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ardupilot/Tools/AP_Periph/Parameters.cpp

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#include <AP_HAL/AP_HAL_Boards.h>
#include "AP_Periph.h"
extern const AP_HAL::HAL &hal;
#ifndef HAL_PERIPH_LED_BRIGHT_DEFAULT
#define HAL_PERIPH_LED_BRIGHT_DEFAULT 100
#endif
#ifndef HAL_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT
#define HAL_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT 115200
#endif
#ifndef AP_PERIPH_RANGEFINDER_PORT_DEFAULT
#define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 3
#endif
#ifndef HAL_PERIPH_GPS_PORT_DEFAULT
#define HAL_PERIPH_GPS_PORT_DEFAULT 3
#endif
#ifndef HAL_PERIPH_ADSB_BAUD_DEFAULT
#define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600
#endif
#ifndef HAL_PERIPH_ADSB_PORT_DEFAULT
#define HAL_PERIPH_ADSB_PORT_DEFAULT 1
#endif
#ifndef AP_PERIPH_MSP_PORT_DEFAULT
#define AP_PERIPH_MSP_PORT_DEFAULT 1
#endif
#ifndef AP_PERIPH_ESC_TELEM_PORT_DEFAULT
#define AP_PERIPH_ESC_TELEM_PORT_DEFAULT -1
#endif
#ifndef AP_PERIPH_BARO_ENABLE_DEFAULT
#define AP_PERIPH_BARO_ENABLE_DEFAULT 1
#endif
#ifndef HAL_DEFAULT_MAV_SYSTEM_ID
#define MAV_SYSTEM_ID 3
#else
#define MAV_SYSTEM_ID HAL_DEFAULT_MAV_SYSTEM_ID
#endif
/*
* AP_Periph parameter definitions
*
*/
#define GSCALAR(v, name, def) { periph.g.v.vtype, name, Parameters::k_param_ ## v, &periph.g.v, {def_value : def} }
#define GARRAY(v, index, name, def) { periph.g.v[index].vtype, name, Parameters::k_param_ ## v ## index, &periph.g.v[index], {def_value : def} }
#define ASCALAR(v, name, def) { periph.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&periph.aparm.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &periph.g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&periph.v, {group_info : class::var_info} }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&periph.v, {group_info : class::var_info} }
const AP_Param::Info AP_Periph_FW::var_info[] = {
// @Param: FORMAT_VERSION
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
GSCALAR(format_version, "FORMAT_VERSION", 0),
// @Param: CAN_NODE
// @DisplayName: UAVCAN node that is used for this network
// @Description: UAVCAN node should be set implicitly or 0 for dynamic node allocation
// @Range: 0 250
// @User: Advanced
// @RebootRequired: True
GSCALAR(can_node, "CAN_NODE", HAL_CAN_DEFAULT_NODE_ID),
// @Param: CAN_BAUDRATE
// @DisplayName: Bitrate of CAN interface
// @Description: Bit rate can be set up to from 10000 to 1000000
// @Range: 10000 1000000
// @User: Advanced
// @RebootRequired: True
GARRAY(can_baudrate, 0, "CAN_BAUDRATE", 1000000),
#if HAL_NUM_CAN_IFACES >= 2
// @Param: CAN_PROTOCOL
// @DisplayName: Enable use of specific protocol to be used on this port
// @Description: Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
// @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,6:EFI_NWPMU,7:USD1,8:KDECAN
// @User: Advanced
// @RebootRequired: True
GARRAY(can_protocol, 0, "CAN_PROTOCOL", AP_CANManager::Driver_Type_UAVCAN),
// @Param: CAN2_BAUDRATE
// @DisplayName: Bitrate of CAN2 interface
// @Description: Bit rate can be set up to from 10000 to 1000000
// @Range: 10000 1000000
// @User: Advanced
// @RebootRequired: True
GARRAY(can_baudrate, 1, "CAN2_BAUDRATE", 1000000),
// @Param: CAN2_PROTOCOL
// @DisplayName: Enable use of specific protocol to be used on this port
// @Description: Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
// @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,6:EFI_NWPMU,7:USD1,8:KDECAN
