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106 lines
3.1 KiB
106 lines
3.1 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Flymaple port by Mike McCauley |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
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#include <assert.h> |
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#include "HAL_FLYMAPLE_Class.h" |
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#include "AP_HAL_FLYMAPLE_Private.h" |
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using namespace AP_HAL_FLYMAPLE_NS; |
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class HardwareSerial; |
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extern HardwareSerial Serial1; // Serial1 is labelled "COM1" on Flymaple pins 7 and 8 |
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extern HardwareSerial Serial2; // Serial2 is Flymaple pins 0 and 1 |
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extern HardwareSerial Serial3; // Serial3 is labelled "GPS" on Flymaple pins 29 and 30 |
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static FLYMAPLEUARTDriver uartADriver(&Serial1); // AP Console and highspeed mavlink |
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static FLYMAPLEUARTDriver uartBDriver(&Serial2); // AP GPS connection |
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static FLYMAPLEUARTDriver uartCDriver(&Serial3); // Optional AP telemetry radio |
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static FLYMAPLESemaphore i2cSemaphore; |
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static FLYMAPLEI2CDriver i2cDriver(&i2cSemaphore); |
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static FLYMAPLESPIDeviceManager spiDeviceManager; |
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static FLYMAPLEAnalogIn analogIn; |
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static FLYMAPLEStorage storageDriver; |
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static FLYMAPLEGPIO gpioDriver; |
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static FLYMAPLERCInput rcinDriver; |
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static FLYMAPLERCOutput rcoutDriver; |
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static FLYMAPLEScheduler schedulerInstance; |
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static FLYMAPLEUtil utilInstance; |
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HAL_FLYMAPLE::HAL_FLYMAPLE() : |
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AP_HAL::HAL( |
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&uartADriver, |
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&uartBDriver, |
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&uartCDriver, |
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NULL, /* no uartD */ |
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NULL, /* no uartE */ |
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NULL, /* no uartF */ |
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NULL, |
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&i2cDriver, |
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NULL, /* only 1 i2c */ |
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NULL, /* only 1 i2c */ |
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&spiDeviceManager, |
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&analogIn, |
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&storageDriver, |
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&uartADriver, |
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&gpioDriver, |
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&rcinDriver, |
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&rcoutDriver, |
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&schedulerInstance, |
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&utilInstance, |
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NULL /* no optical flow */ |
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) |
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{} |
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void HAL_FLYMAPLE::run(int argc, char* const argv[], Callbacks* callbacks) const |
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{ |
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assert(callbacks); |
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/* initialize all drivers and private members here. |
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* up to the programmer to do this in the correct order. |
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* Scheduler should likely come first. */ |
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scheduler->init(); |
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/* uartA is the serial port used for the console, so lets make sure |
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* it is initialized at boot */ |
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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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storage->init(); // Uses EEPROM.*, flash_stm* copied from AeroQuad_v3.2 |
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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_FLYMAPLE hal; |
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return hal; |
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} |
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#endif
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