AP_HAL.h 分析
#include <stdint.h>
#include "AP_HAL_Namespace.h"
#include "AP_HAL_Boards.h" --->>> 板子选择比如 HAL_BOARD_CHIBIOS
#include "AP_HAL_Macros.h"
#include "AP_HAL_Main.h"
/**< hal 模块的类集合,所有的类都是纯虚类<接口类>,
* 也就是应用层不依赖于具体的底层类,而是依赖于抽象
* 即:面向接口编程
*/
/* HAL Module Classes (all pure virtual) */
#include "UARTDriver.h" /* --->>> Pure virtual UARTDriver class 纯虚UARTDriver类, 只定义接口, 在具体的四大系统软硬件平台中进行实现 */
#include "AnalogIn.h" /* --->>> 代表模拟输入器件,比如声纳等,fanout一定范围内的电压值, 只定义接口,在具体的四大系统软硬件平台中进行实现 */
#include "Storage.h" /* --->>> 储存类块设备, 比如sd等, 只定义接口,在具体的四大系统软硬件平台中进行实现 */
#include "GPIO.h" /* --->>> GPIO, 及其对应的中断触发方式, 只定义接口,在具体的四大系统软硬件平台中进行实现 */
#include "RCInput.h" /* --->>> 接收机输入, 只定义接口,在具体的四大系统软硬件平台中进行实现 */
#include "RCOutput.h" /* --->>> 接收机输出, 只定义接口,在具体的四大系统软硬件平台中进行实现 */
#include "Scheduler.h" /* --->>> 调度器, 提供线程创建等功能 只定义接口,在具体的四大系统软硬件平台中进行实现 */*/
#include "Semaphores.h" /* --->>> 信号量相关操作, 只定义接口,在具体的四大系统软硬件平台中进行实现 */
#include "Util.h" /* --->>> 一些辅助性,配置性,工具 比如log存储位置,snprintf等 只定义接口,在具体的四大系统软硬件平台中进行实现 */
#include "OpticalFlow.h"/* --->>> 光流,chibios、linux都平台没有实现 */
#include "Flash.h" /* --->>> flash 页、块操作相关接口 只定义接口,在具体的四大系统软硬件平台中进行实现 */
#if HAL_WITH_UAVCAN
#include "CAN.h" /* --->>> 定义can总线协议需要实现的相关接口 只定义接口,在具体的四大系统软硬件平台中进行实现 */*/
#endif
#include "utility/BetterStream.h" /* --->>> 流操作相关接口printf,write,read..., UARTDriver继承了此接口类 */
/* HAL Class definition */
/**< --->>> 包含了当前目录下的HAL.h, 主要定义了 AP_HAL::HAL 接口类,聚合了系统硬件的几乎所有接口,比如
* uart, spi, i2c, scheduler等, 该类在四大系统软硬件平台中进行实现
*/
#include "HAL.h"
#include "system.h"
```c
INS_Generic.cpp
```c++
//
// Simple test for the AP_InertialSensor driver.
//
#include <AP_HAL/AP_HAL.h> --->>> 硬件接口
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
const AP_HAL::HAL &hal = AP_HAL::get_HAL(); --->>> 在四大系统软硬件平台中实现,如HAL_ChibiOS中
const AP_HAL::HAL& AP_HAL::get_HAL() {
static const HAL_ChibiOS hal_chibios; --->>> 定义一个静态HAL_ChibiOS对象,并返回其引用,依然是面向接口
return hal_chibios;
}
static AP_InertialSensor ins; --->>> 静态对象
static void display_offsets_and_scaling();
static void run_test();
// board specific config
static AP_BoardConfig BoardConfig; --->>> 静态对象
void setup(void); --->>> 框架方法setup
void loop(void); --->>> 框架方法loop
void setup(void)
{
// setup any board specific drivers
BoardConfig.init();
hal.console->printf("AP_InertialSensor startup...\n");
ins.init(100);
// display initial values
display_offsets_and_scaling();
// display number of detected accels/gyros
hal.console->printf("\n");
hal.console->printf("Number of detected accels : %u\n", ins.get_accel_count());
hal.console->printf("Number of detected gyros : %u\n\n", ins.get_gyro_count());
hal.console->printf("Complete. Reading:\n");
}
void loop(void) --->>> 读取用户输入,并且响应,这里脉络是很清晰的,我们暂不进入具体函数的实现细节
{
int16_t user_input;
hal.console->printf("\n");
hal.console->printf("%s\n",
"Menu:\n"
" d) display offsets and scaling\n"
" l) level (capture offsets from level)\n"
" t) test\n"
" r) reboot");
// wait for user input
while (!hal.console->available()) {
hal.scheduler->delay(20);
}
// read in user input
while (hal.console->available()) {
user_input = hal.console->read();
if (user_input == 'd' || user_input == 'D') {
display_offsets_and_scaling();
}
if (user_input == 't' || user_input == 'T') { ---> 测试方法