// @User: Advanced
// @RebootRequired: True
GARRAY(can_protocol, 1, "CAN2_PROTOCOL", AP_CANManager::Driver_Type_UAVCAN),
#endif
#if HAL_NUM_CAN_IFACES >= 3
// @Param: CAN3_BAUDRATE
// @DisplayName: Bitrate of CAN3 interface
// @Description: Bit rate can be set up to from 10000 to 1000000
// @Range: 10000 1000000
// @User: Advanced
// @RebootRequired: True
GARRAY(can_baudrate, 2, "CAN3_BAUDRATE", 1000000),
// @Param: CAN3_PROTOCOL
// @DisplayName: Enable use of specific protocol to be used on this port
// @Description: Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
// @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,6:EFI_NWPMU,7:USD1,8:KDECAN
// @User: Advanced
// @RebootRequired: True
GARRAY(can_protocol, 2, "CAN3_PROTOCOL", AP_CANManager::Driver_Type_UAVCAN),
#endif
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
// @Param: FLASH_BOOTLOADER
// @DisplayName: Trigger bootloader update
// @Description: DANGER! When enabled, the App will perform a bootloader update by copying the embedded bootloader over the existing bootloader. This may take a few seconds to perform and should only be done if you know what you're doing.
// @Range: 0 1
// @User: Advanced
GSCALAR(flash_bootloader, "FLASH_BOOTLOADER", 0),
#endif
// @Param: DEBUG
// @DisplayName: Debug
// @Description: Debug
// @Bitmask: 0:Disabled, 1:Show free stack space, 2:Auto Reboot after 15sec
// @User: Advanced
GSCALAR(debug, "DEBUG", 0),
// @Param: BRD_SERIAL_NUM
// @DisplayName: Serial number of device
// @Description: Non-zero positive values will be shown on the CAN App Name string
// @Range: 0 2147483648
// @User: Advanced
GSCALAR(serial_number, "BRD_SERIAL_NUM", 0),
#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
// @Param: BUZZER_VOLUME
// @DisplayName: Buzzer volume
// @Description: Control the volume of the buzzer
// @Range: 0 100
// @Units: %
// @Increment: 1
// @User: Advanced
GSCALAR(buzz_volume, "BUZZER_VOLUME", 100),
#endif
#ifdef HAL_PERIPH_ENABLE_GPS
// GPS driver
// @Group: GPS
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS", AP_GPS),
// @Param: GPS_PORT
// @DisplayName: GPS Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to GPS.
// @Range: 0 10
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(gps_port, "GPS_PORT", HAL_PERIPH_GPS_PORT_DEFAULT),
#if GPS_MOVING_BASELINE
// @Param: MB_CAN_PORT
// @DisplayName: Moving Baseline CAN Port option
// @Description: Autoselect dedicated CAN port on which moving baseline data will be transmitted.
// @Values: 0:Sends moving baseline data on all ports,1:auto select remaining port for transmitting Moving baseline Data
// @User: Advanced
// @RebootRequired: True
GSCALAR(gps_mb_only_can_port, "GPS_MB_ONLY_PORT", 0),
#endif
#endif
#ifdef HAL_PERIPH_ENABLE_BATTERY
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor),
#endif
#ifdef HAL_PERIPH_ENABLE_MAG
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
#endif
#ifdef HAL_PERIPH_ENABLE_BARO
// Baro driver
// @Group: BARO
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(baro, "BARO", AP_Baro),
// @Param: BARO_ENABLE
// @DisplayName: Barometer Enable
// @Description: Barometer Enable
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
GSCALAR(baro_enable, "BARO_ENABLE", AP_PERIPH_BARO_ENABLE_DEFAULT),
#endif
#ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
// @Param: LED_BRIGHTNESS
// @DisplayName: LED Brightness
// @Description: Select the RGB LED brightness level.
