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88 lines
2.5 KiB
88 lines
2.5 KiB
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#include <AP_HAL.h> |
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/* To save linker space, we need to make sure the HAL_AVR_APM2 class |
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* is built iff we are building for HAL_BOARD_APM2. These defines must |
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* wrap the whole HAL_AVR_APM2 class declaration and definition. */ |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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#include <AP_HAL_AVR.h> |
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#include "AP_HAL_AVR_private.h" |
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#include "HAL_AVR_APM2_Class.h" |
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using namespace AP_HAL; |
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using namespace AP_HAL_AVR; |
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AVRUARTDriverISRs(0); |
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AVRUARTDriverISRs(1); |
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AVRUARTDriverISRs(2); |
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AVRUARTDriverInstance(avrUart0Driver, 0); |
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AVRUARTDriverInstance(avrUart1Driver, 1); |
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AVRUARTDriverInstance(avrUart2Driver, 2); |
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static AVRSemaphore i2cSemaphore; |
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static AVRI2CDriver avrI2CDriver(&i2cSemaphore); |
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static APM2SPIDeviceManager apm2SPIDriver; |
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static AVRAnalogIn avrAnalogIn; |
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static AVREEPROMStorage avrEEPROMStorage; |
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static AVRGPIO avrGPIO; |
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static APM2RCInput apm2RCInput; |
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static APM2RCOutput apm2RCOutput; |
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static AVRScheduler avrScheduler; |
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static AVRUtil avrUtil; |
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static ISRRegistry isrRegistry; |
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HAL_AVR_APM2::HAL_AVR_APM2() : |
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AP_HAL::HAL( |
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&avrUart0Driver, /* phys UART0 -> uartA */ |
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&avrUart1Driver, /* phys UART1 -> uartB */ |
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&avrUart2Driver, /* phys UART2 -> uartC */ |
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NULL, /* no uartD */ |
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NULL, /* no uartE */ |
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&avrI2CDriver, |
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&apm2SPIDriver, |
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&avrAnalogIn, |
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&avrEEPROMStorage, |
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&avrUart0Driver, |
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&avrGPIO, |
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&apm2RCInput, |
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&apm2RCOutput, |
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&avrScheduler, |
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&avrUtil ) |
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{} |
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void HAL_AVR_APM2::init(int argc, char * const argv[]) const { |
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scheduler->init((void*)&isrRegistry); |
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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, 128, 128); |
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/* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry* |
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* as the init argument */ |
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rcin->init((void*)&isrRegistry); |
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rcout->init(NULL); |
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spi->init(NULL); |
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i2c->begin(); |
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i2c->setTimeout(100); |
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analogin->init(NULL); |
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/* Enable the pullups on the RX pins of the 3 UARTs This is important when |
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* the RX line is high-Z: capacitive coupling between input and output pins |
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* can cause bytes written to show up as an input. Occasionally this causes |
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* us to detect a phantom GPS by seeing our own outgoing config message. |
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* PE0 : RX0 (uartA) |
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* PD2 : RX1 (uartB) |
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* PH0 : RX2 (uartC) |
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*/ |
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PORTE |= _BV(0); |
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PORTD |= _BV(2); |
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PORTH |= _BV(0); |
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}; |
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const HAL_AVR_APM2 AP_HAL_AVR_APM2; |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM2
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