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144 lines
3.9 KiB
144 lines
3.9 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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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT |
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#include "HAL_QURT_Class.h" |
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#include "AP_HAL_QURT_Private.h" |
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#include "Scheduler.h" |
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#include "Storage.h" |
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#include "Semaphores.h" |
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#include "RCInput.h" |
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#include "RCOutput.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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#include <AP_HAL/utility/getopt_cpp.h> |
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#include <assert.h> |
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using namespace QURT; |
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static UDPDriver uartADriver; |
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static UARTDriver uartBDriver("/dev/tty-4"); |
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static UARTDriver uartCDriver("/dev/tty-2"); |
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static UARTDriver uartDDriver(nullptr); |
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static UARTDriver uartEDriver(nullptr); |
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static Empty::SPIDeviceManager spiDeviceManager; |
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static Empty::AnalogIn analogIn; |
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static Storage storageDriver; |
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static Empty::GPIO gpioDriver; |
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static RCInput rcinDriver("/dev/tty-1"); |
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static RCOutput rcoutDriver("/dev/tty-3"); |
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static Util utilInstance; |
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static Scheduler schedulerInstance; |
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static Empty::I2CDeviceManager i2c_mgr_instance; |
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bool qurt_ran_overtime; |
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HAL_QURT::HAL_QURT() : |
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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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&uartDDriver, |
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&uartEDriver, |
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NULL, // uartF |
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&i2c_mgr_instance, |
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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) |
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{ |
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} |
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void HAL_QURT::run(int argc, char* const argv[], Callbacks* callbacks) const |
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{ |
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assert(callbacks); |
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int opt; |
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const struct GetOptLong::option options[] = { |
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{"uartB", true, 0, 'B'}, |
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{"uartC", true, 0, 'C'}, |
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{"uartD", true, 0, 'D'}, |
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{"uartE", true, 0, 'E'}, |
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{"dsm", true, 0, 'S'}, |
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{"ESC", true, 0, 'e'}, |
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{0, false, 0, 0} |
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}; |
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GetOptLong gopt(argc, argv, "B:C:D:E:e:S", |
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options); |
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/* |
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parse command line options |
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*/ |
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while ((opt = gopt.getoption()) != -1) { |
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switch (opt) { |
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case 'B': |
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uartBDriver.set_device_path(gopt.optarg); |
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break; |
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case 'C': |
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uartCDriver.set_device_path(gopt.optarg); |
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break; |
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case 'D': |
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uartDDriver.set_device_path(gopt.optarg); |
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break; |
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case 'E': |
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uartEDriver.set_device_path(gopt.optarg); |
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break; |
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case 'e': |
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rcoutDriver.set_device_path(gopt.optarg); |
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break; |
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case 'S': |
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rcinDriver.set_device_path(gopt.optarg); |
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break; |
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default: |
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printf("Unknown option '%c'\n", (char)opt); |
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exit(1); |
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} |
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} |
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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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schedulerInstance.hal_initialized(); |
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uartA->begin(115200); |
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rcinDriver.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_QURT *hal; |
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if (hal == nullptr) { |
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hal = new HAL_QURT; |
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HAP_PRINTF("allocated HAL_QURT of size %u", sizeof(*hal)); |
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} |
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return *hal; |
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} |
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#endif
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