2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
60 lines
2.0 KiB
C++
60 lines
2.0 KiB
C++
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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uint8_t fibs[] = { 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 0 };
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void test_erase() {
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hal.console->printf_P(PSTR("erasing... "));
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for(int i = 0; i < 100; i++) {
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hal.storage->write_byte(i, 0);
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}
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hal.console->printf_P(PSTR(" done.\r\n"));
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}
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void test_write() {
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hal.console->printf_P(PSTR("writing... "));
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hal.storage->write_block(0, fibs, sizeof(fibs));
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hal.console->printf_P(PSTR(" done.\r\n"));
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}
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void test_readback() {
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hal.console->printf_P(PSTR("reading back...\r\n"));
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uint8_t readback[sizeof(fibs)];
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bool success = true;
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hal.storage->read_block(readback, 0, sizeof(fibs));
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for (int i = 0; i < sizeof(fibs); i++) {
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if (readback[i] != fibs[i]) {
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success = false;
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hal.console->printf_P(PSTR("At index %d expected %d got %d\r\n"),
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i, (int) fibs[i], (int) readback[i]);
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}
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}
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if (success) {
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hal.console->printf_P(PSTR("all bytes read successfully\r\n"));
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}
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hal.console->printf_P(PSTR("done reading back.\r\n"));
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}
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void setup (void) {
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hal.scheduler->delay(5000);
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hal.console->printf_P(PSTR("Starting AP_HAL_FLYMAPLE::Storage test\r\n"));
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hal.console->printf("test %d\n", i);
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test_readback(); // Test what was left from the last run, possibly after power off
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test_erase();
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test_write();
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test_readback();
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}
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void loop (void) { }
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AP_HAL_MAIN();
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