You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
57 lines
1.5 KiB
57 lines
1.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#include <AP_HAL.h> |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
|
|
|
#include <AP_HAL_AVR.h> |
|
#include <AP_HAL_AVR_private.h> |
|
#include <AP_HAL_AVR_SITL.h> |
|
#include "AP_HAL_AVR_SITL_Namespace.h" |
|
#include "HAL_AVR_SITL_Class.h" |
|
#include "Scheduler.h" |
|
#include "UARTDriver.h" |
|
#include "Storage.h" |
|
#include "Console.h" |
|
|
|
static SITLScheduler sitlScheduler; |
|
static SITLEEPROMStorage sitlEEPROMStorage; |
|
static SITLConsoleDriver consoleDriver; |
|
|
|
static AVR_SITL::SITLUARTDriver sitlUart0Driver(0); |
|
static AVR_SITL::SITLUARTDriver sitlUart1Driver(1); |
|
static AVR_SITL::SITLUARTDriver sitlUart2Driver(2); |
|
|
|
HAL_AVR_SITL::HAL_AVR_SITL() : |
|
AP_HAL::HAL( |
|
&sitlUart0Driver, /* uartA */ |
|
&sitlUart1Driver, /* uartB */ |
|
&sitlUart2Driver, /* uartC */ |
|
NULL, /* i2c */ |
|
NULL, /* spi */ |
|
NULL, /* analogin */ |
|
&sitlEEPROMStorage, /* storage */ |
|
&consoleDriver, /* console */ |
|
NULL, /* gpio */ |
|
NULL, /* rcinput */ |
|
NULL, /* rcoutput */ |
|
&sitlScheduler) /* scheduler */ |
|
{} |
|
|
|
void HAL_AVR_SITL::init(int argc, const char *argv[]) const { |
|
|
|
scheduler->init(NULL); |
|
uartA->begin(115200); |
|
console->init((void*) uartA); |
|
|
|
rcin->init(NULL); |
|
rcout->init(NULL); |
|
spi->init(NULL); |
|
i2c->begin(); |
|
i2c->setTimeout(100); |
|
analogin->init(NULL); |
|
} |
|
|
|
const HAL_AVR_SITL AP_HAL_AVR_SITL; |
|
|
|
#endif // CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
|
|