ardupilot/libraries/AP_HAL_FLYMAPLE/HAL_FLYMAPLE_Class.cpp

89 lines
2.8 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Flymaple port by Mike McCauley
*/
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
#include "HAL_FLYMAPLE_Class.h"
#include "AP_HAL_FLYMAPLE_Private.h"
using namespace AP_HAL_FLYMAPLE_NS;
class HardwareSerial;
extern HardwareSerial Serial1; // Serial1 is labelled "COM1" on Flymaple pins 7 and 8
extern HardwareSerial Serial2; // Serial2 is Flymaple pins 0 and 1
extern HardwareSerial Serial3; // Serial3 is labelled "GPS" on Flymaple pins 29 and 30
static FLYMAPLEUARTDriver uartADriver(&Serial1); // AP Console and highspeed mavlink
static FLYMAPLEUARTDriver uartBDriver(&Serial2); // AP GPS connection
static FLYMAPLEUARTDriver uartCDriver(&Serial3); // Optional AP telemetry radio
static FLYMAPLESemaphore i2cSemaphore;
static FLYMAPLEI2CDriver i2cDriver(&i2cSemaphore);
static FLYMAPLESPIDeviceManager spiDeviceManager;
static FLYMAPLEAnalogIn analogIn;
static FLYMAPLEStorage storageDriver;
static FLYMAPLEGPIO gpioDriver;
static FLYMAPLERCInput rcinDriver;
static FLYMAPLERCOutput rcoutDriver;
static FLYMAPLEScheduler schedulerInstance;
static FLYMAPLEUtil utilInstance;
HAL_FLYMAPLE::HAL_FLYMAPLE() :
AP_HAL::HAL(
&uartADriver,
&uartBDriver,
&uartCDriver,
NULL, /* no uartD */
NULL, /* no uartE */
&i2cDriver,
&spiDeviceManager,
&analogIn,
&storageDriver,
&uartADriver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance
)
{}
void HAL_FLYMAPLE::init(int argc,char* const argv[]) const {
/* initialize all drivers and private members here.
* up to the programmer to do this in the correct order.
* Scheduler should likely come first. */
scheduler->init(NULL);
/* uartA is the serial port used for the console, so lets make sure
* it is initialized at boot */
uartA->begin(115200);
/* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
* as the init argument */
rcin->init(NULL);
rcout->init(NULL);
spi->init(NULL);
i2c->begin();
i2c->setTimeout(100);
analogin->init(NULL);
storage->init(NULL); // Uses EEPROM.*, flash_stm* copied from AeroQuad_v3.2
}
const HAL_FLYMAPLE AP_HAL_FLYMAPLE;
#endif