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55 lines
1.4 KiB
55 lines
1.4 KiB
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY |
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#include "HAL_Empty_Class.h" |
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#include "AP_HAL_Empty_Private.h" |
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using namespace Empty; |
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static EmptyUARTDriver uartADriver; |
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static EmptyUARTDriver uartBDriver; |
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static EmptyUARTDriver uartCDriver; |
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static EmptySemaphore i2cSemaphore; |
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static EmptyI2CDriver i2cDriver(&i2cSemaphore); |
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static EmptySPIDeviceManager spiDeviceManager; |
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static EmptyAnalogIn analogIn; |
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static EmptyStorage storageDriver; |
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static EmptyGPIO gpioDriver; |
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static EmptyRCInput rcinDriver; |
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static EmptyRCOutput rcoutDriver; |
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static EmptyScheduler schedulerInstance; |
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static EmptyUtil utilInstance; |
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HAL_Empty::HAL_Empty() : |
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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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&i2cDriver, |
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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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_member(new EmptyPrivateMember(123)) |
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{} |
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void HAL_Empty::init(int argc,char* const argv[]) const { |
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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(NULL); |
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uartA->begin(115200); |
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_member->init(); |
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} |
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const HAL_Empty AP_HAL_Empty; |
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#endif
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