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ardupilot/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <assert.h>
#include "HAL_Linux_Class.h"
#include "AP_HAL_Linux_Private.h"
#include <AP_HAL/utility/getopt_cpp.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
using namespace Linux;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static UtilRPI utilInstance;
#else
static Util utilInstance;
#endif
// 3 serial ports on Linux for now
static UARTDriver uartADriver(true);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static SPIUARTDriver uartBDriver;
#else
static UARTDriver uartBDriver(false);
#endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static RPIOUARTDriver uartCDriver;
#else
static UARTDriver uartCDriver(false);
#endif
static UARTDriver uartDDriver(false);
static UARTDriver uartEDriver(false);
static I2CDeviceManager i2c_mgr_instance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static I2CDriver i2cDriver0(0);
static I2CDriver i2cDriver1(1);
static I2CDriver i2cDriver2(2);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static I2CDriver i2cDriver0(2);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static const std::vector<const char *> i2c_devpaths({
/* UEFI with lpss set to ACPI */
"/devices/platform/80860F41:05",
/* UEFI with lpss set to PCI */
"/devices/pci0000:00/0000:00:18.6",
});
static I2CDriver i2cDriver0(i2c_devpaths);
/* One additional emulated bus */
static I2CDriver i2cDriver1(10);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static Semaphore i2cSemaphore0;
static Empty::I2CDriver i2cDriver0(&i2cSemaphore0);
#else
static I2CDriver i2cDriver0(1);
#endif
static SPIDeviceManager spiDeviceManager;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static AnalogIn_ADS1115 analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static AnalogIn_Raspilot analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static Empty::AnalogIn analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static AnalogIn_IIO analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static AnalogIn_Navio2 analogIn;
#else
static AnalogIn analogIn;
#endif
/*
select between FRAM and FS
*/
#if LINUX_STORAGE_USE_FRAM == 1
static Storage_FRAM storageDriver;
#else
static Storage storageDriver;
#endif
/*
use the BBB gpio driver on ERLE, PXF and BBBMINI
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static GPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static GPIO_Sysfs gpioDriver;
#else
static Empty::GPIO gpioDriver;
#endif
/*
use the PRU based RCInput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
static RCInput_PRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static RCInput_AioPRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static RCInput_RPI rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static RCInput_Raspilot rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static RCInput_ZYNQ rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCInput_UDP rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static RCInput_UART rcinDriver("/dev/ttyS2");
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static RCInput_DSM rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static RCInput_Navio2 rcinDriver;
#else
static RCInput rcinDriver;
#endif
/*
use the PRU based RCOutput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
static RCOutput_PRU rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static RCOutput_AioPRU rcoutDriver;
/*
use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static RCOutput_PCA9685 rcoutDriver(PCA9685_QUATENARY_ADDRESS, false, 0, RPI_GPIO_4);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27);
/*
use the STM32 based RCOutput driver on Raspilot
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static RCOutput_Raspilot rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static RCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCOutput_Bebop rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, false, 0, MINNOW_GPIO_S5_1);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static RCOutput_QFLIGHT rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static RCOutput_Sysfs rcoutDriver(0, 14);
#else
static Empty::RCOutput rcoutDriver;
#endif
static Scheduler schedulerInstance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static OpticalFlow_Onboard opticalFlow;
#else
static Empty::OpticalFlow opticalFlow;
#endif
HAL_Linux::HAL_Linux() :
AP_HAL::HAL(
&uartADriver,
&uartBDriver,
&uartCDriver,
&uartDDriver,
&uartEDriver,
&i2c_mgr_instance,
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
&i2cDriver0,
&i2cDriver1,
&i2cDriver2,
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
&i2cDriver0,
&i2cDriver1,
NULL,
#else
&i2cDriver0,
NULL,
NULL,
#endif
&spiDeviceManager,
&analogIn,
&storageDriver,
&uartADriver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance,
&opticalFlow)
{}
void _usage(void)
{
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath\n");
printf("Options:\n");
printf("\t-serial: -A /dev/ttyO4\n");
printf("\t -B /dev/ttyS1\n");
printf("\t-tcp: -C tcp:192.168.2.15:1243:wait\n");
printf("\t -A tcp:11.0.0.2:5678\n");
printf("\t -A udp:11.0.0.2:5678\n");
printf("\t-custom log path:\n");
printf("\t --log-directory /var/APM/logs\n");
printf("\t -l /var/APM/logs\n");
printf("\t-custom terrain path:\n");
printf("\t --terrain-directory /var/APM/terrain\n");
printf("\t -t /var/APM/terrain\n");
}
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{
assert(callbacks);
int opt;
const struct GetOptLong::option options[] = {
{"uartA", true, 0, 'A'},
{"uartB", true, 0, 'B'},
{"uartC", true, 0, 'C'},
{"uartD", true, 0, 'D'},
{"uartE", true, 0, 'E'},
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
{"dsm", true, 0, 'S'},
{"ESC", true, 0, 'e'},
#endif
{"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'},
{"help", false, 0, 'h'},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "A:B:C:D:E:l:t:he:S",
options);
/*
parse command line options
*/
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'A':
uartADriver.set_device_path(gopt.optarg);
break;
case 'B':
uartBDriver.set_device_path(gopt.optarg);
break;
case 'C':
uartCDriver.set_device_path(gopt.optarg);
break;
case 'D':
uartDDriver.set_device_path(gopt.optarg);
break;
case 'E':
uartEDriver.set_device_path(gopt.optarg);
break;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
case 'e':
rcoutDriver.set_device_path(gopt.optarg);
break;
case 'S':
rcinDriver.set_device_path(gopt.optarg);
break;
#endif // CONFIG_HAL_BOARD_SUBTYPE
case 'l':
utilInstance.set_custom_log_directory(gopt.optarg);
break;
case 't':
utilInstance.set_custom_terrain_directory(gopt.optarg);
break;
case 'h':
_usage();
exit(0);
default:
printf("Unknown option '%c'\n", (char)opt);
exit(1);
}
}
scheduler->init();
gpio->init();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
i2c->begin();
i2c1->begin();
i2c2->begin();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
i2c->begin();
i2c1->begin();
#else
i2c->begin();
#endif
spi->init();
rcout->init();
rcin->init();
uartA->begin(115200);
uartE->begin(115200);
analogin->init();
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
// NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
// deadlock, and infinite loop in setup()") for details about the
// order of scheduler initialize and setup on Linux.
scheduler->system_initialized();
callbacks->setup();
for (;;) {
callbacks->loop();
}
}
const AP_HAL::HAL& AP_HAL::get_HAL() {
static const HAL_Linux hal;
return hal;
}
#endif
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