mirror of https://github.com/ArduPilot/ardupilot
249 lines
6.7 KiB
C++
249 lines
6.7 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Baro/AP_Baro.h>
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#include "SRV_Channel/SRV_Channel.h"
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#include <AP_Notify/AP_Notify.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_MSP/AP_MSP.h>
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#include <AP_MSP/msp.h>
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#include "../AP_Bootloader/app_comms.h"
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#include "hwing_esc.h"
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#include <AP_CANManager/AP_CANManager.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <AP_HAL_ChibiOS/CANIface.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_HAL_SITL/CANSocketIface.h>
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#endif
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#ifndef HAL_NO_GCS
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#include "GCS_MAVLink.h"
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#endif
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#if defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_TOSHIBA_LED_WITHOUT_NOTIFY)
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#define AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
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#endif
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#ifdef HAL_PERIPH_ENABLE_NOTIFY
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#ifndef HAL_PERIPH_ENABLE_RC_OUT
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#error "HAL_PERIPH_ENABLE_NOTIFY requires HAL_PERIPH_ENABLE_RC_OUT"
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#endif
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#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
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#error "You cannot enable HAL_PERIPH_ENABLE_NOTIFY and HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY at the same time. Notify already includes it"
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#endif
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#ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
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#error "You cannot enable HAL_PERIPH_ENABLE_NOTIFY and any HAL_PERIPH_ENABLE_<device>_LED_WITHOUT_NOTIFY at the same time. Notify already includes them all"
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#endif
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#ifdef HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY
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#error "You cannot use HAL_PERIPH_ENABLE_NOTIFY and HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY at the same time. Notify already includes it. Set param OUTx_FUNCTION=120"
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#endif
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#endif
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#if defined(HAL_PERIPH_ENABLE_BATTERY_MPPT_PACKETDIGITAL) && HAL_MAX_CAN_PROTOCOL_DRIVERS < 2
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#error "Battery MPPT PacketDigital driver requires at least two CAN Ports"
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#endif
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#include "Parameters.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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void stm32_watchdog_init();
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void stm32_watchdog_pat();
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#endif
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/*
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app descriptor compatible with MissionPlanner
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*/
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extern const struct app_descriptor app_descriptor;
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class AP_Periph_FW {
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public:
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AP_Periph_FW();
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CLASS_NO_COPY(AP_Periph_FW);
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static AP_Periph_FW* get_singleton()
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{
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if (_singleton == nullptr) {
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AP_HAL::panic("AP_Periph_FW used before allocation.");
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}
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return _singleton;
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}
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void init();
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void update();
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Parameters g;
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void can_start();
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void can_update();
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void can_mag_update();
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void can_gps_update();
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void can_baro_update();
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void can_airspeed_update();
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void can_rangefinder_update();
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void can_battery_update();
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void load_parameters();
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void prepare_reboot();
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#ifdef HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT
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void check_for_serial_reboot_cmd(const int8_t serial_index);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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static ChibiOS::CANIface* can_iface_periph[HAL_NUM_CAN_IFACES];
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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static HALSITL::CANIface* can_iface_periph[HAL_NUM_CAN_IFACES];
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#endif
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AP_SerialManager serial_manager;
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#ifdef HAL_PERIPH_ENABLE_GPS
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AP_GPS gps;
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#endif
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#ifdef HAL_PERIPH_ENABLE_MAG
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Compass compass;
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#endif
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#ifdef HAL_PERIPH_ENABLE_BARO
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AP_Baro baro;
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#endif
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#ifdef HAL_PERIPH_ENABLE_BATTERY
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struct AP_Periph_Battery {
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void handle_battery_failsafe(const char* type_str, const int8_t action) { }
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AP_BattMonitor lib{0, FUNCTOR_BIND_MEMBER(&AP_Periph_FW::AP_Periph_Battery::handle_battery_failsafe, void, const char*, const int8_t), nullptr};
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uint32_t last_read_ms;
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uint32_t last_can_send_ms;
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} battery;
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#endif
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#if HAL_NUM_CAN_IFACES >= 2
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// This allows you to change the protocol and it continues to use the one at boot.
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// Without this, changing away from UAVCAN causes loss of comms and you can't
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// change the rest of your params or verify it succeeded.
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AP_CANManager::Driver_Type can_protocol_cached[HAL_NUM_CAN_IFACES];
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#endif
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#ifdef HAL_PERIPH_ENABLE_MSP
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struct {
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AP_MSP msp;
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MSP::msp_port_t port;
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uint32_t last_gps_ms;
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uint32_t last_baro_ms;
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uint32_t last_mag_ms;
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uint32_t last_airspeed_ms;
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} msp;
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void msp_init(AP_HAL::UARTDriver *_uart);
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void msp_sensor_update(void);
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void send_msp_packet(uint16_t cmd, void *p, uint16_t size);
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void send_msp_GPS(void);
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void send_msp_compass(void);
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void send_msp_baro(void);
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void send_msp_airspeed(void);
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#endif
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#ifdef HAL_PERIPH_ENABLE_ADSB
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void adsb_init();
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void adsb_update();
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void can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg);
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struct {
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mavlink_message_t msg;
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mavlink_status_t status;
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} adsb;
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#endif
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#ifdef HAL_PERIPH_ENABLE_AIRSPEED
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AP_Airspeed airspeed;
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#endif
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#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
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RangeFinder rangefinder;
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#endif
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#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
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void pwm_irq_handler(uint8_t pin, bool pin_state, uint32_t timestamp);
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void pwm_hardpoint_init();
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void pwm_hardpoint_update();
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struct {
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uint8_t last_state;
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uint32_t last_ts_us;
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uint32_t last_send_ms;
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uint16_t pwm_value;
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uint16_t highest_pwm;
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} pwm_hardpoint;
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#endif
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#ifdef HAL_PERIPH_ENABLE_HWESC
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HWESC_Telem hwesc_telem;
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void hwesc_telem_update();
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#endif
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#ifdef HAL_PERIPH_ENABLE_RC_OUT
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SRV_Channels servo_channels;
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bool rcout_has_new_data_to_update;
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void rcout_init();
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void rcout_init_1Hz();
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void rcout_esc(int16_t *rc, uint8_t num_channels);
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void rcout_srv(const uint8_t actuator_id, const float command_value);
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void rcout_update();
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void rcout_handle_safety_state(uint8_t safety_state);
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#endif
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#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY)
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void update_rainbow();
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#endif
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#ifdef HAL_PERIPH_ENABLE_NOTIFY
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// notification object for LEDs, buzzers etc
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AP_Notify notify;
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#endif
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#if HAL_LOGGING_ENABLED
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static const struct LogStructure log_structure[];
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AP_Logger logger;
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#endif
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#ifndef HAL_NO_GCS
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GCS_Periph _gcs;
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#endif
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// setup the var_info table
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AP_Param param_loader{var_info};
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static const AP_Param::Info var_info[];
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uint32_t last_mag_update_ms;
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uint32_t last_gps_update_ms;
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uint32_t last_baro_update_ms;
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uint32_t last_airspeed_update_ms;
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static AP_Periph_FW *_singleton;
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// show stack as DEBUG msgs
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void show_stack_free();
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static bool no_iface_finished_dna;
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};
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namespace AP
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{
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AP_Periph_FW& periph();
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}
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extern AP_Periph_FW periph;
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extern "C" {
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void can_printf(const char *fmt, ...);
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}
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