76 lines
1.9 KiB
C++
76 lines
1.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_private.h>
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#include <AP_HAL_AVR_SITL.h>
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#include "AP_HAL_AVR_SITL_Namespace.h"
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#include "HAL_AVR_SITL_Class.h"
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#include "Scheduler.h"
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#include "AnalogIn.h"
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#include "UARTDriver.h"
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#include "Storage.h"
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#include "Console.h"
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#include "RCInput.h"
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#include "RCOutput.h"
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#include "SITL_State.h"
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#include <AP_HAL_Empty.h>
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#include <AP_HAL_Empty_Private.h>
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using namespace AVR_SITL;
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static SITLScheduler sitlScheduler;
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static SITLEEPROMStorage sitlEEPROMStorage;
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static SITLConsoleDriver consoleDriver;
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static SITL_State sitlState;
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static SITLRCInput sitlRCInput(&sitlState);
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static SITLRCOutput sitlRCOutput(&sitlState);
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static Empty::EmptyGPIO emptyGPIO;
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static Empty::EmptyAnalogIn emptyAnalogIn;
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static SITLUARTDriver sitlUart0Driver(0, &sitlState);
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static SITLUARTDriver sitlUart1Driver(1, &sitlState);
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static SITLUARTDriver sitlUart2Driver(2, &sitlState);
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HAL_AVR_SITL::HAL_AVR_SITL() :
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AP_HAL::HAL(
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&sitlUart0Driver, /* uartA */
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&sitlUart1Driver, /* uartB */
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&sitlUart2Driver, /* uartC */
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NULL, /* i2c */
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NULL, /* spi */
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&emptyAnalogIn, /* analogin */
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&sitlEEPROMStorage, /* storage */
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&consoleDriver, /* console */
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&emptyGPIO, /* gpio */
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&sitlRCInput, /* rcinput */
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&sitlRCOutput, /* rcoutput */
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&sitlScheduler), /* scheduler */
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_sitl_state(&sitlState)
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{}
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void HAL_AVR_SITL::init(int argc, char * const argv[]) const
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{
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_sitl_state->init(argc, argv);
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scheduler->init(NULL);
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uartA->begin(115200);
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console->init((void*) uartA);
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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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}
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const HAL_AVR_SITL AP_HAL_AVR_SITL;
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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