ardupilot/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

83 lines
1.9 KiB
C++

#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "HAL_Linux_Class.h"
#include "AP_HAL_Linux_Private.h"
#include <getopt.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
using namespace Linux;
// 3 serial ports on Linux for now
static LinuxUARTDriver uartADriver(true);
static LinuxUARTDriver uartBDriver(false);
static LinuxUARTDriver uartCDriver(false);
static LinuxSemaphore i2cSemaphore;
static LinuxI2CDriver i2cDriver(&i2cSemaphore, "/dev/i2c-1");
static LinuxSPIDeviceManager spiDeviceManager;
static LinuxAnalogIn analogIn;
static LinuxStorage storageDriver;
static LinuxGPIO gpioDriver;
static LinuxRCInput rcinDriver;
static LinuxRCOutput rcoutDriver;
static LinuxScheduler schedulerInstance;
static LinuxUtil utilInstance;
HAL_Linux::HAL_Linux() :
AP_HAL::HAL(
&uartADriver,
&uartBDriver,
&uartCDriver,
NULL, /* no uartD */
&i2cDriver,
&spiDeviceManager,
&analogIn,
&storageDriver,
&uartADriver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance)
{}
void HAL_Linux::init(int argc,char* const argv[]) const
{
int opt;
/*
parse command line options
*/
while ((opt = getopt(argc, argv, "A:B:C:h")) != -1) {
switch (opt) {
case 'A':
uartADriver.set_device_path(optarg);
break;
case 'B':
uartBDriver.set_device_path(optarg);
break;
case 'C':
uartCDriver.set_device_path(optarg);
break;
case 'h':
printf("Usage: -A uartAPath -B uartBPath -C uartCPath\n");
exit(0);
default:
printf("Unknown option '%c'\n", (char)opt);
exit(1);
}
}
scheduler->init(NULL);
uartA->begin(115200);
i2c->begin();
spi->init(NULL);
}
const HAL_Linux AP_HAL_Linux;
#endif