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'.
114 lines
2.5 KiB
C++
114 lines
2.5 KiB
C++
#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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/**
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* You'll want to use a logic analyzer to watch the effects of this test.
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* On the APM2 its pretty easy to hook up an analyzer to pins A0 through A3.
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*/
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#define PIN_A0 15 /* A0 */
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#define PIN_A1 16 /* A1 */
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#define PIN_A2 17 /* A2 */
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#define PIN_A3 18 /* A3 */
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/**
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* Create an AVRSemaphore for this test.
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*/
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AP_HAL::Semaphore *sem;
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void blink_a0() {
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volatile int i;
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hal.gpio->write(PIN_A0, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(PIN_A0, 0);
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}
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void blink_a1() {
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volatile int i;
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hal.gpio->write(PIN_A1, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(PIN_A1, 0);
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}
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void blink_a2() {
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volatile int i;
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hal.gpio->write(PIN_A2, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(PIN_A2, 0);
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}
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void blink_a3() {
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volatile int i;
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hal.gpio->write(PIN_A3, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(PIN_A3, 0);
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}
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void setup_pin(int pin_num) {
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hal.console->printf_P(PSTR("Setup pin %d\r\n"), pin_num);
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hal.gpio->pinMode(pin_num,HAL_GPIO_OUTPUT);
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/* Blink so we can see setup on the logic analyzer.*/
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hal.gpio->write(pin_num,1);
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hal.gpio->write(pin_num,0);
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}
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void setup (void) {
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hal.console->printf_P(PSTR("Starting Semaphore test\r\n"));
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setup_pin(PIN_A0);
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setup_pin(PIN_A1);
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setup_pin(PIN_A2);
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setup_pin(PIN_A3);
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hal.console->printf_P(PSTR("Using SPIDeviceManager builtin Semaphore\r\n"));
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AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(AP_HAL::SPIDevice_Dataflash); // not really
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if (dataflash == NULL) {
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hal.scheduler->panic(PSTR("Error: No SPIDeviceDriver!"));
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}
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sem = dataflash->get_semaphore();
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if (sem == NULL) {
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hal.scheduler->panic(PSTR("Error: No SPIDeviceDriver semaphore!"));
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}
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hal.scheduler->register_timer_process(async_blinker);
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}
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uint32_t async_last_run = 0;
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void async_blinker(uint32_t millis) {
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if (async_last_run - millis < 5) {
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return;
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}
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if (sem->take_nonblocking()) {
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blink_a0();
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sem->give();
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} else {
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blink_a1();
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}
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}
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void loop (void) {
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if (sem->take(1)) {
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blink_a2();
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sem->give();
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} else {
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/* This should never happen: */
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blink_a3();
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}
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}
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AP_HAL_MAIN();
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