mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
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#include <AP_HAL.h>
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/* To save linker space, we need to make sure the HAL_AVR_APM2 class
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* is built iff we are building for HAL_BOARD_APM2. These defines must
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* wrap the whole HAL_AVR_APM2 class declaration and definition. */
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#include <AP_HAL_AVR.h>
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#include "AP_HAL_AVR_private.h"
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#include "HAL_AVR_APM2_Class.h"
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using namespace AP_HAL;
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using namespace AP_HAL_AVR;
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AVRUARTDriverISRs(0);
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AVRUARTDriverISRs(1);
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AVRUARTDriverISRs(2);
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AVRUARTDriverInstance(avrUart0Driver, 0);
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AVRUARTDriverInstance(avrUart1Driver, 1);
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AVRUARTDriverInstance(avrUart2Driver, 2);
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static AVRI2CDriver avrI2CDriver;
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static APM2SPIDeviceManager apm2SPIDriver;
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static AVRAnalogIn avrAnalogIn;
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static AVREEPROMStorage avrEEPROMStorage;
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static AVRConsoleDriver consoleDriver;
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static AVRGPIO avrGPIO;
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static APM2RCInput apm2RCInput;
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static APM2RCOutput apm2RCOutput;
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static AVRScheduler avrScheduler;
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static AVRUtil avrUtil;
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static ISRRegistry isrRegistry;
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HAL_AVR_APM2::HAL_AVR_APM2() :
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AP_HAL::HAL(
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&avrUart0Driver, /* phys UART0 -> uartA */
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&avrUart1Driver, /* phys UART1 -> uartB */
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&avrUart2Driver, /* phys UART2 -> uartC */
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&avrI2CDriver,
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&apm2SPIDriver,
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&avrAnalogIn,
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&avrEEPROMStorage,
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&consoleDriver,
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&avrGPIO,
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&apm2RCInput,
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&apm2RCOutput,
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&avrScheduler,
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&avrUtil )
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{}
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void HAL_AVR_APM2::init(int argc, char * const argv[]) const {
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scheduler->init((void*)&isrRegistry);
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/* uartA is the serial port used for the console, so lets make sure
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* it is initialized at boot */
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uartA->begin(115200);
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console->init((void*)uartA);
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/* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
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* as the init argument */
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rcin->init((void*)&isrRegistry);
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rcout->init(NULL);
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spi->init(NULL);
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i2c->begin();
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i2c->setTimeout(100);
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analogin->init(NULL);
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};
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const HAL_AVR_APM2 AP_HAL_AVR_APM2;
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2
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