mirror of https://github.com/ArduPilot/ardupilot
259 lines
7.8 KiB
C++
259 lines
7.8 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <assert.h>
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#include "HAL_Linux_Class.h"
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#include "AP_HAL_Linux_Private.h"
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#include <AP_HAL/utility/getopt_cpp.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <stdlib.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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using namespace Linux;
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// 3 serial ports on Linux for now
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static LinuxUARTDriver uartADriver(true);
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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static LinuxSPIUARTDriver uartBDriver;
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#else
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static LinuxUARTDriver uartBDriver(false);
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#endif
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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static LinuxRPIOUARTDriver uartCDriver;
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#else
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static LinuxUARTDriver uartCDriver(false);
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#endif
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static LinuxUARTDriver uartEDriver(false);
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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static LinuxSemaphore i2cSemaphore0;
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static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-0");
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static LinuxSemaphore i2cSemaphore1;
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static LinuxI2CDriver i2cDriver1(&i2cSemaphore1, "/dev/i2c-1");
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static LinuxSemaphore i2cSemaphore2;
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static LinuxI2CDriver i2cDriver2(&i2cSemaphore2, "/dev/i2c-2");
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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static LinuxSemaphore i2cSemaphore0;
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static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-2");
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#else
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static LinuxSemaphore i2cSemaphore0;
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static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-1");
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#endif
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static LinuxSPIDeviceManager spiDeviceManager;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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static NavioAnalogIn analogIn;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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static RaspilotAnalogIn analogIn;
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#else
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static LinuxAnalogIn analogIn;
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#endif
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/*
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select between FRAM and FS
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*/
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#if LINUX_STORAGE_USE_FRAM == 1
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static LinuxStorage_FRAM storageDriver;
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#else
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static LinuxStorage storageDriver;
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#endif
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/*
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use the BBB gpio driver on ERLE, PXF and BBBMINI
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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 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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static LinuxGPIO_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_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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static LinuxGPIO_RPI gpioDriver;
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#else
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static Empty::EmptyGPIO 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 LinuxRCInput_PRU rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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static LinuxRCInput_AioPRU rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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static LinuxRCInput_Navio rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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static LinuxRCInput_Raspilot rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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static LinuxRCInput_ZYNQ rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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static LinuxRCInput_UDP rcinDriver;
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#else
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static LinuxRCInput 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 LinuxRCOutput_PRU rcoutDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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static LinuxRCOutput_AioPRU rcoutDriver;
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/*
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use the PCA9685 based RCOutput driver on Navio
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*/
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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static LinuxRCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27);
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/*
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use the STM32 based RCOutput driver on Raspilot
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*/
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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static LinuxRCOutput_Raspilot rcoutDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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static LinuxRCOutput_ZYNQ rcoutDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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static LinuxRCOutput_Bebop rcoutDriver;
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#else
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static Empty::EmptyRCOutput rcoutDriver;
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#endif
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static LinuxScheduler schedulerInstance;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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static LinuxUtilRPI utilInstance;
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#else
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static LinuxUtil utilInstance;
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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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NULL, /* no uartD */
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&uartEDriver,
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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&i2cDriver0,
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&i2cDriver1,
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&i2cDriver2,
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#else
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&i2cDriver0,
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NULL,
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NULL,
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#endif
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&spiDeviceManager,
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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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{}
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void _usage(void)
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{
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printf("Usage: -A uartAPath -B uartBPath -C uartCPath\n");
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printf("Options:\n");
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printf("\t-serial: -A /dev/ttyO4\n");
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printf("\t -B /dev/ttyS1\n");
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printf("\t-tcp: -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:11.0.0.2:5678\n");
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printf("\t-custom 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("\t-custom 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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}
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void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
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{
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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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{"uartE", true, 0, 'E'},
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{"log-directory", true, 0, 'l'},
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{"terrain-directory", true, 0, 't'},
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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:E:l:t:h",
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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 'E':
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uartEDriver.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 '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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scheduler->init(NULL);
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gpio->init();
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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i2c->begin();
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i2c1->begin();
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i2c2->begin();
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#else
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i2c->begin();
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#endif
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spi->init(NULL);
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rcout->init(NULL);
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rcin->init(NULL);
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uartA->begin(115200);
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uartE->begin(115200);
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analogin->init(NULL);
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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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callbacks->setup();
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for (;;) {
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callbacks->loop();
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}
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}
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const AP_HAL::HAL& AP_HAL::get_HAL() {
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static const HAL_Linux hal;
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return hal;
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}
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#endif
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