mirror of https://github.com/ArduPilot/ardupilot
443 lines
16 KiB
C++
443 lines
16 KiB
C++
#include "HAL_Linux_Class.h"
|
|
|
|
#include <assert.h>
|
|
#include <signal.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
|
|
static UtilRPI utilInstance;
|
|
#else
|
|
static Util utilInstance;
|
|
#endif
|
|
|
|
// 5 serial ports on Linux
|
|
static UARTDriver uartADriver(true);
|
|
static UARTDriver uartCDriver(false);
|
|
static UARTDriver uartDDriver(false);
|
|
static UARTDriver uartEDriver(false);
|
|
static UARTDriver uartFDriver(false);
|
|
static UARTDriver uartGDriver(false);
|
|
static UARTDriver uartHDriver(false);
|
|
static UARTDriver uartIDriver(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 uartBDriver;
|
|
#else
|
|
static UARTDriver uartBDriver(false);
|
|
#endif
|
|
|
|
#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
|
|
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_NAVIGATOR
|
|
static GPIO_RPI 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
|
|
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
|
|
// 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);
|
|
#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
|
|
|
|
static Empty::DSP dspDriver;
|
|
static Empty::Flash flashDriver;
|
|
static Empty::QSPIDeviceManager qspi_mgr_instance;
|
|
|
|
#if HAL_NUM_CAN_IFACES
|
|
static CANIface* canDrivers[HAL_NUM_CAN_IFACES];
|
|
#endif
|
|
|
|
HAL_Linux::HAL_Linux() :
|
|
AP_HAL::HAL(
|
|
&uartADriver,
|
|
&uartBDriver,
|
|
&uartCDriver,
|
|
&uartDDriver,
|
|
&uartEDriver,
|
|
&uartFDriver,
|
|
&uartGDriver,
|
|
&uartHDriver,
|
|
&uartIDriver,
|
|
&i2c_mgr_instance,
|
|
&spi_mgr_instance,
|
|
&qspi_mgr_instance,
|
|
&analogIn,
|
|
&storageDriver,
|
|
&uartADriver,
|
|
&gpioDriver,
|
|
&rcinDriver,
|
|
&rcoutDriver,
|
|
&schedulerInstance,
|
|
&utilInstance,
|
|
&opticalFlow,
|
|
&flashDriver,
|
|
&dspDriver,
|
|
#if HAL_NUM_CAN_IFACES
|
|
(AP_HAL::CANIface**)canDrivers
|
|
#else
|
|
nullptr
|
|
#endif
|
|
)
|
|
{}
|
|
|
|
void _usage(void)
|
|
{
|
|
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath -H uartHpath -I uartIpath\n");
|
|
printf("Options:\n");
|
|
printf("\tserial:\n");
|
|
printf(" -A /dev/ttyO4\n");
|
|
printf("\t -B /dev/ttyS1\n");
|
|
printf("\tnetworking tcp:\n");
|
|
printf("\t -C tcp:192.168.2.15:1243:wait\n");
|
|
printf("\t -A tcp:11.0.0.2:5678\n");
|
|
printf("\t -A udp:11.0.0.2:14550\n");
|
|
printf("\tnetworking UDP:\n");
|
|
printf("\t -A udp:11.0.0.255:14550:bcast\n");
|
|
printf("\t -A 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
|
|
}
|
|
|
|
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
|
|
|
|
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'},
|
|
{"log-directory", true, 0, 'l'},
|
|
{"terrain-directory", true, 0, 't'},
|
|
{"storage-directory", true, 0, 's'},
|
|
{"module-directory", true, 0, 'M'},
|
|
{"defaults", true, 0, 'd'},
|
|
{"help", false, 0, 'h'},
|
|
{0, false, 0, 0}
|
|
};
|
|
|
|
GetOptLong gopt(argc, argv, "A:B:C:D:E:F:G:H:l:t:s:he:SM:",
|
|
options);
|
|
|
|
/*
|
|
parse command line options
|
|
*/
|
|
while ((opt = gopt.getoption()) != -1) {
|
|
switch (opt) {
|
|
case 'A':
|
|
uartADriver.set_device_path(gopt.optarg);
|
|
break;
|
|
case 'B':
|
|
uartBDriver.set_device_path(gopt.optarg);
|
|
break;
|
|
case 'C':
|
|
uartCDriver.set_device_path(gopt.optarg);
|
|
break;
|
|
case 'D':
|
|
uartDDriver.set_device_path(gopt.optarg);
|
|
break;
|
|
case 'E':
|
|
uartEDriver.set_device_path(gopt.optarg);
|
|
break;
|
|
case 'F':
|
|
uartFDriver.set_device_path(gopt.optarg);
|
|
break;
|
|
case 'G':
|
|
uartGDriver.set_device_path(gopt.optarg);
|
|
break;
|
|
case 'H':
|
|
uartHDriver.set_device_path(gopt.optarg);
|
|
break;
|
|
case 'I':
|
|
uartIDriver.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 'h':
|
|
_usage();
|
|
exit(0);
|
|
default:
|
|
printf("Unknown option '%c'\n", (char)opt);
|
|
exit(1);
|
|
}
|
|
}
|
|
|
|
setup_signal_handlers();
|
|
|
|
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
|
|
|
|
while (!_should_exit) {
|
|
callbacks->loop();
|
|
}
|
|
|
|
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;
|
|
}
|