mirror of https://github.com/ArduPilot/ardupilot
105 lines
2.8 KiB
C++
105 lines
2.8 KiB
C++
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#include <AP_HAL/AP_HAL.h>
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/* To save linker space, we need to make sure the HAL_AVR_APM2 class
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* is built iff we are building for HAL_BOARD_APM2. These defines must
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* wrap the whole HAL_AVR_APM2 class declaration and definition. */
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#include <assert.h>
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#include "AP_HAL_AVR.h"
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#include "AP_HAL_AVR_private.h"
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#include "HAL_AVR_APM2_Class.h"
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using namespace AP_HAL;
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using namespace AP_HAL_AVR;
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AVRUARTDriverISRs(0);
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AVRUARTDriverISRs(1);
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AVRUARTDriverISRs(2);
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AVRUARTDriverInstance(avrUart0Driver, 0);
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AVRUARTDriverInstance(avrUart1Driver, 1);
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AVRUARTDriverInstance(avrUart2Driver, 2);
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static AVRSemaphore i2cSemaphore;
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static AVRI2CDriver avrI2CDriver(&i2cSemaphore);
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static APM2SPIDeviceManager apm2SPIDriver;
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static AVRAnalogIn avrAnalogIn;
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static AVREEPROMStorage avrEEPROMStorage;
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static AVRGPIO avrGPIO;
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static APM2RCInput apm2RCInput;
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static APM2RCOutput apm2RCOutput;
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static AVRScheduler avrScheduler;
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static AVRUtil avrUtil;
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static ISRRegistry isrRegistry;
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HAL_AVR_APM2::HAL_AVR_APM2() :
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AP_HAL::HAL(
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&avrUart0Driver, /* phys UART0 -> uartA */
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&avrUart1Driver, /* phys UART1 -> uartB */
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&avrUart2Driver, /* phys UART2 -> uartC */
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NULL, /* no uartD */
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NULL, /* no uartE */
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&avrI2CDriver,
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NULL, /* only one i2c */
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NULL, /* only one i2c */
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&apm2SPIDriver,
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&avrAnalogIn,
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&avrEEPROMStorage,
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&avrUart0Driver,
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&avrGPIO,
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&apm2RCInput,
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&apm2RCOutput,
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&avrScheduler,
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&avrUtil )
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{}
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void HAL_AVR_APM2::run(int argc, char* const argv[], Callbacks* callbacks) const
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{
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assert(callbacks);
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scheduler->init((void*)&isrRegistry);
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/* uartA is the serial port used for the console, so lets make sure
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* it is initialized at boot */
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uartA->begin(115200, 128, 128);
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/* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
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* as the init argument */
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rcin->init((void*)&isrRegistry);
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rcout->init(NULL);
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spi->init(NULL);
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i2c->begin();
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i2c->setTimeout(100);
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analogin->init(NULL);
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/* Enable the pullups on the RX pins of the 3 UARTs This is important when
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* the RX line is high-Z: capacitive coupling between input and output pins
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* can cause bytes written to show up as an input. Occasionally this causes
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* us to detect a phantom GPS by seeing our own outgoing config message.
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* PE0 : RX0 (uartA)
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* PD2 : RX1 (uartB)
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* PH0 : RX2 (uartC)
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*/
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PORTE |= _BV(0);
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PORTD |= _BV(2);
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PORTH |= _BV(0);
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callbacks->setup();
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scheduler->system_initialized();
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for (;;) {
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callbacks->loop();
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}
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}
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const AP_HAL::HAL& AP_HAL::get_HAL() {
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static const HAL_AVR_APM2 hal;
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return hal;
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2
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