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76 lines
2.0 KiB
76 lines
2.0 KiB
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#ifndef __AP_HAL_HAL_H__ |
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#define __AP_HAL_HAL_H__ |
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#include "AP_HAL_Namespace.h" |
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#include "../AP_HAL/UARTDriver.h" |
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#include "../AP_HAL/SPIDriver.h" |
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#include "../AP_HAL/AnalogIn.h" |
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#include "../AP_HAL/Storage.h" |
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#include "../AP_HAL/GPIO.h" |
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#include "../AP_HAL/RCInput.h" |
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#include "../AP_HAL/RCOutput.h" |
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class AP_HAL::HAL { |
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public: |
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HAL(AP_HAL::UARTDriver* _uartA, // console |
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AP_HAL::UARTDriver* _uartB, // 1st GPS |
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AP_HAL::UARTDriver* _uartC, // telem1 |
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AP_HAL::UARTDriver* _uartD, // telem2 |
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AP_HAL::UARTDriver* _uartE, // 2nd GPS |
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AP_HAL::I2CDriver* _i2c0, |
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AP_HAL::I2CDriver* _i2c1, |
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AP_HAL::I2CDriver* _i2c2, |
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AP_HAL::SPIDeviceManager* _spi, |
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AP_HAL::AnalogIn* _analogin, |
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AP_HAL::Storage* _storage, |
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AP_HAL::UARTDriver* _console, |
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AP_HAL::GPIO* _gpio, |
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AP_HAL::RCInput* _rcin, |
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AP_HAL::RCOutput* _rcout, |
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AP_HAL::Scheduler* _scheduler, |
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AP_HAL::Util* _util) |
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: |
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uartA(_uartA), |
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uartB(_uartB), |
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uartC(_uartC), |
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uartD(_uartD), |
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uartE(_uartE), |
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i2c(_i2c0), |
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i2c1(_i2c1), |
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i2c2(_i2c2), |
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spi(_spi), |
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analogin(_analogin), |
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storage(_storage), |
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console(_console), |
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gpio(_gpio), |
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rcin(_rcin), |
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rcout(_rcout), |
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scheduler(_scheduler), |
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util(_util) |
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{} |
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virtual void init(int argc, char * const argv[]) const = 0; |
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AP_HAL::UARTDriver* uartA; |
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AP_HAL::UARTDriver* uartB; |
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AP_HAL::UARTDriver* uartC; |
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AP_HAL::UARTDriver* uartD; |
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AP_HAL::UARTDriver* uartE; |
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AP_HAL::I2CDriver* i2c; |
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AP_HAL::I2CDriver* i2c1; |
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AP_HAL::I2CDriver* i2c2; |
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AP_HAL::SPIDeviceManager* spi; |
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AP_HAL::AnalogIn* analogin; |
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AP_HAL::Storage* storage; |
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AP_HAL::UARTDriver* console; |
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AP_HAL::GPIO* gpio; |
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AP_HAL::RCInput* rcin; |
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AP_HAL::RCOutput* rcout; |
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AP_HAL::Scheduler* scheduler; |
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AP_HAL::Util* util; |
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}; |
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#endif // __AP_HAL_HAL_H__ |
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