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