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AP_HAL_AVR: Refactor APM1 and APM2 instances to use CONFIG_HAL_BOARD

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This commit is contained in:
Pat Hickey 2012-12-11 11:24:27 -08:00 committed by Andrew Tridgell
parent fa02ad7d4c
commit 25e597d3b3
12 changed files with 238 additions and 120 deletions
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73
libraries/AP_HAL_AVR/AP_HAL_AVR.cpp
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@ -1,73 +0,0 @@
#include <AP_HAL.h>
#include "AP_HAL_AVR.h"
/* Include AVR-specific implementations of the HAL classes */
#include "HAL_AVR.h"
#include "UARTDriver.h"
#include "I2CDriver.h"
#include "SPIDriver.h"
#include "AnalogIn.h"
#include "Storage.h"
#include "Console.h"
#include "GPIO.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "Scheduler.h"
using namespace AP_HAL;
using namespace AP_HAL_AVR;
AVRUARTDriverISRs(0);
AVRUARTDriverISRs(1);
AVRUARTDriverISRs(2);
AVRUARTDriverISRs(3);
static AVRUARTDriverInstance(avrUart0Driver, 0);
static AVRUARTDriverInstance(avrUart1Driver, 1);
static AVRUARTDriverInstance(avrUart2Driver, 2);
static AVRUARTDriverInstance(avrUart3Driver, 3);
static AVRI2CDriver avrI2CDriver;
static APM1SPIDeviceManager apm1SPIDriver;
static APM2SPIDeviceManager apm2SPIDriver;
static AVRAnalogIn avrAnalogIn;
static AVREEPROMStorage avrEEPROMStorage;
static AVRConsoleDriver consoleDriver;
static AVRGPIO avrGPIO;
static APM1RCInput apm1RCInput;
static APM2RCInput apm2RCInput;
static APM1RCOutput apm1RCOutput;
static APM2RCOutput apm2RCOutput;
static AVRScheduler avrScheduler;
/* On APM1 the physical UART2 is used for SPI. */
const HAL_AVR AP_HAL_AVR_APM1(
(UARTDriver*) &avrUart0Driver, /* phys UART0 -> uartA */
(UARTDriver*) &avrUart1Driver, /* phys UART1 -> uartB */
(UARTDriver*) &avrUart3Driver, /* phys UART3 -> uartC */
&avrI2CDriver,
&apm1SPIDriver,
&avrAnalogIn,
&avrEEPROMStorage,
&consoleDriver,
&avrGPIO,
&apm1RCInput,
&apm1RCOutput,
&avrScheduler );
/* On APM1 the physical UART3 is used for SPI. */
const HAL_AVR AP_HAL_AVR_APM2(
(UARTDriver*) &avrUart0Driver, /* phys UART0 -> uartA */
(UARTDriver*) &avrUart1Driver, /* phys UART1 -> uartB */
(UARTDriver*) &avrUart2Driver, /* phys UART2 -> uartC */
&avrI2CDriver,
&apm2SPIDriver,
&avrAnalogIn,
&avrEEPROMStorage,
&consoleDriver,
&avrGPIO,
&apm2RCInput,
&apm2RCOutput,
&avrScheduler );

7
libraries/AP_HAL_AVR/AP_HAL_AVR.h
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@ -3,7 +3,9 @@
#define __AP_HAL_AVR_H__
#include <AP_HAL.h>
#include "HAL_AVR.h"
#include "HAL_AVR_APM1_Class.h"
#include "HAL_AVR_APM2_Class.h"
/**
* This module exports AP_HAL instances only.
@ -11,9 +13,6 @@
* and not expose implementation details.
*/
extern const AP_HAL_AVR::HAL_AVR AP_HAL_AVR_APM1;
extern const AP_HAL_AVR::HAL_AVR AP_HAL_AVR_APM2;
#define AP_HAL_MAIN() extern "C" {\
int main (void) {\
hal.init(NULL);\

17
libraries/AP_HAL_AVR/AP_HAL_AVR_private.h Normal file
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@ -0,0 +1,17 @@
#ifndef __AP_HAL_AVR_PRIVATE_H__
#define __AP_HAL_AVR_PRIVATE_H__
#include "UARTDriver.h"
#include "I2CDriver.h"
#include "SPIDriver.h"
#include "AnalogIn.h"
#include "Storage.h"
#include "Console.h"
#include "GPIO.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "Scheduler.h"
#include "utility/ISRRegistry.h"
#endif // __AP_HAL_AVR_PRIVATE_H__

