mirror of https://github.com/ArduPilot/ardupilot
93 lines
2.4 KiB
C++
93 lines
2.4 KiB
C++
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#ifndef __AP_HAL_HAL_H__
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#define __AP_HAL_HAL_H__
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#include "AP_HAL_Namespace.h"
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#include "../AP_HAL/UARTDriver.h"
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#include "../AP_HAL/SPIDriver.h"
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#include "../AP_HAL/AnalogIn.h"
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#include "../AP_HAL/Storage.h"
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#include "../AP_HAL/GPIO.h"
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#include "../AP_HAL/RCInput.h"
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#include "../AP_HAL/RCOutput.h"
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class AP_HAL::HAL {
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public:
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HAL(AP_HAL::UARTDriver* _uartA, // console
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AP_HAL::UARTDriver* _uartB, // 1st GPS
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AP_HAL::UARTDriver* _uartC, // telem1
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AP_HAL::UARTDriver* _uartD, // telem2
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AP_HAL::UARTDriver* _uartE, // 2nd GPS
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AP_HAL::I2CDriver* _i2c0,
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AP_HAL::I2CDriver* _i2c1,
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AP_HAL::I2CDriver* _i2c2,
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AP_HAL::SPIDeviceManager* _spi,
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AP_HAL::AnalogIn* _analogin,
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AP_HAL::Storage* _storage,
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AP_HAL::UARTDriver* _console,
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AP_HAL::GPIO* _gpio,
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AP_HAL::RCInput* _rcin,
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AP_HAL::RCOutput* _rcout,
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AP_HAL::Scheduler* _scheduler,
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AP_HAL::Util* _util)
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:
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uartA(_uartA),
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uartB(_uartB),
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uartC(_uartC),
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uartD(_uartD),
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uartE(_uartE),
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i2c(_i2c0),
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i2c1(_i2c1),
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i2c2(_i2c2),
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spi(_spi),
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analogin(_analogin),
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storage(_storage),
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console(_console),
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gpio(_gpio),
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rcin(_rcin),
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rcout(_rcout),
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scheduler(_scheduler),
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util(_util)
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{}
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struct Callbacks {
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virtual void setup() = 0;
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virtual void loop() = 0;
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};
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struct FunCallbacks : public Callbacks {
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FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void));
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void setup() override { _setup(); }
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void loop() override { _loop(); }
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private:
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void (*_setup)(void);
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void (*_loop)(void);
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};
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virtual void run(int argc, char * const argv[], Callbacks* callbacks) const = 0;
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AP_HAL::UARTDriver* uartA;
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AP_HAL::UARTDriver* uartB;
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AP_HAL::UARTDriver* uartC;
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AP_HAL::UARTDriver* uartD;
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AP_HAL::UARTDriver* uartE;
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AP_HAL::I2CDriver* i2c;
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AP_HAL::I2CDriver* i2c1;
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AP_HAL::I2CDriver* i2c2;
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AP_HAL::SPIDeviceManager* spi;
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AP_HAL::AnalogIn* analogin;
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AP_HAL::Storage* storage;
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AP_HAL::UARTDriver* console;
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AP_HAL::GPIO* gpio;
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AP_HAL::RCInput* rcin;
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AP_HAL::RCOutput* rcout;
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AP_HAL::Scheduler* scheduler;
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AP_HAL::Util* util;
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};
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#endif // __AP_HAL_HAL_H__
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