include "GPIO.h"
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#include "I2CDevice.h"
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#include "OpticalFlow_Onboard.h"
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#include "RCInput.h"
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#include "RCInput_AioPRU.h"
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#include "RCInput_Navio2.h"
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#include "RCInput_PRU.h"
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#include "RCInput_RPI.h"
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#include "RCInput_SBUS.h"
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#include "RCInput_SoloLink.h"
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#include "RCInput_UART.h"
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#include "RCInput_UDP.h"
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#include "RCInput_115200.h"
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#include "RCInput_Multi.h"
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#include "RCInput_ZYNQ.h"
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#include "RCOutput_AioPRU.h"
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#include "RCOutput_Bebop.h"
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#include "RCOutput_Disco.h"
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#include "RCOutput_PCA9685.h"
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#include "RCOutput_PRU.h"
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#include "RCOutput_Sysfs.h"
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#include "RCOutput_ZYNQ.h"
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#include "SPIDevice.h"
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#include "SPIUARTDriver.h"
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#include "Scheduler.h"
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#include "Storage.h"
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#include "UARTDriver.h"
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#include "Util.h"
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#include "Util_RPI.h"
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using namespace Linux;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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static UtilRPI utilInstance;
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#else
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static Util utilInstance;
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#endif
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// 5 serial ports on Linux
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static UARTDriver uartADriver(true);
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static UARTDriver uartCDriver(false);
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static UARTDriver uartDDriver(false);
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static UARTDriver uartEDriver(false);
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static UARTDriver uartFDriver(false);
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static I2CDeviceManager i2c_mgr_instance;
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static SPIDeviceManager spi_mgr_instance;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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static SPIUARTDriver uartBDriver;
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#else
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static UARTDriver uartBDriver(false);
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#endif
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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static AnalogIn_ADS1115 analogIn;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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static AnalogIn_IIO analogIn;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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static AnalogIn_Navio2 analogIn;
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#else
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static Empty::AnalogIn analogIn;
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#endif
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static Storage storageDriver;
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/*
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use the BBB gpio driver on ERLE, PXF, BBBMINI, BLUE and PocketPilot
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*/
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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static GPIO_BBB gpioDriver;
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/*
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use the RPI gpio driver on Navio
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*/
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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static GPIO_RPI gpioDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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static GPIO_Sysfs gpioDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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static GPIO_Sysfs gpioDriver;
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#else
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static Empty::GPIO gpioDriver;
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#endif
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/*
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use the PRU based RCInput driver on ERLE and PXF
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*/
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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static RCInput_PRU rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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static RCInput_AioPRU rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_115200("/dev/ttyO4")};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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static RCInput_RPI rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
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static RCInput_ZYNQ rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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static RCInput_UDP rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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static RCInput_UART rcinDriver("/dev/ttyS5");
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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static RCInput_Multi rcinDriver{2, new RCInput_SBUS, new RCInput_115200("/dev/uart-sumd")};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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static RCInput_SoloLink rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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static RCInput_Navio2 rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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static RCInput_SBUS rcinDriver;
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#else
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static RCInput rcinDriver;
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#endif
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/*
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use the PRU based RCOutput driver on ERLE and PXF
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*/
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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static RCOutput_PRU rcoutDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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static RCOutput_AioPRU rcoutDriver;
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/*
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use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2
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*/
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, RPI_GPIO_27);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, NAVIO_GPIO_PCA_OE);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATENARY_ADDRESS), false, 0, RPI_GPIO_4);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), false, 0, RPI_GPIO_27);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
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static RCOutput_ZYNQ rcoutDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(
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{ /* UEFI with lpss set to ACPI */
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"platform/80860F41:05",
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/* UEFI with lpss set to PCI */
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"pci0000:00/0000:00:18.6" },
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PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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static RCOutput_Sysfs rcoutDriver(0, 0, 14);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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static ap::RCOutput_Tap rcoutDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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static RCOutput_Sysfs rcoutDriver(0, 0, 15);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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static RCOutput_Sysfs rcoutDriver(0, 0, 8);
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#else
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static Empty::RCOutput rcoutDriver;
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#endif
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static Scheduler schedulerInstance;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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static OpticalFlow_Onboard opticalFlow;
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#else
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static Empty::OpticalFlow opticalFlow;
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#endif
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HAL_Linux::HAL_Linux() :
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AP_HAL::HAL(
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&uartADriver,
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&uartBDriver,
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&uartCDriver,
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&uartDDriver,
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&uartEDriver,
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&uartFDriver,
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&i2c_mgr_instance,
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&spi_mgr_instance,
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&analogIn,
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&storageDriver,
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&uartADriver,
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&gpioDriver,
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&rcinDriver,
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&rcoutDriver,
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&schedulerInstance,
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&utilInstance,
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&opticalFlow,
