mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
67 lines
1.7 KiB
C++
67 lines
1.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <AP_HAL_PX4.h>
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#include "AP_HAL_PX4_Namespace.h"
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#include "HAL_PX4_Class.h"
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#include "Console.h"
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#include "Scheduler.h"
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#include "UARTDriver.h"
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#include "Storage.h"
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#include <AP_HAL_Empty.h>
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#include <AP_HAL_Empty_Private.h>
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#include <stdio.h>
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using namespace PX4;
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static Empty::EmptyI2CDriver i2cDriver;
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static Empty::EmptySPIDeviceManager spiDeviceManager;
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static Empty::EmptyAnalogIn analogIn;
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static Empty::EmptyGPIO gpioDriver;
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static Empty::EmptyRCInput rcinDriver;
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static Empty::EmptyRCOutput rcoutDriver;
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static Empty::EmptyUtil utilInstance;
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static PX4ConsoleDriver consoleDriver;
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static PX4Scheduler schedulerInstance;
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static PX4EEPROMStorage storageDriver;
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// only one real UART driver for now
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static PX4UARTDriver uartADriver("/dev/ttyS0");
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static Empty::EmptyUARTDriver uartBDriver;
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static Empty::EmptyUARTDriver uartCDriver;
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HAL_PX4::HAL_PX4() :
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AP_HAL::HAL(
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&uartADriver, /* uartA */
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&uartBDriver, /* uartB */
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&uartCDriver, /* uartC */
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&i2cDriver, /* i2c */
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&spiDeviceManager, /* spi */
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&analogIn, /* analogin */
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&storageDriver, /* storage */
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&consoleDriver, /* console */
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&gpioDriver, /* gpio */
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&rcinDriver, /* rcinput */
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&rcoutDriver, /* rcoutput */
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&schedulerInstance, /* scheduler */
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&utilInstance) /* util */
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{}
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void HAL_PX4::init(int argc, char * const argv[]) const
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{
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scheduler->init(NULL);
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uartA->begin(115200);
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console->init((void*) uartA);
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}
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const HAL_PX4 AP_HAL_PX4;
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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