mirror of https://github.com/ArduPilot/ardupilot
80 lines
1.9 KiB
C++
80 lines
1.9 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 UARTDriver uartADriver;
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static UARTDriver uartBDriver;
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static UARTDriver uartCDriver;
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static SPIDeviceManager spiDeviceManager;
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static AnalogIn analogIn;
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static Storage storageDriver;
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static GPIO gpioDriver;
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static RCInput rcinDriver;
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static RCOutput rcoutDriver;
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static Scheduler schedulerInstance;
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static Util utilInstance;
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static OpticalFlow opticalFlowDriver;
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static Flash flashDriver;
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HAL_Empty::HAL_Empty() :
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AP_HAL::HAL(
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&uartADriver,
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&uartCDriver, // ordering captures the historical use of uartB as SERIAL3
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nullptr, /* no uartD */
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&uartBDriver,
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nullptr, /* no uartE */
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nullptr, /* no uartF */
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nullptr, /* no uartG */
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nullptr, /* no uartH */
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nullptr, /* no uartI */
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nullptr, /* no uartJ */
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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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&opticalFlowDriver,
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&flashDriver,
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nullptr) /* no DSP */
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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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/* 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();
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serial(0)->begin(115200);
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_member->init();
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callbacks->setup();
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scheduler->set_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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static HAL_Empty hal_empty;
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const AP_HAL::HAL& AP_HAL::get_HAL() {
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return hal_empty;
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}
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AP_HAL::HAL& AP_HAL::get_HAL_mutable() {
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return hal_empty;
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}
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#endif
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