mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
63 lines
1.8 KiB
C++
63 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#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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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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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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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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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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} px4;
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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_uart(void);
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void px4_setup_sbus(void);
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void px4_setup_canbus(void);
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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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