73
libraries/AP_HAL_AVR/HAL_AVR_APM1_Class.cpp Normal file
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@ -0,0 +1,73 @@
#include <AP_HAL.h>
/* To save linker space, we need to make sure the HAL_AVR_APM1 class
* is built iff we are building for HAL_BOARD_APM1. These defines must
* wrap the whole HAL_AVR_APM1 class declaration and definition. */
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#include <AP_HAL_AVR.h>
#include "AP_HAL_AVR_private.h"
#include "HAL_AVR_APM1_Class.h"
using namespace AP_HAL;
using namespace AP_HAL_AVR;
AVRUARTDriverISRs(0);
AVRUARTDriverISRs(1);
AVRUARTDriverISRs(3);
AVRUARTDriverInstance(avrUart0Driver, 0);
AVRUARTDriverInstance(avrUart1Driver, 1);
AVRUARTDriverInstance(avrUart3Driver, 3);
static AVRI2CDriver avrI2CDriver;
static APM1SPIDeviceManager apm1SPIDriver;
static AVRAnalogIn avrAnalogIn;
static AVREEPROMStorage avrEEPROMStorage;
static AVRConsoleDriver consoleDriver;
static AVRGPIO avrGPIO;
static APM1RCInput apm1RCInput;
static APM1RCOutput apm1RCOutput;
static AVRScheduler avrScheduler;
static ISRRegistry isrRegistry;
/* On APM1 the physical UART2 is used for SPI. */
HAL_AVR_APM1::HAL_AVR_APM1() :
AP_HAL::HAL(
&avrUart0Driver, /* phys UART0 -> uartA */
&avrUart1Driver, /* phys UART1 -> uartB */
&avrUart3Driver, /* phys UART3 -> uartC */
&avrI2CDriver,
&apm1SPIDriver,
&avrAnalogIn,
&avrEEPROMStorage,
&consoleDriver,
&avrGPIO,
&apm1RCInput,
&apm1RCOutput,
&avrScheduler )
{}
void HAL_AVR_APM1::init(void* opts) const {
scheduler->init((void*)&isrRegistry);
/* uartA is the serial port used for the console, so lets make sure
* it is initialized at boot */
uartA->begin(115200);
console->init((void*)uartA);
/* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
* as the init argument */
rcin->init((void*)&isrRegistry);
rcout->init(NULL);
spi->init(NULL);
i2c->begin();
i2c->setTimeout(100);
analogin->init(NULL);
};
const HAL_AVR_APM1 AP_HAL_AVR_APM1;
#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM1

33
libraries/AP_HAL_AVR/HAL_AVR_APM1_Class.h Normal file
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@ -0,0 +1,33 @@
#ifndef __AP_HAL_AVR_APM1_HAL_AVR_H__
#define __AP_HAL_AVR_APM1_HAL_AVR_H__
#include <AP_HAL.h>
/* To save linker space, we need to make sure the HAL_AVR_APM1 class
* is built iff we are building for HAL_BOARD_APM1. These defines must
* wrap the whole HAL_AVR_APM1 class declaration and definition. */
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#include <AP_HAL_AVR.h>
#include "AP_HAL_AVR_Namespace.h"
/**
* HAL_AVR_APM1 class derives from HAL but provides a constructor to use the
* correct drivers for the APM1, and an init to set them all up properly.
*/
class HAL_AVR_APM1 : public AP_HAL::HAL {
public:
HAL_AVR_APM1();
void init(void* opts) const;
};
/**
* Static instance exported here, defined in the Class.cpp file
*/
extern const HAL_AVR_APM1 AP_HAL_AVR_APM1;
#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM1
#endif // __AP_HAL_AVR_APM1_HAL_AVR_H__

