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AP_HAL_Linux: instantiate BH hat objects

mission-4.1.18
Aaron Wang Shi 9 years ago committed by Andrew Tridgell
parent
4d7db9bba3
commit
ac08eece84
1 changed files with 18 additions and 5 deletions
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  1. 23
      libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

23
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -16,7 +16,10 @@ @@ -16,7 +16,10 @@
using namespace Linux;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static UtilRPI utilInstance;
#else
static Util utilInstance;
@ -24,7 +27,8 @@ static Util utilInstance; @@ -24,7 +27,8 @@ static Util utilInstance;
// 3 serial ports on Linux for now
static UARTDriver uartADriver(true);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static SPIUARTDriver uartBDriver;
#else
static UARTDriver uartBDriver(false);
@ -64,7 +68,9 @@ static Semaphore i2cSemaphore0; @@ -64,7 +68,9 @@ static Semaphore i2cSemaphore0;
static I2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-1");
#endif
static SPIDeviceManager spiDeviceManager;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static ADS1115AnalogIn analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static RaspilotAnalogIn analogIn;
@ -89,7 +95,10 @@ static GPIO_BBB gpioDriver; @@ -89,7 +95,10 @@ static GPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static GPIO_Sysfs gpioDriver;
@ -104,7 +113,9 @@ static Empty::GPIO gpioDriver; @@ -104,7 +113,9 @@ static Empty::GPIO gpioDriver;
static RCInput_PRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static RCInput_AioPRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static RCInput_RPI rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static RCInput_Raspilot rcinDriver;
@ -130,6 +141,8 @@ static RCOutput_AioPRU rcoutDriver; @@ -130,6 +141,8 @@ static RCOutput_AioPRU rcoutDriver;
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static RCOutput_PCA9685 rcoutDriver(PCA9685_QUATENARY_ADDRESS, false, 0, RPI_GPIO_4);
/*
use the STM32 based RCOutput driver on Raspilot
*/

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