run_test();
}
if (user_input == 'r' || user_input == 'R') {
hal.scheduler->reboot(false);
}
}
}
static void display_offsets_and_scaling()
{
const Vector3f &accel_offsets = ins.get_accel_offsets();
const Vector3f &accel_scale = ins.get_accel_scale();
const Vector3f &gyro_offsets = ins.get_gyro_offsets();
// display results
hal.console->printf("\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
(double)accel_offsets.x,
(double)accel_offsets.y,
(double)accel_offsets.z);
hal.console->printf("Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
(double)accel_scale.x,
(double)accel_scale.y,
(double)accel_scale.z);
hal.console->printf("Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
(double)gyro_offsets.x,
(double)gyro_offsets.y,
(double)gyro_offsets.z);
}
static void run_test()
{
Vector3f accel;
Vector3f gyro;
uint8_t counter = 0;
static uint8_t accel_count = ins.get_accel_count(); ---> 获取acc和gyro轴数
static uint8_t gyro_count = ins.get_gyro_count();
static uint8_t ins_count = MAX(accel_count, gyro_count);
// flush any user input
while (hal.console->available()) {
hal.console->read();
}
// clear out any existing samples from ins 刷新采样值
ins.update();
// loop as long as user does not press a key
while (!hal.console->available()) {
// wait until we have a sample
ins.wait_for_sample();
// read samples from ins
ins.update();
// print each accel/gyro result every 50 cycles
if (counter++ % 50 != 0) {
continue;
}
// loop and print each sensor
for (uint8_t ii = 0; ii < ins_count; ii++) {
char state;
if (ii > accel_count - 1) {
// No accel present
state = '-';
} else if (ins.get_accel_health(ii)) {
// Healthy accel
state = 'h';
} else {
// Accel present but not healthy
state = 'u';
}
accel = ins.get_accel(ii); ---> 获取acc
hal.console->printf("%u - Accel (%c) : X:%6.2f Y:%6.2f Z:%6.2f norm:%5.2f",
ii, state, (double)accel.x, (double)accel.y, (double)accel.z,
(double)accel.length());
gyro = ins.get_gyro(ii); ---> 获取gyro
if (ii > gyro_count - 1) {
// No gyro present
state = '-';
} else if (ins.get_gyro_health(ii)) {
// Healthy gyro
state = 'h';
} else {
// Gyro present but not healthy
state = 'u';
}
hal.console->printf(" Gyro (%c) : X:%6.2f Y:%6.2f Z:%6.2f\n",
state, (double)gyro.x, (double)gyro.y, (double)gyro.z);
auto temp = ins.get_temperature(ii);
hal.console->printf(" t:%6.2f\n", (double)temp);
}
}
// clear user input
while (hal.console->available()) {
hal.console->read();
}
}
AP_HAL_MAIN(); --->>> 位于 /libraries/AP_HAL/AP_HAL_Main.h
#include "HAL.h"
#ifndef AP_MAIN
#define AP_MAIN main
#endif
#define AP_HAL_MAIN() \
AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \ --->>> class HAL 中定义的嵌套类,
只是承载setup和loop这两个函数指针
extern "C" { \
int AP_MAIN(int argc, char* const argv[]); \ --->>> main 函数声明 和 实现
int AP_MAIN(int argc, char* const argv[]) { \
hal.run(argc, argv, &callbacks); \ --->>> run方法多态到四大平台的具体实现,如HAL_ChibiOS,后面分析
return 0; \
} \
}
#define AP_HAL_MAIN_CALLBACKS(CALLBACKS) extern "C" { \
int AP_MAIN(int argc, char* const argv[]); \
int AP_MAIN(int argc, char* const argv[]) { \
hal.run(argc, argv, CALLBACKS); \
return 0; \
} \
}
void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
{
/*
* System initializations.
