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41 lines
911 B
41 lines
911 B
9 years ago
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#ifndef __AP_HAL_MAIN_H__
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#define __AP_HAL_MAIN_H__
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#include "HAL.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#define CONFIG_MAIN_WITHOUT_ARGC_ARGV 1
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define AP_MAIN __EXPORT ArduPilot_main
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#endif
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#ifndef AP_MAIN
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#define AP_MAIN main
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#endif
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#if CONFIG_MAIN_WITHOUT_ARGC_ARGV
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#define AP_HAL_MAIN() extern "C" { \
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int AP_MAIN(void) { \
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AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
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hal.run(0, NULL, &callbacks); \
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return 0; \
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} \
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}
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#else
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#define AP_HAL_MAIN() extern "C" { \
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int AP_MAIN(int argc, char* const argv[]) { \
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AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
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hal.run(argc, argv, &callbacks); \
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return 0; \
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} \
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}
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#endif
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#endif // __AP_HAL_MAIN_H__
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