mirror of https://github.com/ArduPilot/ardupilot
54 lines
944 B
C
54 lines
944 B
C
|
#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>
|
||
|
|
#include "Parameters.h"
|
||
|
|
#include "ch.h"
|
||
|
|
|
||
|
|
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();
|
||
|
|
|
||
|
|
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
|
||
|
|
|
||
|
|
// 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;
|
||
|
|
};
|
||
|
|
|
||
|
|
extern AP_Periph_FW periph;
|
||
|
|
|
||
|
|
extern "C" {
|
||
|
|
void can_printf(const char *fmt, ...);
|
||
|
|
}
|
||
|
|
|