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