mirror of https://github.com/ArduPilot/ardupilot
134 lines
3.4 KiB
C++
134 lines
3.4 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
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#include "HAL_ESP32_Class.h"
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#include "Scheduler.h"
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#include "I2CDevice.h"
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#include "SPIDevice.h"
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#include "UARTDriver.h"
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#include "WiFiDriver.h"
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#include "WiFiUdpDriver.h"
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#include "RCInput.h"
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#include "RCOutput.h"
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#include "Storage.h"
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#include "AnalogIn.h"
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#include "Util.h"
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#if AP_SIM_ENABLED
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#include <AP_HAL/SIMState.h>
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#endif
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static ESP32::UARTDriver cons(0);
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#ifdef HAL_ESP32_WIFI
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#if HAL_ESP32_WIFI == 1
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static ESP32::WiFiDriver serial1Driver; //tcp, client should connect to 192.168.4.1 port 5760
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#elif HAL_ESP32_WIFI == 2
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static ESP32::WiFiUdpDriver serial1Driver; //udp
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#endif
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#else
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static Empty::UARTDriver serial1Driver;
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#endif
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static ESP32::UARTDriver serial2Driver(2);
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static ESP32::UARTDriver serial3Driver(1);
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static Empty::UARTDriver serial4Driver;
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static Empty::UARTDriver serial5Driver;
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static Empty::UARTDriver serial6Driver;
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static Empty::UARTDriver serial7Driver;
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static Empty::UARTDriver serial8Driver;
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static Empty::UARTDriver serial9Driver;
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#if HAL_WITH_DSP
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static Empty::DSP dspDriver;
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#endif
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static ESP32::I2CDeviceManager i2cDeviceManager;
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static ESP32::SPIDeviceManager spiDeviceManager;
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#ifndef HAL_DISABLE_ADC_DRIVER
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static ESP32::AnalogIn analogIn;
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#else
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static Empty::AnalogIn analogIn;
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#endif
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#ifdef HAL_USE_EMPTY_STORAGE
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static Empty::Storage storageDriver;
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#else
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static ESP32::Storage storageDriver;
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#endif
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static Empty::GPIO gpioDriver;
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#if AP_SIM_ENABLED
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static Empty::RCOutput rcoutDriver;
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#else
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static ESP32::RCOutput rcoutDriver;
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#endif
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static ESP32::RCInput rcinDriver;
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static ESP32::Scheduler schedulerInstance;
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static ESP32::Util utilInstance;
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static Empty::OpticalFlow opticalFlowDriver;
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static Empty::Flash flashDriver;
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#if AP_SIM_ENABLED
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static AP_HAL::SIMState xsimstate;
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#endif
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extern const AP_HAL::HAL& hal;
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HAL_ESP32::HAL_ESP32() :
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AP_HAL::HAL(
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&cons, //Console/mavlink
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&serial1Driver, //Telem 1
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&serial2Driver, //Telem 2
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&serial3Driver, //GPS 1
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&serial4Driver, //GPS 2
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&serial5Driver, //Extra 1
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&serial6Driver, //Extra 2
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&serial7Driver, //Extra 3
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&serial8Driver, //Extra 4
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&serial9Driver, //Extra 5
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&i2cDeviceManager,
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&spiDeviceManager,
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nullptr,
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&analogIn,
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&storageDriver,
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&cons,
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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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#if AP_SIM_ENABLED
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&xsimstate,
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#endif
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#if HAL_WITH_DSP
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&dspDriver,
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#endif
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nullptr
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)
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{}
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void HAL_ESP32::run(int argc, char * const argv[], Callbacks* callbacks) const
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{
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((ESP32::Scheduler *)hal.scheduler)->set_callbacks(callbacks);
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hal.scheduler->init();
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}
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void AP_HAL::init()
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{
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}
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