HAL_PX4_Class.cpp File Reference

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/RCOutput_Tap.h>
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
#include "AP_HAL_PX4.h"
#include "AP_HAL_PX4_Namespace.h"
#include "HAL_PX4_Class.h"
#include "Scheduler.h"
#include "UARTDriver.h"
#include "Storage.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "AnalogIn.h"
#include "Util.h"
#include "GPIO.h"
#include "I2CDevice.h"
#include "SPIDevice.h"
#include <stdlib.h>
#include <systemlib/systemlib.h>
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <pthread.h>
#include <poll.h>
#include <drivers/drv_hrt.h>

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Macros
#define	UARTA_DEFAULT_DEVICE   "/dev/ttyACM0"
#define	UARTB_DEFAULT_DEVICE   "/dev/ttyS3"
#define	UARTC_DEFAULT_DEVICE   "/dev/ttyS2"
#define	UARTD_DEFAULT_DEVICE   "/dev/null"
#define	UARTE_DEFAULT_DEVICE   "/dev/null"
#define	UARTF_DEFAULT_DEVICE   "/dev/null"

Functions
void	hal_px4_set_priority (uint8_t priority)
static void	loop_overtime (void *)
static int	main_loop (int argc, char **argv)
static void	usage (void)

Variables
static PX4Scheduler	schedulerInstance
static PX4Storage	storageDriver
static PX4RCInput	rcinDriver
static PX4RCOutput	rcoutDriver
static PX4AnalogIn	analogIn
static PX4Util	utilInstance
static PX4GPIO	gpioDriver
static PX4::I2CDeviceManager	i2c_mgr_instance
static PX4::SPIDeviceManager	spi_mgr_instance
static PX4UARTDriver	uartADriver (UARTA_DEFAULT_DEVICE, "APM_uartA")
static PX4UARTDriver	uartBDriver (UARTB_DEFAULT_DEVICE, "APM_uartB")
static PX4UARTDriver	uartCDriver (UARTC_DEFAULT_DEVICE, "APM_uartC")
static PX4UARTDriver	uartDDriver (UARTD_DEFAULT_DEVICE, "APM_uartD")
static PX4UARTDriver	uartEDriver (UARTE_DEFAULT_DEVICE, "APM_uartE")
static PX4UARTDriver	uartFDriver (UARTF_DEFAULT_DEVICE, "APM_uartF")
bool	_px4_thread_should_exit = false
static bool	thread_running = false
static int	daemon_task
bool	px4_ran_overtime
const AP_HAL::HAL &	hal
	-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...
static AP_HAL::HAL::Callbacks *	g_callbacks

Macro Definition Documentation

UARTA_DEFAULT_DEVICE

#define UARTA_DEFAULT_DEVICE   "/dev/ttyACM0"

Definition at line 80 of file HAL_PX4_Class.cpp.

Referenced by HAL_PX4::run(), and usage().

UARTB_DEFAULT_DEVICE

#define UARTB_DEFAULT_DEVICE   "/dev/ttyS3"

Definition at line 81 of file HAL_PX4_Class.cpp.

UARTC_DEFAULT_DEVICE

#define UARTC_DEFAULT_DEVICE   "/dev/ttyS2"

Definition at line 82 of file HAL_PX4_Class.cpp.

Referenced by HAL_PX4::run(), and usage().

UARTD_DEFAULT_DEVICE

#define UARTD_DEFAULT_DEVICE   "/dev/null"

Definition at line 83 of file HAL_PX4_Class.cpp.

Referenced by HAL_PX4::run(), and usage().

UARTE_DEFAULT_DEVICE

#define UARTE_DEFAULT_DEVICE   "/dev/null"

Definition at line 84 of file HAL_PX4_Class.cpp.

Referenced by HAL_PX4::run(), and usage().

UARTF_DEFAULT_DEVICE

#define UARTF_DEFAULT_DEVICE   "/dev/null"

Definition at line 85 of file HAL_PX4_Class.cpp.

Referenced by HAL_PX4::run(), and usage().

Function Documentation

hal_px4_set_priority()

void hal_px4_set_priority

(

uint8_t

priority

)

Definition at line 128 of file HAL_PX4_Class.cpp.

Referenced by loop_overtime(), main_loop(), sem_post_boost(), and set_normal_priority().

