mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
de45437704
Avoids UB-inducing assumption that UART drivers are consecutive in the serial() function.
157 lines
4.0 KiB
C++
157 lines
4.0 KiB
C++
#pragma once
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class AP_Param;
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#include "AP_HAL_Namespace.h"
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#include "AnalogIn.h"
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#include "GPIO.h"
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#include "RCInput.h"
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#include "RCOutput.h"
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#include "SPIDevice.h"
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#include "WSPIDevice.h"
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#include "Storage.h"
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#include "UARTDriver.h"
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#include "system.h"
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#include "OpticalFlow.h"
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#include "DSP.h"
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#include "CANIface.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::UARTDriver* _uartF, // extra1
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AP_HAL::UARTDriver* _uartG, // extra2
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AP_HAL::UARTDriver* _uartH, // extra3
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AP_HAL::UARTDriver* _uartI, // extra4
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AP_HAL::UARTDriver* _uartJ, // extra5
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AP_HAL::I2CDeviceManager* _i2c_mgr,
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AP_HAL::SPIDeviceManager* _spi,
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AP_HAL::WSPIDeviceManager* _wspi,
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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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AP_HAL::OpticalFlow*_opticalflow,
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AP_HAL::Flash* _flash,
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#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
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class AP_HAL::SIMState* _simstate,
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#endif
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AP_HAL::DSP* _dsp,
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#if HAL_NUM_CAN_IFACES > 0
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AP_HAL::CANIface* _can_ifaces[HAL_NUM_CAN_IFACES])
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#else
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AP_HAL::CANIface** _can_ifaces)
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#endif
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uart_array{
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_uartA,
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_uartB,
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_uartC,
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_uartD,
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_uartE,
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_uartF,
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_uartG,
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_uartH,
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_uartI,
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_uartJ},
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i2c_mgr(_i2c_mgr),
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spi(_spi),
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wspi(_wspi),
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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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opticalflow(_opticalflow),
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flash(_flash),
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#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
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simstate(_simstate),
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#endif
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dsp(_dsp)
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{
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#if HAL_NUM_CAN_IFACES > 0
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if (_can_ifaces == nullptr) {
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for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++)
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can[i] = nullptr;
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} else {
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for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++)
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can[i] = _can_ifaces[i];
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}
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#endif
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AP_HAL::init();
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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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public:
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AP_HAL::I2CDeviceManager* i2c_mgr;
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AP_HAL::SPIDeviceManager* spi;
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AP_HAL::WSPIDeviceManager* wspi;
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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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AP_HAL::OpticalFlow *opticalflow;
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AP_HAL::Flash *flash;
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AP_HAL::DSP *dsp;
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#if HAL_NUM_CAN_IFACES > 0
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AP_HAL::CANIface* can[HAL_NUM_CAN_IFACES];
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#else
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AP_HAL::CANIface** can;
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#endif
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// access to serial ports using SERIALn_ numbering
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UARTDriver* serial(uint8_t sernum) const;
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static constexpr uint8_t num_serial = 10;
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private:
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AP_HAL::UARTDriver* uart_array[num_serial];
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public:
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#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
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AP_HAL::SIMState *simstate;
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#endif
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#ifndef HAL_CONSOLE_DISABLED
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# define DEV_PRINTF(fmt, args ...) do { hal.console->printf(fmt, ## args); } while(0)
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#else
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# define DEV_PRINTF(fmt, args ...)
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#endif
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};
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