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ardupilot/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

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#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "HAL_Linux_Class.h"
#include "AP_HAL_Linux_Private.h"
#include <utility/getopt_cpp.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <AP_HAL_Empty.h>
#include <AP_HAL_Empty_Private.h>
using namespace Linux;
// 3 serial ports on Linux for now
static LinuxUARTDriver uartADriver(true);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static LinuxSPIUARTDriver uartBDriver;
#else
static LinuxUARTDriver uartBDriver(false);
#endif
static LinuxUARTDriver uartCDriver(false);
static LinuxUARTDriver uartEDriver(false);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static LinuxSemaphore i2cSemaphore0;
static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-0");
static LinuxSemaphore i2cSemaphore1;
static LinuxI2CDriver i2cDriver1(&i2cSemaphore1, "/dev/i2c-1");
static LinuxSemaphore i2cSemaphore2;
static LinuxI2CDriver i2cDriver2(&i2cSemaphore2, "/dev/i2c-2");
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static LinuxSemaphore i2cSemaphore0;
static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-2");
#else
static LinuxSemaphore i2cSemaphore0;
static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-1");
#endif
static LinuxSPIDeviceManager spiDeviceManager;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static NavioAnalogIn analogIn;
#else
static LinuxAnalogIn analogIn;
#endif
/*
select between FRAM and FS
*/
#if LINUX_STORAGE_USE_FRAM == 1
static LinuxStorage_FRAM storageDriver;
#else
static LinuxStorage storageDriver;
#endif
/*
use the BBB gpio driver on ERLE, PXF and BBBMINI
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static LinuxGPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static LinuxGPIO_RPI gpioDriver;
#else
static Empty::EmptyGPIO gpioDriver;
#endif
/*
use the PRU based RCInput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
static LinuxRCInput_PRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static LinuxRCInput_AioPRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static LinuxRCInput_Navio rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static LinuxRCInput_ZYNQ rcinDriver;
#else
static LinuxRCInput rcinDriver;
#endif
/*
use the PRU based RCOutput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
static LinuxRCOutput_PRU rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static LinuxRCOutput_AioPRU rcoutDriver;
/*
use the PCA9685 based RCOutput driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static LinuxRCOutput_Navio rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static LinuxRCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static LinuxRCOutput_Bebop rcoutDriver;
#else
static Empty::EmptyRCOutput rcoutDriver;
#endif
static LinuxScheduler schedulerInstance;
static LinuxUtil utilInstance;
HAL_Linux::HAL_Linux() :
AP_HAL::HAL(
&uartADriver,
&uartBDriver,
&uartCDriver,
NULL, /* no uartD */
&uartEDriver,
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
&i2cDriver0,
&i2cDriver1,
&i2cDriver2,
#else
&i2cDriver0,
NULL,
NULL,
#endif
&spiDeviceManager,
&analogIn,
&storageDriver,
&uartADriver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance)
{}
void _usage(void)
{
printf("Usage: -A uartAPath -B uartBPath -C uartCPath\n");
printf("Options:\n");
printf("\t-serial: -A /dev/ttyO4\n");
printf("\t -B /dev/ttyS1\n");
printf("\t-tcp: -C tcp:192.168.2.15:1243:wait\n");
printf("\t -A tcp:11.0.0.2:5678\n");
printf("\t -A udp:11.0.0.2:5678\n");
printf("\t-custom log path:\n");
printf("\t --log-directory /var/APM/logs\n");
printf("\t -l /var/APM/logs\n");
printf("\t-custom terrain path:\n");
printf("\t --terrain-directory /var/APM/terrain\n");
printf("\t -t /var/APM/terrain\n");
}
void HAL_Linux::init(int argc,char* const argv[]) const
{
int opt;
const struct GetOptLong::option options[] = {
{"uartA", true, 0, 'A'},
{"uartB", true, 0, 'B'},
{"uartC", true, 0, 'C'},
{"uartE", true, 0, 'E'},
{"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'},
{"help", false, 0, 'h'},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "A:B:C:E:l:t:h",
options);
/*
parse command line options
*/
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'A':
uartADriver.set_device_path(gopt.optarg);
break;
case 'B':
uartBDriver.set_device_path(gopt.optarg);
break;
case 'C':
uartCDriver.set_device_path(gopt.optarg);
break;
case 'E':
uartEDriver.set_device_path(gopt.optarg);
break;
case 'l':
utilInstance.set_custom_log_directory(gopt.optarg);
break;
case 't':
utilInstance.set_custom_terrain_directory(gopt.optarg);
break;
case 'h':
_usage();
exit(0);
default:
printf("Unknown option '%c'\n", (char)opt);
exit(1);
}
}
scheduler->init(NULL);
gpio->init();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
i2c->begin();
i2c1->begin();
i2c2->begin();
#else
i2c->begin();
#endif
rcout->init(NULL);
rcin->init(NULL);
uartA->begin(115200);
uartE->begin(115200);
spi->init(NULL);
analogin->init(NULL);
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
}
const HAL_Linux AP_HAL_Linux;
#endif