ardupilot/Tools/AP_Periph/AP_Periph.h

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C
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#pragma once
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#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Baro/AP_Baro.h>
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#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_MSP/AP_MSP.h>
#include <AP_MSP/msp.h>
#include "../AP_Bootloader/app_comms.h"
#include "hwing_esc.h"
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#if defined(HAL_PERIPH_NEOPIXEL_COUNT) || defined(HAL_PERIPH_ENABLE_NCP5623_LED)
#define AP_PERIPH_HAVE_LED
#endif
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#include "Parameters.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
void stm32_watchdog_init();
void stm32_watchdog_pat();
#endif
/*
app descriptor compatible with MissionPlanner
*/
extern const struct app_descriptor app_descriptor;
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class AP_Periph_FW {
public:
void init();
void update();
Parameters g;
void can_start();
void can_update();
void can_mag_update();
void can_gps_update();
void can_baro_update();
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void can_airspeed_update();
void can_rangefinder_update();
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void load_parameters();
AP_SerialManager serial_manager;
#ifdef HAL_PERIPH_ENABLE_GPS
AP_GPS gps;
#endif
#ifdef HAL_PERIPH_ENABLE_MAG
Compass compass;
#endif
#ifdef HAL_PERIPH_ENABLE_BARO
AP_Baro baro;
#endif
#ifdef HAL_PERIPH_ENABLE_MSP
struct {
AP_MSP msp;
MSP::msp_port_t port;
uint32_t last_gps_ms;
uint32_t last_baro_ms;
uint32_t last_mag_ms;
} msp;
void msp_init(AP_HAL::UARTDriver *_uart);
void msp_sensor_update(void);
void send_msp_packet(uint16_t cmd, void *p, uint16_t size);
void send_msp_GPS(void);
void send_msp_compass(void);
void send_msp_baro(void);
#endif
#ifdef HAL_PERIPH_ENABLE_ADSB
void adsb_init();
void adsb_update();
void can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg);
struct {
mavlink_message_t msg;
mavlink_status_t status;
} adsb;
#endif
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#ifdef HAL_PERIPH_ENABLE_AIRSPEED
AP_Airspeed airspeed;
#endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
RangeFinder rangefinder;
#endif
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
void pwm_irq_handler(uint8_t pin, bool pin_state, uint32_t timestamp);
void pwm_hardpoint_init();
void pwm_hardpoint_update();
struct {
uint8_t last_state;
uint32_t last_ts_us;
uint32_t last_send_ms;
uint16_t pwm_value;
uint16_t highest_pwm;
} pwm_hardpoint;
#endif
#ifdef HAL_PERIPH_ENABLE_HWESC
HWESC_Telem hwesc_telem;
void hwesc_telem_update();
#endif
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// setup the var_info table
AP_Param param_loader{var_info};
static const AP_Param::Info var_info[];
uint32_t last_mag_update_ms;
uint32_t last_gps_update_ms;
uint32_t last_baro_update_ms;
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uint32_t last_airspeed_update_ms;
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};
extern AP_Periph_FW periph;
extern "C" {
void can_printf(const char *fmt, ...);
}