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