mirror of https://github.com/ArduPilot/ardupilot
185 lines
5.5 KiB
C++
185 lines
5.5 KiB
C++
#include "AP_Periph.h"
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extern const AP_HAL::HAL &hal;
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#ifndef HAL_PERIPH_LED_BRIGHT_DEFAULT
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#define HAL_PERIPH_LED_BRIGHT_DEFAULT 100
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#endif
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#ifndef HAL_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT
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#define HAL_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT 115200
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#endif
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#ifndef HAL_PERIPH_RANGEFINDER_PORT_DEFAULT
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#define HAL_PERIPH_RANGEFINDER_PORT_DEFAULT 3
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#endif
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#ifndef HAL_PERIPH_GPS_PORT_DEFAULT
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#define HAL_PERIPH_GPS_PORT_DEFAULT 3
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#endif
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#ifndef HAL_PERIPH_ADSB_BAUD_DEFAULT
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#define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600
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#endif
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#ifndef HAL_PERIPH_ADSB_PORT_DEFAULT
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#define HAL_PERIPH_ADSB_PORT_DEFAULT 1
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#endif
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#ifndef AP_PERIPH_MSP_PORT_DEFAULT
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#define AP_PERIPH_MSP_PORT_DEFAULT 1
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#endif
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/*
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* AP_Periph parameter definitions
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*
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*/
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#define GSCALAR(v, name, def) { periph.g.v.vtype, name, Parameters::k_param_ ## v, &periph.g.v, {def_value : def} }
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#define ASCALAR(v, name, def) { periph.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&periph.aparm.v, {def_value : def} }
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &periph.g.v, {group_info : class::var_info} }
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&periph.v, {group_info : class::var_info} }
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#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&periph.v, {group_info : class::var_info} }
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const AP_Param::Info AP_Periph_FW::var_info[] = {
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// @Param: FORMAT_VERSION
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// @DisplayName: Eeprom format version number
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// @Description: This value is incremented when changes are made to the eeprom format
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// @User: Advanced
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GSCALAR(format_version, "FORMAT_VERSION", 0),
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// can node number, 0 for dynamic node allocation
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GSCALAR(can_node, "CAN_NODE", HAL_CAN_DEFAULT_NODE_ID),
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// can node baudrate
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GSCALAR(can_baudrate, "CAN_BAUDRATE", 1000000),
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#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
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// trigger bootloader flash
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GSCALAR(flash_bootloader, "FLASH_BOOTLOADER", 0),
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#endif
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GSCALAR(debug, "DEBUG", 0),
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GSCALAR(serial_number, "BRD_SERIAL_NUM", 0),
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#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
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GSCALAR(buzz_volume, "BUZZER_VOLUME", 100),
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#endif
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#ifdef HAL_PERIPH_ENABLE_GPS
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// GPS driver
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// @Group: GPS
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// @Path: ../../libraries/AP_GPS/AP_GPS.cpp
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GOBJECT(gps, "GPS", AP_GPS),
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// @Param: GPS_PORT
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// @DisplayName: GPS Serial Port
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// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to GPS.
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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// @RebootRequired: True
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GSCALAR(gps_port, "GPS_PORT", HAL_PERIPH_GPS_PORT_DEFAULT),
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#endif
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#ifdef HAL_PERIPH_ENABLE_BATTERY
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// @Group: BATT
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// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
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GOBJECT(battery, "BATT", AP_BattMonitor),
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#endif
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#ifdef HAL_PERIPH_ENABLE_MAG
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// @Group: COMPASS_
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// @Path: ../../libraries/AP_Compass/AP_Compass.cpp
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GOBJECT(compass, "COMPASS_", Compass),
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#endif
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#ifdef HAL_PERIPH_ENABLE_BARO
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// Baro driver
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// @Group: BARO
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// @Path: ../../libraries/AP_Baro/AP_Baro.cpp
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GOBJECT(baro, "BARO", AP_Baro),
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GSCALAR(baro_enable, "BARO_ENABLE", 1),
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#endif
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#ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
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GSCALAR(led_brightness, "LED_BRIGHTNESS", HAL_PERIPH_LED_BRIGHT_DEFAULT),
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#endif
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#ifdef HAL_PERIPH_ENABLE_AIRSPEED
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// Airspeed driver
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// @Group: ARSP
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// @Path: ../../libraries/AP_Airspeed/AP_Airspeed.cpp
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GOBJECT(airspeed, "ARSP", AP_Airspeed),
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#endif
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#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
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GSCALAR(rangefinder_baud, "RNGFND_BAUDRATE", HAL_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT),
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GSCALAR(rangefinder_port, "RNGFND_PORT", HAL_PERIPH_RANGEFINDER_PORT_DEFAULT),
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// Rangefinder driver
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// @Group: RNGFND
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// @Path: ../../libraries/AP_RangeFinder/Rangefinder.cpp
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GOBJECT(rangefinder, "RNGFND", RangeFinder),
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#endif
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#ifdef HAL_PERIPH_ENABLE_ADSB
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GSCALAR(adsb_baudrate, "ADSB_BAUDRATE", HAL_PERIPH_ADSB_BAUD_DEFAULT),
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GSCALAR(adsb_port, "ADSB_PORT", HAL_PERIPH_ADSB_PORT_DEFAULT),
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#endif
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#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
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GSCALAR(hardpoint_id, "HARDPOINT_ID", HAL_PWM_HARDPOINT_ID_DEFAULT),
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GSCALAR(hardpoint_rate, "HARDPOINT_RATE", 100),
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#endif
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#ifdef HAL_PERIPH_ENABLE_HWESC
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GSCALAR(esc_number, "ESC_NUMBER", 0),
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#endif
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#ifdef HAL_PERIPH_ENABLE_RC_OUT
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// Servo driver
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// @Group: OUT
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// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
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GOBJECT(servo_channels, "OUT", SRV_Channels),
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// PWM type for ESCs (to allow for DShot and OneShot)
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GSCALAR(esc_pwm_type, "ESC_PWM_TYPE", 0),
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#endif
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#ifdef HAL_PERIPH_ENABLE_MSP
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GSCALAR(msp_port, "MSP_PORT", AP_PERIPH_MSP_PORT_DEFAULT),
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#endif
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#ifdef HAL_PERIPH_ENABLE_NOTIFY
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// @Group: NTF_
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// @Path: ../libraries/AP_Notify/AP_Notify.cpp
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GOBJECT(notify, "NTF_", AP_Notify),
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#endif
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AP_VAREND
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};
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void AP_Periph_FW::load_parameters(void)
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{
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AP_Param::setup_sketch_defaults();
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if (!AP_Param::check_var_info()) {
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hal.console->printf("Bad parameter table\n");
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AP_HAL::panic("Bad parameter table");
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}
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if (!g.format_version.load() ||
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g.format_version != Parameters::k_format_version) {
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// erase all parameters
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StorageManager::erase();
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AP_Param::erase_all();
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// save the current format version
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g.format_version.set_and_save(Parameters::k_format_version);
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}
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// Load all auto-loaded EEPROM variables
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AP_Param::load_all();
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}
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