HAL_PX4: added basic console driver (output only)

libraries/AP_HAL_PX4/AP_HAL_PX4_Namespace.h

@@ -3,6 +3,7 @@
 #define __AP_HAL_PX4_NAMESPACE_H__
 
 namespace PX4 {
+	class PX4ConsoleDriver;
 }
 
 #endif //__AP_HAL_PX4_NAMESPACE_H__

libraries/AP_HAL_PX4/Console.cpp

@@ -0,0 +1,81 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#include <stdarg.h>
+#include "Console.h"
+#include <stdio.h>
+
+using namespace PX4;
+
+PX4ConsoleDriver::PX4ConsoleDriver() {}
+
+void PX4ConsoleDriver::init(void* unused)
+{
+}
+
+void PX4ConsoleDriver::backend_open()
+{}
+
+void PX4ConsoleDriver::backend_close()
+{}
+
+size_t PX4ConsoleDriver::backend_read(uint8_t *data, size_t len) {
+    return 0;
+}
+
+size_t PX4ConsoleDriver::backend_write(const uint8_t *data, size_t len) {
+    return 0;
+}
+
+void PX4ConsoleDriver::print_P(const prog_char_t *pstr) {
+	print(pstr);
+}
+
+void PX4ConsoleDriver::println_P(const prog_char_t *pstr) {
+	println(pstr);
+}
+
+void PX4ConsoleDriver::printf(const char *fmt, ...) {
+    va_list ap;
+    va_start(ap, fmt);
+    vfprintf(stdout, fmt, ap);
+    va_end(ap);
+}
+
+void PX4ConsoleDriver::_printf_P(const prog_char *fmt, ...) {
+    va_list ap;
+    va_start(ap,fmt);
+    vfprintf(stdout, fmt, ap);
+    va_end(ap);
+}
+
+void PX4ConsoleDriver::vprintf(const char *fmt, va_list ap) {
+	vfprintf(stdout, fmt, ap);
+}
+
+void PX4ConsoleDriver::vprintf_P(const prog_char *fmt, va_list ap) {
+	vfprintf(stdout, fmt, ap);
+}
+
+int16_t PX4ConsoleDriver::available() {
+	return 0;
+}
+
+int16_t PX4ConsoleDriver::txspace() {
+	return 0;
+}
+
+int16_t PX4ConsoleDriver::read() {
+	return 0;
+}
+
+int16_t PX4ConsoleDriver::peek() {
+	return 0;
+}
+
+size_t PX4ConsoleDriver::write(uint8_t c) {
+	fputc(c, stdout);
+	return 1;
+}
+
+#endif

libraries/AP_HAL_PX4/Console.h

@@ -0,0 +1,32 @@
+
+#ifndef __AP_HAL_PX4_CONSOLE_H__
+#define __AP_HAL_PX4_CONSOLE_H__
+
+#include <AP_HAL_PX4.h>
+#include <AP_HAL_PX4_Namespace.h>
+
+class PX4::PX4ConsoleDriver : public AP_HAL::ConsoleDriver {
+public:
+    PX4ConsoleDriver();
+    void init(void* machtnichts);
+    void backend_open();
+    void backend_close();
+    size_t backend_read(uint8_t *data, size_t len);
+    size_t backend_write(const uint8_t *data, size_t len);
+
+    void print_P(const prog_char_t *pstr);
+    void println_P(const prog_char_t *pstr);
+    void printf(const char *pstr, ...);
+    void _printf_P(const prog_char *pstr, ...);
+    void vprintf(const char *pstr, va_list ap);
+    void vprintf_P(const prog_char *pstr, va_list ap);
+
+    int16_t available();
+    int16_t txspace();
+    int16_t read();
+    int16_t peek();
+
+    size_t write(uint8_t c);
+};
+
+#endif // __AP_HAL_PX4_CONSOLE_H__

libraries/AP_HAL_PX4/HAL_PX4_Class.cpp

@@ -7,10 +7,13 @@
 #include <AP_HAL_PX4.h>
 #include "AP_HAL_PX4_Namespace.h"
 #include "HAL_PX4_Class.h"
+#include "Console.h"
 
 #include <AP_HAL_Empty.h>
 #include <AP_HAL_Empty_Private.h>
 
+#include <stdio.h>
+
 using namespace PX4;
 
 static Empty::EmptyUARTDriver uartADriver;
@@ -26,7 +29,7 @@ static Empty::EmptyRCOutput rcoutDriver;
 static Empty::EmptyScheduler schedulerInstance;
 static Empty::EmptyUtil utilInstance;
 
-static Empty::EmptyConsoleDriver consoleDriver(&uartADriver);
+static PX4ConsoleDriver consoleDriver;
 
 HAL_PX4::HAL_PX4() :
     AP_HAL::HAL(
@@ -50,9 +53,6 @@ void HAL_PX4::init(int argc, char * const argv[]) const
     scheduler->init(NULL);
     uartA->begin(115200);
     console->init((void*) uartA);
-    rcin->init(NULL);
-    rcout->init(NULL);
-    analogin->init(NULL);
 }
 
 const HAL_PX4 AP_HAL_PX4;