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loop_overtime()

static void loop_overtime ( void *  )

static

Definition at line 141 of file HAL_PX4_Class.cpp.

Referenced by main_loop().

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main_loop()

static int main_loop ( int  argc, char **  argv  )

static

Definition at line 149 of file HAL_PX4_Class.cpp.

Referenced by HAL_PX4::run(), and HAL_ChibiOS::run().

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usage()

static void usage ( void  )

static

Definition at line 219 of file HAL_PX4_Class.cpp.

Referenced by HAL_PX4::run().

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Variable Documentation

_px4_thread_should_exit

bool _px4_thread_should_exit = false

Daemon exit flag

Definition at line 118 of file HAL_PX4_Class.cpp.

Referenced by PX4::PX4Scheduler::_io_thread(), VRBRAIN::VRBRAINScheduler::_storage_thread(), PX4::PX4Scheduler::_storage_thread(), PX4::PX4Scheduler::_timer_thread(), PX4::PX4Scheduler::_uart_thread(), PX4::DeviceBus::bus_thread(), PX4::PX4Scheduler::delay(), main_loop(), HAL_PX4::run(), and PX4::PX4Util::run_debug_shell().

analogIn

PX4AnalogIn analogIn

static

Definition at line 49 of file HAL_PX4_Class.cpp.

daemon_task

int daemon_task

static

Handle of daemon task / thread

Definition at line 120 of file HAL_PX4_Class.cpp.

Referenced by hal_px4_set_priority(), and HAL_PX4::run().

g_callbacks

AP_HAL::HAL::Callbacks* g_callbacks

static

Definition at line 147 of file HAL_PX4_Class.cpp.

gpioDriver

PX4GPIO gpioDriver

static

Definition at line 51 of file HAL_PX4_Class.cpp.

hal

const AP_HAL::HAL& hal

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

Definition at line 14 of file AC_PID_test.cpp.

i2c_mgr_instance

PX4::I2CDeviceManager i2c_mgr_instance

static

Definition at line 53 of file HAL_PX4_Class.cpp.

px4_ran_overtime

bool px4_ran_overtime

Definition at line 121 of file HAL_PX4_Class.cpp.

Referenced by PX4::PX4Scheduler::_run_timers(), PX4::PX4Scheduler::_timer_thread(), loop_overtime(), and main_loop().

rcinDriver

PX4RCInput rcinDriver

static

Definition at line 43 of file HAL_PX4_Class.cpp.

rcoutDriver

PX4RCOutput rcoutDriver

static

Definition at line 47 of file HAL_PX4_Class.cpp.

schedulerInstance

PX4Scheduler schedulerInstance

static

Definition at line 41 of file HAL_PX4_Class.cpp.

spi_mgr_instance

PX4::SPIDeviceManager spi_mgr_instance

static

Definition at line 54 of file HAL_PX4_Class.cpp.

storageDriver

PX4Storage storageDriver

static

Definition at line 42 of file HAL_PX4_Class.cpp.

thread_running

bool thread_running = false

static

Daemon status flag

Definition at line 119 of file HAL_PX4_Class.cpp.

Referenced by main_loop(), and HAL_PX4::run().

uartADriver

PX4UARTDriver uartADriver(UARTA_DEFAULT_DEVICE, "APM_uartA")

static

Referenced by HAL_PX4::run().

uartBDriver

PX4UARTDriver uartBDriver(UARTB_DEFAULT_DEVICE, "APM_uartB")

static

uartCDriver

PX4UARTDriver uartCDriver(UARTC_DEFAULT_DEVICE, "APM_uartC")

static

Referenced by HAL_PX4::run().

uartDDriver

PX4UARTDriver uartDDriver(UARTD_DEFAULT_DEVICE, "APM_uartD")

static

Referenced by HAL_PX4::run().

uartEDriver

PX4UARTDriver uartEDriver(UARTE_DEFAULT_DEVICE, "APM_uartE")

static

Referenced by HAL_PX4::run().

uartFDriver

PX4UARTDriver uartFDriver(UARTF_DEFAULT_DEVICE, "APM_uartF")

static

Referenced by HAL_PX4::run().

utilInstance

PX4Util utilInstance

static

Definition at line 50 of file HAL_PX4_Class.cpp.