* - ChibiOS HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
#ifdef HAL_USB_PRODUCT_ID
setup_usb_strings();
#endif
#ifdef HAL_STDOUT_SERIAL
//STDOUT Initialistion
SerialConfig stdoutcfg =
{
HAL_STDOUT_BAUDRATE,
0,
USART_CR2_STOP1_BITS,
0
};
sdStart((SerialDriver*)&HAL_STDOUT_SERIAL, &stdoutcfg);
#endif
assert(callbacks);
g_callbacks = callbacks; --->>> static AP_HAL::HAL::Callbacks* g_callbacks;
//Takeover main --->>> 接管main
main_loop();
}
static void main_loop()
{
daemon_task = chThdGetSelfX();
/*
switch to high priority for main loop
*/
chThdSetPriority(APM_MAIN_PRIORITY);
#ifdef HAL_I2C_CLEAR_BUS
// Clear all I2C Buses. This can be needed on some boards which
// can get a stuck I2C peripheral on boot
ChibiOS::I2CBus::clear_all();
#endif
#if STM32_DMA_ADVANCED
ChibiOS::Shared_DMA::init();
#endif
peripheral_power_enable();
hal.uartA->begin(115200);
#ifdef HAL_SPI_CHECK_CLOCK_FREQ
// optional test of SPI clock frequencies
ChibiOS::SPIDevice::test_clock_freq();
#endif
hal.uartB->begin(38400);
hal.uartC->begin(57600);
hal.analogin->init();
hal.scheduler->init();
/*
run setup() at low priority to ensure CLI doesn't hang the
system, and to allow initial sensor read loops to run
*/
hal_chibios_set_priority(APM_STARTUP_PRIORITY);
if (stm32_was_watchdog_reset()) {
// load saved watchdog data
stm32_watchdog_load((uint32_t *)&utilInstance.persistent_data, (sizeof(utilInstance.persistent_data)+3)/4);
}
schedulerInstance.hal_initialized();
g_callbacks->setup(); --->>> 回调前述setup框架方法
#ifdef IOMCU_FW
stm32_watchdog_init();
#elif !defined(HAL_BOOTLOADER_BUILD)
// setup watchdog to reset if main loop stops
if (AP_BoardConfig::watchdog_enabled()) {
stm32_watchdog_init();
}
if (hal.util->was_watchdog_reset()) {
AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
AP::logger().WriteCritical("WDOG", "TimeUS,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine", "QbIIHHH",
AP_HAL::micros64(),
pd.scheduler_task,
pd.internal_errors,
pd.internal_error_count,
pd.last_mavlink_msgid,
pd.last_mavlink_cmd,
pd.semaphore_line);
}
#endif
schedulerInstance.watchdog_pat();
hal.scheduler->system_initialized();
thread_running = true;
chRegSetThreadName(SKETCHNAME);
/*
switch to high priority for main loop
*/
chThdSetPriority(APM_MAIN_PRIORITY);
while (true) {
g_callbacks->loop(); --->>> 回调前述loop框架方法
/*
give up 50 microseconds of time if the INS loop hasn't
called delay_microseconds_boost(), to ensure low priority
drivers get a chance to run. Calling
delay_microseconds_boost() means we have already given up
time from the main loop, so we don't need to do it again
here
*/
#ifndef HAL_DISABLE_LOOP_DELAY
if (!schedulerInstance.check_called_boost()) {
hal.scheduler->delay_microseconds(50);
}
#endif
schedulerInstance.watchdog_pat();
}
thread_running = false;
}
战略层次的总结:
-
系统平台和硬件由 class HAL 提供接口抽象, 四大系统软硬件平台分别进行了实现:HAL_ChibiOS, HAL_Linux, HAL_Empty, HAL_SITL,这样,将具体应用和底层系统硬件进行了解耦,具体应用只需操作HAL 接口类提供的硬件抽象接口,而当应用部署到具体的系统硬件平台时,具体系统硬件平台将实现该抽象接口,从而多态到具体的硬件,如此,我们可以将应用部署到真实系统硬件平台,或者部署到模拟的系统硬件平台来实现应用仿真;
-
class HAL 提供run的接口,用来启动应用,同时给系统平台提供封装了setup方法和loop方法的FunCallbacks接口类,系统平台实现run方法,并且在run方法中回调setup和loop;
-
应用的入口由AP_HAL_Main中的 AP_HAL_MAIN系列的宏函数提供,其使用应用实现的setup和loop方法,多态到具体系统软硬件平台实现run方法,也就是上面第二点;
-
应用比如大的:AntennaTracker, APMRover2, ArduCopter, ArduPlane, 等都提供setup和loop两个框架方法的实现, 并调用AP_HAL_MAIN入口来启动,小到一个传感器的测试用例比如AP_Compass_test也是如此;也就是应用层均使用面向接口编程,而这里的接口主要有以setup和loop为代表的启动运行接口,以及系统硬件平台的HAL接口。来看看具体的比如APMRover2: 其脉络非常清晰
class Rover : public AP_HAL::HAL::Callbacks --->>> 1.直接从封装接口框架setup和loop的抽象类CallBack进行派生,实现了setup和loop方法
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); --->>> 2.获取具体的系统硬件平台实例, 比如在board pixhawk2.6+ChibiOS系统硬件平台上运行
Rover rover; --->>> 3.实例化一个rover
AP_HAL_MAIN_CALLBACKS(&rover); --->>> 4.调用入口宏main函数启动应用