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97 lines
2.3 KiB
97 lines
2.3 KiB
#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include "HAL_Linux_Class.h" |
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#include "AP_HAL_Linux_Private.h" |
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#include <getopt.h> |
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#include <stdio.h> |
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#include <unistd.h> |
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#include <stdlib.h> |
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using namespace Linux; |
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// 3 serial ports on Linux for now |
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static LinuxUARTDriver uartADriver(true); |
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static LinuxUARTDriver uartBDriver(false); |
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static LinuxUARTDriver uartCDriver(false); |
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static LinuxSemaphore i2cSemaphore; |
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static LinuxI2CDriver i2cDriver(&i2cSemaphore, "/dev/i2c-1"); |
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static LinuxSPIDeviceManager spiDeviceManager; |
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static LinuxAnalogIn analogIn; |
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static LinuxStorage storageDriver; |
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static LinuxGPIO gpioDriver; |
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static LinuxRCInput rcinDriver; |
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static LinuxRCOutput rcoutDriver; |
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static LinuxScheduler schedulerInstance; |
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static LinuxUtil utilInstance; |
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HAL_Linux::HAL_Linux() : |
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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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{} |
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void _usage(void) |
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{ |
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printf("Usage: -A uartAPath -B uartBPath -C uartCPath\n"); |
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printf("Options:\n"); |
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printf("\t-serial: -A /dev/ttyO4\n"); |
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printf("\t -B /dev/ttyS1\n"); |
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printf("\t-tcp: -C tcp:192.168.2.15:1243:wait\n"); |
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printf("\t -A tcp:11.0.0.2:5678\n"); |
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} |
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void HAL_Linux::init(int argc,char* const argv[]) const |
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{ |
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int opt; |
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/* |
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parse command line options |
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*/ |
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while ((opt = getopt(argc, argv, "A:B:C:h")) != -1) { |
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switch (opt) { |
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case 'A': |
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uartADriver.set_device_path(optarg); |
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break; |
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case 'B': |
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uartBDriver.set_device_path(optarg); |
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break; |
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case 'C': |
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uartCDriver.set_device_path(optarg); |
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break; |
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case 'h': |
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_usage(); |
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exit(0); |
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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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scheduler->init(NULL); |
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gpio->init(); |
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rcout->init(NULL); |
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rcin->init(NULL); |
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uartA->begin(115200); |
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i2c->begin(); |
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spi->init(NULL); |
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utilInstance.init(argc, argv); |
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} |
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const HAL_Linux AP_HAL_Linux; |
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#endif
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