mirror of https://github.com/ArduPilot/ardupilot
311 lines
12 KiB
C++
311 lines
12 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_BoardConfig - board specific configuration
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <GCS_MAVLink/GCS.h>
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#include "AP_BoardConfig.h"
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#include <stdio.h>
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#include <AP_RTC/AP_RTC.h>
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#if HAL_WITH_UAVCAN
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL_Linux/CAN.h>
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#endif
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#endif
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#ifndef BOARD_TYPE_DEFAULT
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#define BOARD_TYPE_DEFAULT PX4_BOARD_AUTO
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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# define BOARD_SAFETY_ENABLE_DEFAULT 1
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#ifndef BOARD_PWM_COUNT_DEFAULT
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# define BOARD_PWM_COUNT_DEFAULT 6
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#endif
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#ifndef BOARD_SER1_RTSCTS_DEFAULT
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# define BOARD_SER1_RTSCTS_DEFAULT 2
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#endif
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#ifndef BOARD_TYPE_DEFAULT
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# define BOARD_TYPE_DEFAULT PX4_BOARD_AUTO
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#endif
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#endif
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#ifndef HAL_IMU_TEMP_DEFAULT
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#define HAL_IMU_TEMP_DEFAULT -1 // disabled
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#endif
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#if HAL_HAVE_SAFETY_SWITCH
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# ifndef BOARD_SAFETY_OPTION_DEFAULT
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# define BOARD_SAFETY_OPTION_DEFAULT (BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)
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# endif
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# ifndef BOARD_SAFETY_ENABLE
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# define BOARD_SAFETY_ENABLE 1
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# endif
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#endif
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#ifndef BOARD_PWM_COUNT_DEFAULT
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#define BOARD_PWM_COUNT_DEFAULT 8
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#endif
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#ifndef BOARD_CONFIG_BOARD_VOLTAGE_MIN
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#define BOARD_CONFIG_BOARD_VOLTAGE_MIN 4.3f
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#endif
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extern const AP_HAL::HAL& hal;
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AP_BoardConfig *AP_BoardConfig::_singleton;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
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// @Param: PWM_COUNT
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// @DisplayName: Auxiliary pin config
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// @Description: Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO
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// @Values: 0:No PWMs,1:One PWMs,2:Two PWMs,3:Three PWMs,4:Four PWMs,5:Five PWMs,6:Six PWMs,7:Seven PWMs,8:Eight PWMs
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, pwm_count, BOARD_PWM_COUNT_DEFAULT),
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#if AP_FEATURE_RTSCTS
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// @Param: SER1_RTSCTS
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// @DisplayName: Serial 1 flow control
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// @Description: Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.
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// @Values: 0:Disabled,1:Enabled,2:Auto
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("SER1_RTSCTS", 1, AP_BoardConfig, state.ser1_rtscts, BOARD_SER1_RTSCTS_DEFAULT),
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// @Param: SER2_RTSCTS
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// @DisplayName: Serial 2 flow control
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// @Description: Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
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// @Values: 0:Disabled,1:Enabled,2:Auto
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("SER2_RTSCTS", 2, AP_BoardConfig, state.ser2_rtscts, 2),
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#endif
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#if HAL_HAVE_SAFETY_SWITCH
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// @Param: SAFETYENABLE
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// @DisplayName: Enable use of safety arming switch
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// @Description: This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
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// @Values: 0:Disabled,1:Enabled
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// @RebootRequired: True
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// @User: Standard
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AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, state.safety_enable, BOARD_SAFETY_ENABLE_DEFAULT),
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#endif
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#if AP_FEATURE_SBUS_OUT
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// @Param: SBUS_OUT
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// @DisplayName: SBUS output rate
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// @Description: This sets the SBUS output frame rate in Hz
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// @Values: 0:Disabled,1:50Hz,2:75Hz,3:100Hz,4:150Hz,5:200Hz,6:250Hz,7:300Hz
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("SBUS_OUT", 4, AP_BoardConfig, state.sbus_out_rate, 0),
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#endif
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// @Param: SERIAL_NUM
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// @DisplayName: User-defined serial number
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// @Description: User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
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// @Range: -32768 32767
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// @User: Standard
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AP_GROUPINFO("SERIAL_NUM", 5, AP_BoardConfig, vehicleSerialNumber, 0),
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#if HAL_HAVE_SAFETY_SWITCH
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// @Param: SAFETY_MASK
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// @DisplayName: Channels which ignore the safety switch state
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// @Description: A bitmask which controls what channels can move while the safety switch has not been pressed
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// @Values: 0:Disabled,1:Enabled
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// @Bitmask: 0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("SAFETY_MASK", 7, AP_BoardConfig, state.ignore_safety_channels, 0),
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#endif
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#if HAL_HAVE_IMU_HEATER
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// @Param: IMU_TARGTEMP
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// @DisplayName: Target IMU temperature
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// @Description: This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour
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// @Range: -1 80
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// @Units: degC
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// @User: Advanced
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AP_GROUPINFO("IMU_TARGTEMP", 8, AP_BoardConfig, _imu_target_temperature, HAL_IMU_TEMP_DEFAULT),
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#endif
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#if AP_FEATURE_BOARD_DETECT
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// @Param: TYPE
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// @DisplayName: Board type
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// @Description: This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
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// @Values: 0:AUTO,1:PX4V1,2:Pixhawk,3:Cube/Pixhawk2,4:Pixracer,5:PixhawkMini,6:Pixhawk2Slim,7:VRBrain 5.1,8:VRBrain 5.2,9:VR Micro Brain 5.1,10:VR Micro Brain 5.2,11:VRBrain Core 1.0,12:VRBrain 5.4,13:Intel Aero FC,20:AUAV2.1
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("TYPE", 9, AP_BoardConfig, state.board_type, BOARD_TYPE_DEFAULT),
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#endif
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#if AP_FEATURE_BOARD_DETECT
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#if HAL_PX4_HAVE_PX4IO || HAL_WITH_IO_MCU
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// @Param: IO_ENABLE
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// @DisplayName: Enable IO co-processor
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// @Description: This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
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// @Values: 0:Disabled,1:Enabled
