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49 lines
1.1 KiB
49 lines
1.1 KiB
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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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