ardupilot/libraries/AP_HAL_F4Light/HAL_F4Light_Class.h

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#pragma once
#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
#include <AP_HAL_F4Light/AP_HAL_F4Light.h>
#include "handler.h"
#include <AP_Param/AP_Param.h>
#include <hal.h>
#include "USBDriver.h"
#include <pwm_in.h>
#include <usart.h>
#include <i2c.h>
#include <spi.h>
#if defined(USB_MASSSTORAGE)
#include "massstorage/mass_storage.h"
#endif
/*
Backup SRAM 4KByte - 0x4002 4000 - 0x4002 3FFF can be used as EEPROM buffer?
ideally it should be used for state storage for recovery from in-flight reboots but we never get this from upstream...
*/
class HAL_state{
public:
HAL_state()
: sd_busy(0)
, disconnect(0)
{}
uint8_t sd_busy;
uint8_t disconnect;
};
class HAL_F4Light : public AP_HAL::HAL {
public:
HAL_F4Light();
void run(int argc, char * const argv[], Callbacks* callbacks) const override;
void lateInit();
static HAL_state state; // hal is const so we should move out its internal state
private:
AP_HAL::UARTDriver** uarts[6];
void connect_uart(AP_HAL::UARTDriver* uartL,AP_HAL::UARTDriver* uartR, AP_HAL::Proc proc);
// parameters in hal_param_helper
#if defined(USB_MASSSTORAGE)
F4Light::MassStorage massstorage;
#endif
};
#endif // __AP_HAL_F4Light_CLASS_H__