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("IO_ENABLE", 10, AP_BoardConfig, state.io_enable, 1),
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#endif
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#endif
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#if HAL_RCINPUT_WITH_AP_RADIO
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// @Group: RADIO
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// @Path: ../AP_Radio/AP_Radio.cpp
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AP_SUBGROUPINFO(_radio, "RADIO", 11, AP_BoardConfig, AP_Radio),
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#endif
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#if HAL_HAVE_SAFETY_SWITCH
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// @Param: SAFETYOPTION
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// @DisplayName: Options for safety button behavior
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// @Description: This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
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// @Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
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// @User: Standard
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AP_GROUPINFO("SAFETYOPTION", 13, AP_BoardConfig, state.safety_option, BOARD_SAFETY_OPTION_DEFAULT),
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#endif
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// @Group: RTC
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// @Path: ../AP_RTC/AP_RTC.cpp
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AP_SUBGROUPINFO(rtc, "RTC", 14, AP_BoardConfig, AP_RTC),
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#if HAL_HAVE_BOARD_VOLTAGE
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// @Param: VBUS_MIN
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// @DisplayName: Autopilot board voltage requirement
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// @Description: Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
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// @Units: V
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// @Range: 4.0 5.5
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// @Increment: 0.1
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// @User: Advanced
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AP_GROUPINFO("VBUS_MIN", 15, AP_BoardConfig, _vbus_min, BOARD_CONFIG_BOARD_VOLTAGE_MIN),
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#endif
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#if HAL_HAVE_SERVO_VOLTAGE
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// @Param: VSERVO_MIN
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// @DisplayName: Servo voltage requirement
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// @Description: Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
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// @Units: V
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// @Range: 3.3 12.0
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// @Increment: 0.1
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// @User: Advanced
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AP_GROUPINFO("VSERVO_MIN", 16, AP_BoardConfig, _vservo_min, 0),
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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// @Param: SD_SLOWDOWN
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// @DisplayName: microSD slowdown
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// @Description: This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
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// @Range: 0 32
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("SD_SLOWDOWN", 17, AP_BoardConfig, _sdcard_slowdown, 0),
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#endif
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#ifdef HAL_GPIO_PWM_VOLT_PIN
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// @Param: PWM_VOLT_SEL
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// @DisplayName: Set PWM Out Voltage
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// @Description: This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
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// @Values: 0:3.3V,1:5V
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// @User: Advanced
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AP_GROUPINFO("PWM_VOLT_SEL", 18, AP_BoardConfig, _pwm_volt_sel, 0),
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#endif
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AP_GROUPEND
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};
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void AP_BoardConfig::init()
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{
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board_setup();
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#if HAL_HAVE_IMU_HEATER
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// let the HAL know the target temperature. We pass a pointer as
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// we want the user to be able to change the parameter without
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// rebooting
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hal.util->set_imu_target_temp((int8_t *)&_imu_target_temperature);
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#endif
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AP::rtc().set_utc_usec(hal.util->get_hw_rtc(), AP_RTC::SOURCE_HW);
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && defined(USE_POSIX)
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uint8_t slowdown = constrain_int16(_sdcard_slowdown.get(), 0, 32);
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const uint8_t max_slowdown = 8;
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do {
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if (hal.util->fs_init()) {
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break;
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}
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slowdown++;
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hal.scheduler->delay(5);
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} while (slowdown < max_slowdown);
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if (slowdown < max_slowdown) {
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_sdcard_slowdown.set(slowdown);
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} else {
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printf("SDCard failed to start\n");
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}
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#endif
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}
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// set default value for BRD_SAFETY_MASK
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void AP_BoardConfig::set_default_safety_ignore_mask(uint16_t mask)
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{
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#if HAL_HAVE_SAFETY_SWITCH
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state.ignore_safety_channels.set_default(mask);
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#endif
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}
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void AP_BoardConfig::init_safety()
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{
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board_init_safety();
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}
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/*
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notify user of a fatal startup error related to available sensors.
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*/
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bool AP_BoardConfig::_in_sensor_config_error;
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void AP_BoardConfig::sensor_config_error(const char *reason)
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{
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_in_sensor_config_error = true;
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/*
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to give the user the opportunity to connect to USB we keep
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repeating the error. The mavlink delay callback is initialised
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before this, so the user can change parameters (and in
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particular BRD_TYPE if needed)
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*/
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uint32_t last_print_ms = 0;
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while (true) {
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uint32_t now = AP_HAL::millis();
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if (now - last_print_ms >= 3000) {
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last_print_ms = now;
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printf("Sensor failure: %s\n", reason);
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#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
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gcs().send_text(MAV_SEVERITY_ERROR, "Check BRD_TYPE: %s", reason);
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#endif
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}
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#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
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gcs().update_receive();
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gcs().update_send();
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#endif
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hal.scheduler->delay(5);
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}
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}
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