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102 lines
2.7 KiB
102 lines
2.7 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include <assert.h> |
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#include "AP_HAL_SITL.h" |
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#include "AP_HAL_SITL_Namespace.h" |
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#include "HAL_SITL_Class.h" |
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#include "Scheduler.h" |
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#include "AnalogIn.h" |
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#include "UARTDriver.h" |
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#include "Storage.h" |
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#include "RCInput.h" |
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#include "RCOutput.h" |
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#include "SITL_State.h" |
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#include "Util.h" |
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#include <AP_HAL_Empty/AP_HAL_Empty.h> |
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h> |
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using namespace HALSITL; |
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static EEPROMStorage sitlEEPROMStorage; |
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static SITL_State sitlState; |
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static Scheduler sitlScheduler(&sitlState); |
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static RCInput sitlRCInput(&sitlState); |
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static RCOutput sitlRCOutput(&sitlState); |
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static AnalogIn sitlAnalogIn(&sitlState); |
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// use the Empty HAL for hardware we don't emulate |
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static Empty::GPIO emptyGPIO; |
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static Empty::Semaphore emptyI2Csemaphore; |
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static Empty::I2CDriver emptyI2C(&emptyI2Csemaphore); |
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static Empty::I2CDeviceManager i2c_mgr_instance; |
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static Empty::SPIDeviceManager emptySPI; |
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static Empty::OpticalFlow emptyOpticalFlow; |
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static UARTDriver sitlUart0Driver(0, &sitlState); |
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static UARTDriver sitlUart1Driver(1, &sitlState); |
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static UARTDriver sitlUart2Driver(2, &sitlState); |
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static UARTDriver sitlUart3Driver(3, &sitlState); |
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static UARTDriver sitlUart4Driver(4, &sitlState); |
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static Util utilInstance(&sitlState); |
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HAL_SITL::HAL_SITL() : |
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AP_HAL::HAL( |
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&sitlUart0Driver, /* uartA */ |
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&sitlUart1Driver, /* uartB */ |
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&sitlUart2Driver, /* uartC */ |
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&sitlUart3Driver, /* uartD */ |
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&sitlUart4Driver, /* uartE */ |
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&i2c_mgr_instance, |
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&emptyI2C, /* i2c */ |
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&emptyI2C, /* i2c */ |
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&emptyI2C, /* i2c */ |
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&emptySPI, /* spi */ |
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&sitlAnalogIn, /* analogin */ |
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&sitlEEPROMStorage, /* storage */ |
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&sitlUart0Driver, /* console */ |
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&emptyGPIO, /* gpio */ |
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&sitlRCInput, /* rcinput */ |
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&sitlRCOutput, /* rcoutput */ |
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&sitlScheduler, /* scheduler */ |
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&utilInstance, /* util */ |
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&emptyOpticalFlow), /* onboard optical flow */ |
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_sitl_state(&sitlState) |
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{} |
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void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const |
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{ |
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assert(callbacks); |
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_sitl_state->init(argc, argv); |
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scheduler->init(); |
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uartA->begin(115200); |
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rcin->init(); |
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rcout->init(); |
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//spi->init(); |
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//i2c->begin(); |
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//i2c->setTimeout(100); |
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analogin->init(); |
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callbacks->setup(); |
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scheduler->system_initialized(); |
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for (;;) { |
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callbacks->loop(); |
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} |
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} |
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const AP_HAL::HAL& AP_HAL::get_HAL() { |
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static const HAL_SITL hal; |
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return hal; |
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} |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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