ardupilot/libraries/APO/AP_HardwareAbstractionLayer.h

100 lines
1.9 KiB
C++

/*
* AP_HardwareAbstractionLayer.h
*
* Created on: Apr 4, 2011
*
*/
#ifndef AP_HARDWAREABSTRACTIONLAYER_H_
#define AP_HARDWAREABSTRACTIONLAYER_H_
#include "../AP_Common/AP_Common.h"
#include "../FastSerial/FastSerial.h"
#include "../AP_Common/AP_Vector.h"
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "../AP_ADC/AP_ADC.h"
#include "../AP_IMU/AP_IMU.h"
#include "../AP_GPS/GPS.h"
#include "../APM_BMP085/APM_BMP085.h"
#include "../AP_Compass/AP_Compass.h"
#include "AP_RcChannel.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
#include "../GCS_MAVLink/GCS_MAVLink.h"
class AP_ADC;
class IMU;
class GPS;
class APM_BMP085_Class;
class Compass;
class BetterStream;
class RangeFinder;
namespace apo {
class AP_RcChannel;
class AP_CommLink;
// enumerations
enum halMode_t {MODE_LIVE, MODE_HIL_CNTL, /*MODE_HIL_NAV*/};
enum board_t {BOARD_ARDUPILOTMEGA};
enum vehicle_t {VEHICLE_CAR, VEHICLE_QUAD, VEHICLE_PLANE};
class AP_HardwareAbstractionLayer {
public:
AP_HardwareAbstractionLayer(halMode_t mode, board_t board, vehicle_t vehicle) :
_mode(mode), _board(board), _vehicle(vehicle), adc(),
gps(), baro(), compass(), rangeFinders(),
imu(), rc(), gcs(), hil(), debug(), load()
{
}
/**
* Sensors
*/
AP_ADC * adc;
GPS * gps;
APM_BMP085_Class * baro;
Compass * compass;
Vector<RangeFinder *> rangeFinders;
IMU * imu;
/**
* Radio Channels
*/
Vector<AP_RcChannel *> rc;
/**
* Communication Channels
*/
AP_CommLink * gcs;
AP_CommLink * hil;
FastSerial * debug;
// accessors
halMode_t mode() { return _mode; }
board_t board() { return _board; }
vehicle_t vehicle() { return _vehicle; }
MAV_STATE state(){ return _state; }
float getTimeSinceLastHeartBeat() {
return (micros() - lastHeartBeat)/1e6;
}
uint8_t load;
uint32_t lastHeartBeat;
private:
// enumerations
halMode_t _mode;
board_t _board;
vehicle_t _vehicle;
MAV_STATE _state;
};
}
#endif /* AP_HARDWAREABSTRACTIONLAYER_H_ */