2011-09-28 21:51:12 -03:00
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/*
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* AP_HardwareAbstractionLayer.h
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*
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* Created on: Apr 4, 2011
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*
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*/
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#ifndef AP_HARDWAREABSTRACTIONLAYER_H_
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#define AP_HARDWAREABSTRACTIONLAYER_H_
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#include "../AP_Common/AP_Vector.h"
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#include "../GCS_MAVLink/GCS_MAVLink.h"
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class AP_ADC;
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class IMU;
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class GPS;
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class APM_BMP085_Class;
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class Compass;
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class BetterStream;
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class RangeFinder;
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2011-10-16 03:55:34 -03:00
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class FastSerial;
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2011-11-28 01:53:30 -04:00
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class AP_IMU_INS;
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class APM_RC_Class;
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2011-09-28 21:51:12 -03:00
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namespace apo {
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class AP_RcChannel;
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class AP_CommLink;
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class AP_BatteryMonitor;
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2011-09-28 21:51:12 -03:00
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// enumerations
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enum halMode_t {
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2011-10-26 13:31:11 -03:00
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MODE_LIVE, MODE_HIL_CNTL,
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/*MODE_HIL_NAV*/
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};
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2011-09-28 21:51:12 -03:00
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enum board_t {
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2011-10-26 13:31:11 -03:00
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BOARD_ARDUPILOTMEGA_1280, BOARD_ARDUPILOTMEGA_2560, BOARD_ARDUPILOTMEGA_2
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2011-09-28 21:51:12 -03:00
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};
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enum vehicle_t {
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VEHICLE_CAR, VEHICLE_QUAD, VEHICLE_PLANE, VEHICLE_BOAT, VEHICLE_TANK
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2011-09-28 21:51:12 -03:00
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};
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class AP_HardwareAbstractionLayer {
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public:
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2011-10-26 13:31:11 -03:00
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// default ctors on pointers called on pointers here, this
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// allows NULL to be used as a boolean for if the device was
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// initialized
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AP_HardwareAbstractionLayer(halMode_t mode, board_t board,
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vehicle_t vehicle, uint8_t heartBeatTimeout) :
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2011-11-28 13:29:05 -04:00
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adc(), gps(), baro(), compass(), rangeFinders(), imu(), batteryMonitor(),
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radio(), rc(), gcs(),
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2011-10-26 13:31:11 -03:00
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hil(), debug(), load(), lastHeartBeat(),
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_heartBeatTimeout(heartBeatTimeout), _mode(mode),
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_board(board), _vehicle(vehicle) {
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/*
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* Board specific hardware initialization
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*/
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if (board == BOARD_ARDUPILOTMEGA_1280) {
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slideSwitchPin = 40;
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pushButtonPin = 41;
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aLedPin = 37;
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bLedPin = 36;
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cLedPin = 35;
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eepromMaxAddr = 1024;
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pinMode(aLedPin, OUTPUT); // extra led
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pinMode(bLedPin, OUTPUT); // imu ledclass AP_CommLink;
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pinMode(cLedPin, OUTPUT); // gps led
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pinMode(slideSwitchPin, INPUT);
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pinMode(pushButtonPin, INPUT);
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DDRL |= B00000100; // set port L, pint 2 to output for the relay
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} else if (board == BOARD_ARDUPILOTMEGA_2560) {
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slideSwitchPin = 40;
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pushButtonPin = 41;
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aLedPin = 37;
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bLedPin = 36;
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cLedPin = 35;
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eepromMaxAddr = 2048;
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pinMode(aLedPin, OUTPUT); // extra led
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pinMode(bLedPin, OUTPUT); // imu ledclass AP_CommLink;
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pinMode(cLedPin, OUTPUT); // gps led
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pinMode(slideSwitchPin, INPUT);
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pinMode(pushButtonPin, INPUT);
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DDRL |= B00000100; // set port L, pint 2 to output for the relay
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} else if (board == BOARD_ARDUPILOTMEGA_2) {
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slideSwitchPin = 40;
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pushButtonPin = 41;
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aLedPin = 37;
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bLedPin = 36;
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cLedPin = 35;
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eepromMaxAddr = 2048;
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pinMode(aLedPin, OUTPUT); // extra led
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pinMode(bLedPin, OUTPUT); // imu ledclass AP_CommLink;
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pinMode(cLedPin, OUTPUT); // gps led
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pinMode(slideSwitchPin, INPUT);
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pinMode(pushButtonPin, INPUT);
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DDRL |= B00000100; // set port L, pint 2 to output for the relay
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}
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}
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/**
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* Sensors
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*/
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AP_ADC * adc;
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GPS * gps;
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APM_BMP085_Class * baro;
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Compass * compass;
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Vector<RangeFinder *> rangeFinders;
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AP_BatteryMonitor * batteryMonitor;
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2011-11-28 01:53:30 -04:00
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AP_IMU_INS * imu;
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/**
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* Actuators
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*/
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APM_RC_Class * radio;
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2011-10-26 13:31:11 -03:00
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/**
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* Radio Channels
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*/
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Vector<AP_RcChannel *> rc;
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/**
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* Communication Channels
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*/
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AP_CommLink * gcs;
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AP_CommLink * hil;
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FastSerial * debug;
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/**
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* data
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*/
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uint8_t load;
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uint32_t lastHeartBeat;
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/**
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* settings
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*/
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uint8_t slideSwitchPin;
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uint8_t pushButtonPin;
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uint8_t aLedPin;
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uint8_t bLedPin;
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uint8_t cLedPin;
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uint16_t eepromMaxAddr;
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// accessors
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halMode_t getMode() {
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return _mode;
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}
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board_t getBoard() {
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return _board;
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}
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vehicle_t getVehicle() {
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return _vehicle;
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}
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bool heartBeatLost() {
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if (_heartBeatTimeout == 0)
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return false;
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else
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return ((micros() - lastHeartBeat) / 1e6) > _heartBeatTimeout;
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}
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2011-09-28 21:51:12 -03:00
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private:
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2011-10-26 13:31:11 -03:00
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// enumerations
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uint8_t _heartBeatTimeout;
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halMode_t _mode;
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board_t _board;
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vehicle_t _vehicle;
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2011-09-28 21:51:12 -03:00
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};
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2011-10-26 15:59:40 -03:00
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} // namespace apo
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2011-09-28 21:51:12 -03:00
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#endif /* AP_HARDWAREABSTRACTIONLAYER_H_ */
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2011-10-26 15:59:40 -03:00
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// vim:ts=4:sw=4:expandtab
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