72
libraries/AP_HAL_AVR/HAL_AVR_APM2_Class.cpp Normal file
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@ -0,0 +1,72 @@
#include <AP_HAL.h>
/* To save linker space, we need to make sure the HAL_AVR_APM2 class
* is built iff we are building for HAL_BOARD_APM2. These defines must
* wrap the whole HAL_AVR_APM2 class declaration and definition. */
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#include <AP_HAL_AVR.h>
#include "AP_HAL_AVR_private.h"
#include "HAL_AVR_APM2_Class.h"
using namespace AP_HAL;
using namespace AP_HAL_AVR;
AVRUARTDriverISRs(0);
AVRUARTDriverISRs(1);
AVRUARTDriverISRs(2);
AVRUARTDriverInstance(avrUart0Driver, 0);
AVRUARTDriverInstance(avrUart1Driver, 1);
AVRUARTDriverInstance(avrUart2Driver, 2);
static AVRI2CDriver avrI2CDriver;
static APM2SPIDeviceManager apm2SPIDriver;
static AVRAnalogIn avrAnalogIn;
static AVREEPROMStorage avrEEPROMStorage;
static AVRConsoleDriver consoleDriver;
static AVRGPIO avrGPIO;
static APM2RCInput apm2RCInput;
static APM2RCOutput apm2RCOutput;
static AVRScheduler avrScheduler;
static ISRRegistry isrRegistry;
HAL_AVR_APM2::HAL_AVR_APM2() :
AP_HAL::HAL(
&avrUart0Driver, /* phys UART0 -> uartA */
&avrUart1Driver, /* phys UART1 -> uartB */
&avrUart2Driver, /* phys UART2 -> uartC */
&avrI2CDriver,
&apm2SPIDriver,
&avrAnalogIn,
&avrEEPROMStorage,
&consoleDriver,
&avrGPIO,
&apm2RCInput,
&apm2RCOutput,
&avrScheduler )
{}
void HAL_AVR_APM2::init(void* opts) const {
scheduler->init((void*)&isrRegistry);
/* uartA is the serial port used for the console, so lets make sure
* it is initialized at boot */
uartA->begin(115200);
console->init((void*)uartA);
/* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
* as the init argument */
rcin->init((void*)&isrRegistry);
rcout->init(NULL);
spi->init(NULL);
i2c->begin();
i2c->setTimeout(100);
analogin->init(NULL);
};
const HAL_AVR_APM2 AP_HAL_AVR_APM2;
#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2

33
libraries/AP_HAL_AVR/HAL_AVR_APM2_Class.h Normal file
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@ -0,0 +1,33 @@
#ifndef __AP_HAL_AVR_APM2_HAL_AVR_H__
#define __AP_HAL_AVR_APM2_HAL_AVR_H__
#include <AP_HAL.h>
/* To save linker space, we need to make sure the HAL_AVR_APM2 class
* is built iff we are building for HAL_BOARD_APM2. These defines must
* wrap the whole HAL_AVR_APM2 class declaration and definition. */
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#include <AP_HAL_AVR.h>
#include "AP_HAL_AVR_Namespace.h"
/**
* HAL_AVR_APM2 class derives from HAL but provides an AVR-specific
* init method.
*/
class HAL_AVR_APM2 : public AP_HAL::HAL {
public:
HAL_AVR_APM2();
void init(void* opts) const;
};
/**
* Static instance exported here, defined in the Class.cpp file
*/
extern const HAL_AVR_APM2 AP_HAL_AVR_APM2;
#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2
#endif // __AP_HAL_AVR_APM2_HAL_AVR_H__

42
libraries/AP_HAL_AVR/examples/APM1/APM1.pde
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@ -1,42 +0,0 @@
#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
void loop (void) {
hal.console->println(".");
hal.gpio->write(3, 0);
hal.scheduler->delay(1000);
hal.gpio->write(3, 1);
}
void setup (void) {
hal.gpio->pinMode(1, GPIO_OUTPUT);
hal.gpio->pinMode(2, GPIO_OUTPUT);
hal.gpio->pinMode(3, GPIO_OUTPUT);
hal.gpio->pinMode(13, GPIO_OUTPUT);
hal.gpio->write(1, 1);
hal.gpio->write(2, 1);
hal.gpio->write(3, 1);
hal.gpio->write(13, 1);
hal.scheduler->delay(1000);
hal.gpio->write(1, 0);
hal.gpio->write(2, 0);
hal.gpio->write(13, 0);
hal.scheduler->delay(1000);
hal.gpio->write(13, 1);
hal.gpio->write(1, 0);
hal.console->println("Hello World");
hal.gpio->write(2, 0);
}
AP_HAL_MAIN();

0
libraries/AP_HAL_AVR/examples/APM1/Arduino.h
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1
libraries/AP_HAL_AVR/examples/APM1/Makefile
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@ -1 +0,0 @@
include ../../../AP_Common/Arduino.mk

0
libraries/AP_HAL_AVR/examples/APM1/nocore.inoflag
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7
libraries/AP_HAL_AVR/examples/Blink/Blink.pde
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@ -1,10 +1,17 @@
#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_Param.h>
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#endif
AP_HAL::DigitalSource *a_led;
AP_HAL::DigitalSource *b_led;