mirror of https://github.com/ArduPilot/ardupilot
77 lines
1.8 KiB
C++
77 lines
1.8 KiB
C++
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
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#include <assert.h>
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#include "HAL_Empty_Class.h"
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#include "AP_HAL_Empty_Private.h"
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using namespace Empty;
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static EmptyUARTDriver uartADriver;
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static EmptyUARTDriver uartBDriver;
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static EmptyUARTDriver uartCDriver;
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static EmptySemaphore i2cSemaphore;
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static EmptyI2CDriver i2cDriver(&i2cSemaphore);
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static EmptySPIDeviceManager spiDeviceManager;
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static EmptyAnalogIn analogIn;
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static EmptyStorage storageDriver;
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static EmptyGPIO gpioDriver;
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static EmptyRCInput rcinDriver;
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static EmptyRCOutput rcoutDriver;
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static EmptyScheduler schedulerInstance;
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static EmptyUtil utilInstance;
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HAL_Empty::HAL_Empty() :
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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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NULL, /* no uartE */
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&i2cDriver,
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NULL, /* only one i2c */
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NULL, /* only one i2c */
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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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_member(new EmptyPrivateMember(123))
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{}
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void HAL_Empty::init(int argc,char* const argv[]) const {
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/* initialize all drivers and private members here.
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* up to the programmer to do this in the correct order.
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* Scheduler should likely come first. */
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scheduler->init(NULL);
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uartA->begin(115200);
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_member->init();
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}
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void HAL_Empty::run(int argc, char* const argv[], Callbacks* callbacks) const
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{
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assert(callbacks);
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init(argc, argv);
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callbacks->setup();
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scheduler->system_initialized();
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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_Empty hal;
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return hal;
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}
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#endif
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