ardupilot/libraries/AP_HAL/HAL.h

145 lines
3.8 KiB
C++

#pragma once
class AP_Param;
#include "AP_HAL_Namespace.h"
#include "AnalogIn.h"
#include "GPIO.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "SPIDevice.h"
#include "QSPIDevice.h"
#include "Storage.h"
#include "UARTDriver.h"
#include "system.h"
#include "OpticalFlow.h"
#include "DSP.h"
#include "CANIface.h"
class AP_HAL::HAL {
public:
HAL(AP_HAL::UARTDriver* _uartA, // console
AP_HAL::UARTDriver* _uartB, // 1st GPS
AP_HAL::UARTDriver* _uartC, // telem1
AP_HAL::UARTDriver* _uartD, // telem2
AP_HAL::UARTDriver* _uartE, // 2nd GPS
AP_HAL::UARTDriver* _uartF, // extra1
AP_HAL::UARTDriver* _uartG, // extra2
AP_HAL::UARTDriver* _uartH, // extra3
AP_HAL::UARTDriver* _uartI, // extra4
AP_HAL::I2CDeviceManager* _i2c_mgr,
AP_HAL::SPIDeviceManager* _spi,
AP_HAL::QSPIDeviceManager* _qspi,
AP_HAL::AnalogIn* _analogin,
AP_HAL::Storage* _storage,
AP_HAL::UARTDriver* _console,
AP_HAL::GPIO* _gpio,
AP_HAL::RCInput* _rcin,
AP_HAL::RCOutput* _rcout,
AP_HAL::Scheduler* _scheduler,
AP_HAL::Util* _util,
AP_HAL::OpticalFlow*_opticalflow,
AP_HAL::Flash* _flash,
AP_HAL::DSP* _dsp,
#if HAL_NUM_CAN_IFACES > 0
AP_HAL::CANIface* _can_ifaces[HAL_NUM_CAN_IFACES])
#else
AP_HAL::CANIface** _can_ifaces)
#endif
:
uartA(_uartA),
uartB(_uartB),
uartC(_uartC),
uartD(_uartD),
uartE(_uartE),
uartF(_uartF),
uartG(_uartG),
uartH(_uartH),
uartI(_uartI),
i2c_mgr(_i2c_mgr),
spi(_spi),
qspi(_qspi),
analogin(_analogin),
storage(_storage),
console(_console),
gpio(_gpio),
rcin(_rcin),
rcout(_rcout),
scheduler(_scheduler),
util(_util),
opticalflow(_opticalflow),
flash(_flash),
dsp(_dsp)
{
#if HAL_NUM_CAN_IFACES > 0
if (_can_ifaces == nullptr) {
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++)
can[i] = nullptr;
} else {
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++)
can[i] = _can_ifaces[i];
}
#endif
AP_HAL::init();
}
struct Callbacks {
virtual void setup() = 0;
virtual void loop() = 0;
};
struct FunCallbacks : public Callbacks {
FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void));
void setup() override { _setup(); }
void loop() override { _loop(); }
private:
void (*_setup)(void);
void (*_loop)(void);
};
virtual void run(int argc, char * const argv[], Callbacks* callbacks) const = 0;
private:
// the uartX ports must be contiguous in ram for the serial() method to work
AP_HAL::UARTDriver* uartA;
AP_HAL::UARTDriver* uartB;
AP_HAL::UARTDriver* uartC;
AP_HAL::UARTDriver* uartD;
AP_HAL::UARTDriver* uartE;
AP_HAL::UARTDriver* uartF;
AP_HAL::UARTDriver* uartG;
AP_HAL::UARTDriver* uartH;
AP_HAL::UARTDriver* uartI;
public:
AP_HAL::I2CDeviceManager* i2c_mgr;
AP_HAL::SPIDeviceManager* spi;
AP_HAL::QSPIDeviceManager* qspi;
AP_HAL::AnalogIn* analogin;
AP_HAL::Storage* storage;
AP_HAL::UARTDriver* console;
AP_HAL::GPIO* gpio;
AP_HAL::RCInput* rcin;
AP_HAL::RCOutput* rcout;
AP_HAL::Scheduler* scheduler;
AP_HAL::Util *util;
AP_HAL::OpticalFlow *opticalflow;
AP_HAL::Flash *flash;
AP_HAL::DSP *dsp;
#if HAL_NUM_CAN_IFACES > 0
AP_HAL::CANIface* can[HAL_NUM_CAN_IFACES];
#else
AP_HAL::CANIface** can;
#endif
// access to serial ports using SERIALn_ numbering
UARTDriver* serial(uint8_t sernum) const;
static constexpr uint8_t num_serial = 9;
};