mirror of https://github.com/ArduPilot/ardupilot
146 lines
3.6 KiB
C++
146 lines
3.6 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "HAL_Linux_Class.h"
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#include "AP_HAL_Linux_Private.h"
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#include <getopt.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.h>
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#include <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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static LinuxUARTDriver uartBDriver(false);
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static LinuxUARTDriver uartCDriver(false);
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static LinuxSemaphore i2cSemaphore;
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static LinuxI2CDriver i2cDriver(&i2cSemaphore, "/dev/i2c-1");
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static LinuxSPIDeviceManager spiDeviceManager;
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static LinuxAnalogIn analogIn;
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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 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_ERLE
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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
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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_ERLE
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static LinuxRCInput_PRU 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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#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_ERLE
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static LinuxRCOutput_PRU 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_Navio 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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static LinuxUtil utilInstance;
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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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NULL, /* no uartE */
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&i2cDriver,
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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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}
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void HAL_Linux::init(int argc,char* const argv[]) const
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{
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int opt;
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/*
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parse command line options
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*/
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while ((opt = getopt(argc, argv, "A:B:C:h")) != -1) {
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switch (opt) {
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case 'A':
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uartADriver.set_device_path(optarg);
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break;
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case 'B':
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uartBDriver.set_device_path(optarg);
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break;
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case 'C':
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uartCDriver.set_device_path(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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i2c->begin();
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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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spi->init(NULL);
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utilInstance.init(argc, argv);
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}
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const HAL_Linux AP_HAL_Linux;
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#endif
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