#pragma once #include #include #include #include #if defined(HAL_NEEDS_PARAM_HELPER) #include #endif #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) #define AP_FEATURE_BOARD_DETECT 1 #else #define AP_FEATURE_BOARD_DETECT 0 #endif #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_GPIO_PIN_SAFETY_IN) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) #define AP_FEATURE_SAFETY_BUTTON 1 #else #define AP_FEATURE_SAFETY_BUTTON 0 #endif #ifndef AP_FEATURE_RTSCTS #define AP_FEATURE_RTSCTS 0 #endif #ifndef AP_FEATURE_RTSCTS #define AP_FEATURE_RTSCTS 0 #endif #ifndef AP_FEATURE_SBUS_OUT #define AP_FEATURE_SBUS_OUT 0 #endif #if HAL_RCINPUT_WITH_AP_RADIO #include #endif extern "C" typedef int (*main_fn_t)(int argc, char **); class AP_BoardConfig { public: AP_BoardConfig() { instance = this; AP_Param::setup_object_defaults(this, var_info); }; /* Do not allow copies */ AP_BoardConfig(const AP_BoardConfig &other) = delete; AP_BoardConfig &operator=(const AP_BoardConfig&) = delete; // singleton support static AP_BoardConfig *get_instance(void) { return instance; } void init(void); void init_safety(void); static const struct AP_Param::GroupInfo var_info[]; // notify user of a fatal startup error related to available sensors. static void sensor_config_error(const char *reason); // permit other libraries (in particular, GCS_MAVLink) to detect // that we're never going to boot properly: static bool in_sensor_config_error(void) { return _in_sensor_config_error; } #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN // public method to start a driver static bool px4_start_driver(main_fn_t main_function, const char *name, const char *arguments); #endif // valid types for BRD_TYPE: these values need to be in sync with the // values from the param description enum px4_board_type { BOARD_TYPE_UNKNOWN = -1, PX4_BOARD_AUTO = 0, PX4_BOARD_PX4V1 = 1, PX4_BOARD_PIXHAWK = 2, PX4_BOARD_PIXHAWK2 = 3, PX4_BOARD_PIXRACER = 4, PX4_BOARD_PHMINI = 5, PX4_BOARD_PH2SLIM = 6, PX4_BOARD_AEROFC = 13, PX4_BOARD_PIXHAWK_PRO = 14, PX4_BOARD_AUAV21 = 20, PX4_BOARD_PCNC1 = 21, PX4_BOARD_MINDPXV2 = 22, PX4_BOARD_SP01 = 23, PX4_BOARD_FMUV5 = 24, VRX_BOARD_BRAIN51 = 30, VRX_BOARD_BRAIN52 = 32, VRX_BOARD_BRAIN52E = 33, VRX_BOARD_UBRAIN51 = 34, VRX_BOARD_UBRAIN52 = 35, VRX_BOARD_CORE10 = 36, VRX_BOARD_BRAIN54 = 38, PX4_BOARD_OLDDRIVERS = 100, }; // set default value for BRD_SAFETY_MASK void set_default_safety_ignore_mask(uint16_t mask); static enum px4_board_type get_board_type(void) { #if AP_FEATURE_BOARD_DETECT return px4_configured_board; #else return BOARD_TYPE_UNKNOWN; #endif } // ask if IOMCU is enabled. This is a uint8_t to allow // developer debugging by setting BRD_IO_ENABLE=100 to avoid the // crc check of IO firmware on startup static uint8_t io_enabled(void) { #if AP_FEATURE_BOARD_DETECT return instance?uint8_t(instance->state.io_enable.get()):0; #else return 0; #endif } // get number of PWM outputs enabled on FMU static uint8_t get_pwm_count(void) { return instance?instance->pwm_count.get():4; } #if AP_FEATURE_SAFETY_BUTTON enum board_safety_button_option { BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF=1, BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON=2, BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED=4, }; // return safety button options. Bits are in enum board_safety_button_option uint16_t get_safety_button_options(void) { return uint16_t(state.safety_option.get()); } #endif // return the value of BRD_SAFETY_MASK uint16_t get_safety_mask(void) const { #if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM) return uint16_t(state.ignore_safety_channels.get()); #else return 0; #endif } #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS static uint8_t get_sdcard_slowdown(void) { return instance?instance->_sdcard_slowdown.get():0; } #endif enum board_options { BOARD_OPTION_WATCHDOG = (1 << 0), }; // return true if watchdog enabled static bool watchdog_enabled(void) { return _singleton?(_singleton->_options & BOARD_OPTION_WATCHDOG)!=0:false; } private: static AP_BoardConfig *instance; AP_Int16 vehicleSerialNumber; AP_Int8 pwm_count; #if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM) || AP_FEATURE_SAFETY_BUTTON struct { AP_Int8 safety_enable; AP_Int16 safety_option; AP_Int32 ignore_safety_channels; #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS AP_Int8 ser1_rtscts; AP_Int8 ser2_rtscts; AP_Int8 sbus_out_rate; #endif AP_Int8 board_type; AP_Int8 io_enable; } state; #endif #if AP_FEATURE_BOARD_DETECT static enum px4_board_type px4_configured_board; #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN void px4_setup_pwm(void); void px4_setup_safety_mask(void); void px4_tone_alarm(const char *tone_string); void px4_setup_px4io(void); void px4_setup_peripherals(void); #endif void board_setup_drivers(void); bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80); void validate_board_type(void); void board_autodetect(void); #endif // AP_FEATURE_BOARD_DETECT #if AP_FEATURE_SAFETY_BUTTON void board_init_safety(void); void board_setup_safety_mask(void); #endif void board_setup_uart(void); void board_setup_sbus(void); void board_setup(void); static bool _in_sensor_config_error; // target temperarure for IMU in Celsius, or -1 to disable AP_Int8 _imu_target_temperature; #if HAL_RCINPUT_WITH_AP_RADIO // direct attached radio AP_Radio _radio; #endif #if defined(HAL_NEEDS_PARAM_HELPER) // HAL specific parameters AP_Param_Helper param_helper{false}; #endif // real-time-clock; private because access is via the singleton AP_RTC rtc; #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS AP_Int8 _sdcard_slowdown; #endif AP_Int32 _options; };