mirror of https://github.com/ArduPilot/ardupilot
116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
#pragma once
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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 <AP_Param/AP_Param.h>
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#include <sys/ioctl.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
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#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
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#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1) // query if node identification is in progress
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#define UAVCAN_IOCS_HARDPOINT_SET _UAVCAN_IOC(10) // control hardpoint (e.g. OpenGrab EPM)
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#define UAVCAN_NODE_FILE "/dev/uavcan/esc" // design flaw of uavcan driver, this should be /dev/uavcan/node one day
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#endif
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extern "C" typedef int (*main_fn_t)(int argc, char **);
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class AP_BoardConfig
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{
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public:
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// constructor
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AP_BoardConfig(void)
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{
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AP_Param::setup_object_defaults(this, var_info);
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};
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void init(void);
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static const struct AP_Param::GroupInfo var_info[];
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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// public method to start a driver
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static bool px4_start_driver(main_fn_t main_function, const char *name, const char *arguments);
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// valid types for BRD_TYPE
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enum px4_board_type {
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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PX4_BOARD_AUTO = 0,
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PX4_BOARD_PX4V1 = 1,
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PX4_BOARD_PIXHAWK = 2,
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PX4_BOARD_PIXHAWK2 = 3,
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PX4_BOARD_PIXRACER = 4,
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PX4_BOARD_PHMINI = 5,
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PX4_BOARD_PH2SLIM = 6,
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PX4_BOARD_OLDDRIVERS = 100,
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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VRX_BOARD_BRAIN51 = 7,
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VRX_BOARD_BRAIN52 = 8,
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VRX_BOARD_UBRAIN51 = 9,
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VRX_BOARD_UBRAIN52 = 10,
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VRX_BOARD_CORE10 = 11,
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VRX_BOARD_BRAIN54 = 12,
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#endif
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};
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#endif
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// set default value for BRD_SAFETY_MASK
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void set_default_safety_ignore_mask(uint16_t mask);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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static enum px4_board_type get_board_type(void) {
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return px4_configured_board;
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}
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#endif
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private:
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AP_Int16 vehicleSerialNumber;
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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struct {
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AP_Int8 pwm_count;
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AP_Int8 safety_enable;
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AP_Int32 ignore_safety_channels;
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#if HAL_WITH_UAVCAN
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AP_Int8 can_enable;
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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AP_Int8 ser1_rtscts;
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AP_Int8 ser2_rtscts;
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AP_Int8 sbus_out_rate;
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#endif
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AP_Int8 board_type;
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} px4;
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static enum px4_board_type px4_configured_board;
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void px4_drivers_start(void);
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void px4_setup(void);
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void px4_setup_pwm(void);
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void px4_setup_safety(void);
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void px4_setup_safety_mask(void);
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void px4_setup_uart(void);
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void px4_setup_sbus(void);
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void px4_setup_canbus(void);
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void px4_setup_drivers(void);
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void px4_setup_peripherals(void);
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void px4_setup_px4io(void);
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void px4_tone_alarm(const char *tone_string);
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void px4_sensor_error(const char *reason);
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bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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void px4_autodetect(void);
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#endif
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#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN
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// target temperarure for IMU in Celsius, or -1 to disable
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AP_Int8 _imu_target_temperature;
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};
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