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50 lines
1.1 KiB
50 lines
1.1 KiB
12 years ago
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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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// XXX placeholder
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uint8_t isrRegistry;
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static AVRScheduler avrScheduler;
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HAL_AVR_SITL::HAL_AVR_SITL() :
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AP_HAL::HAL(
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NULL, /* uartA */
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NULL, /* uartB */
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NULL, /* uartC */
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NULL, /* i2c */
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NULL, /* spi */
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NULL, /* analogin */
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NULL, /* storage */
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NULL, /* console */
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NULL, /* gpio */
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NULL, /* rcinput */
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NULL, /* rcoutput */
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&avrScheduler) /* scheduler */
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{}
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void HAL_AVR_SITL::init(void* machtnichts) const {
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scheduler->init((void*)&isrRegistry);
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uartA->begin(115200);
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console->init((void*) uartA);
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rcin->init((void*)&isrRegistry);
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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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