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nullptr)
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{}
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void _usage(void)
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{
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printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath\n");
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printf("Options:\n");
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printf("\tserial:\n");
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printf(" -A /dev/ttyO4\n");
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printf("\t -B /dev/ttyS1\n");
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printf("\tnetworking tcp:\n");
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printf("\t -C tcp:192.168.2.15:1243:wait\n");
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printf("\t -A tcp:11.0.0.2:5678\n");
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printf("\t -A udp:11.0.0.2:14550\n");
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printf("\tnetworking UDP:\n");
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printf("\t -A udp:11.0.0.255:14550:bcast\n");
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printf("\t -A udpin:0.0.0.0:14550\n");
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printf("\tcustom log path:\n");
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printf("\t --log-directory /var/APM/logs\n");
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printf("\t -l /var/APM/logs\n");
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printf("\tcustom terrain path:\n");
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printf("\t --terrain-directory /var/APM/terrain\n");
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printf("\t -t /var/APM/terrain\n");
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#if AP_MODULE_SUPPORTED
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printf("\tmodule support:\n");
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printf("\t --module-directory %s\n", AP_MODULE_DEFAULT_DIRECTORY);
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printf("\t -M %s\n", AP_MODULE_DEFAULT_DIRECTORY);
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#endif
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}
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void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
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{
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#if AP_MODULE_SUPPORTED
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const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
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#endif
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assert(callbacks);
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int opt;
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const struct GetOptLong::option options[] = {
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{"uartA", true, 0, 'A'},
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{"uartB", true, 0, 'B'},
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{"uartC", true, 0, 'C'},
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{"uartD", true, 0, 'D'},
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{"uartE", true, 0, 'E'},
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{"uartF", true, 0, 'F'},
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{"log-directory", true, 0, 'l'},
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{"terrain-directory", true, 0, 't'},
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{"storage-directory", true, 0, 's'},
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{"module-directory", true, 0, 'M'},
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{"help", false, 0, 'h'},
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{0, false, 0, 0}
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};
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GetOptLong gopt(argc, argv, "A:B:C:D:E:F:l:t:s:he:SM:",
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options);
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/*
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parse command line options
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*/
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while ((opt = gopt.getoption()) != -1) {
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switch (opt) {
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case 'A':
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uartADriver.set_device_path(gopt.optarg);
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break;
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case 'B':
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uartBDriver.set_device_path(gopt.optarg);
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break;
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case 'C':
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uartCDriver.set_device_path(gopt.optarg);
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break;
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case 'D':
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uartDDriver.set_device_path(gopt.optarg);
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break;
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case 'E':
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uartEDriver.set_device_path(gopt.optarg);
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break;
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case 'F':
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uartFDriver.set_device_path(gopt.optarg);
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break;
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case 'l':
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utilInstance.set_custom_log_directory(gopt.optarg);
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break;
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case 't':
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utilInstance.set_custom_terrain_directory(gopt.optarg);
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break;
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case 's':
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utilInstance.set_custom_storage_directory(gopt.optarg);
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break;
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#if AP_MODULE_SUPPORTED
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case 'M':
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module_path = gopt.optarg;
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break;
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#endif
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case 'h':
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_usage();
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exit(0);
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default:
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printf("Unknown option '%c'\n", (char)opt);
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exit(1);
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}
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}
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setup_signal_handlers();
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scheduler->init();
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gpio->init();
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rcout->init();
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rcin->init();
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uartA->begin(115200);
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uartE->begin(115200);
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uartF->begin(115200);
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analogin->init();
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utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
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// NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
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// deadlock, and infinite loop in setup()") for details about the
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// order of scheduler initialize and setup on Linux.
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scheduler->system_initialized();
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// possibly load external modules
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#if AP_MODULE_SUPPORTED
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if (module_path != nullptr) {
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AP_Module::init(module_path);
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}
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#endif
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#if AP_MODULE_SUPPORTED
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AP_Module::call_hook_setup_start();
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#endif
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callbacks->setup();
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#if AP_MODULE_SUPPORTED
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AP_Module::call_hook_setup_complete();
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#endif
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while (!_should_exit) {
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callbacks->loop();
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}
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rcin->teardown();
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I2CDeviceManager::from(i2c_mgr)->teardown();
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SPIDeviceManager::from(spi)->teardown();
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Scheduler::from(scheduler)->teardown();
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}
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void HAL_Linux::setup_signal_handlers() const
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{
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struct sigaction sa = { };
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sa.sa_flags = SA_NOCLDSTOP;
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sa.sa_handler = HAL_Linux::exit_signal_handler;
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sigaction(SIGTERM, &sa, NULL);
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sigaction(SIGINT, &sa, NULL);
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}
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static HAL_Linux halInstance;
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void HAL_Linux::exit_signal_handler(int signum)
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{
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halInstance._should_exit = true;
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}
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const AP_HAL::HAL &AP_HAL::get_HAL()
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|
{
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return halInstance;
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}
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