// @Range: 0 100
// @Units: %
// @Increment: 1
// @User: Standard
GSCALAR(led_brightness, "LED_BRIGHTNESS", HAL_PERIPH_LED_BRIGHT_DEFAULT),
#endif
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
// Airspeed driver
// @Group: ARSP
// @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
GOBJECT(airspeed, "ARSP", AP_Airspeed),
#endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
// @Param: RNGFND_BAUDRATE
// @DisplayName: Rangefinder serial baudrate
// @Description: Rangefinder serial baudrate.
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,230:230400,256:256000,460:460800,500:500000,921:921600,1500:1500000
// @Increment: 1
// @User: Standard
// @RebootRequired: True
GSCALAR(rangefinder_baud, "RNGFND_BAUDRATE", HAL_PERIPH_RANGEFINDER_BAUDRATE_DEFAULT),
// @Param: RNGFND_PORT
// @DisplayName: Rangefinder Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to Rangefinder.
// @Range: 0 10
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(rangefinder_port, "RNGFND_PORT", AP_PERIPH_RANGEFINDER_PORT_DEFAULT),
// Rangefinder driver
// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
GOBJECT(rangefinder, "RNGFND", RangeFinder),
#endif
#ifdef HAL_PERIPH_ENABLE_ADSB
// @Param: ADSB_BAUDRATE
// @DisplayName: ADSB serial baudrate
// @Description: ADSB serial baudrate.
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,230:230400,256:256000,460:460800,500:500000,921:921600,1500:1500000
// @Increment: 1
// @User: Standard
// @RebootRequired: True
GSCALAR(adsb_baudrate, "ADSB_BAUDRATE", HAL_PERIPH_ADSB_BAUD_DEFAULT),
// @Param: ADSB_PORT
// @DisplayName: ADSB Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to ADSB.
// @Range: 0 10
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(adsb_port, "ADSB_PORT", HAL_PERIPH_ADSB_PORT_DEFAULT),
#endif
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
// @Param: HARDPOINT_ID
// @DisplayName: Hardpoint ID
// @Description: Hardpoint ID
// @User: Advanced
GSCALAR(hardpoint_id, "HARDPOINT_ID", HAL_PWM_HARDPOINT_ID_DEFAULT),
// @Param: HARDPOINT_RATE
// @DisplayName: Hardpoint PWM rate
// @Description: Hardpoint PWM rate
// @Range: 10 100
// @Units: Hz
// @Increment: 1
// @User: Advanced
GSCALAR(hardpoint_rate, "HARDPOINT_RATE", 100),
#endif
#ifdef HAL_PERIPH_ENABLE_HWESC
// @Param: ESC_NUMBER
// @DisplayName: ESC number
// @Description: This is the ESC number to report as in UAVCAN ESC telemetry feedback packets.
// @Increment: 1
// @User: Advanced
GSCALAR(esc_number, "ESC_NUMBER", 0),
#endif
#ifdef HAL_PERIPH_ENABLE_RC_OUT
// Servo driver
// @Group: OUT
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
GOBJECT(servo_channels, "OUT", SRV_Channels),
// @Param: ESC_PWM_TYPE
// @DisplayName: Output PWM type
// @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
// @Values: 1:Normal,2:OneShot,3:OneShot125,4:Brushed,5:DShot150,6:DShot300,7:DShot600,8:DShot1200
// @User: Advanced
// @RebootRequired: True
GSCALAR(esc_pwm_type, "ESC_PWM_TYPE", 0),
#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
// @Param: ESC_TELEM_PORT
// @DisplayName: ESC Telemetry Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry
// @Range: 0 10
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(esc_telem_port, "ESC_TELEM_PORT", AP_PERIPH_ESC_TELEM_PORT_DEFAULT),
#endif
#endif
#ifdef HAL_PERIPH_ENABLE_MSP
// @Param: MSP_PORT
// @DisplayName: MSP Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to MSP
// @Range: 0 10
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(msp_port, "MSP_PORT", AP_PERIPH_MSP_PORT_DEFAULT),
#endif
#ifdef HAL_PERIPH_ENABLE_NOTIFY
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
#endif
#if HAL_LOGGING_ENABLED
// @Group: LOG
// @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(logger, "LOG", AP_Logger),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 4 byte bitmap of log types to enable
// @Bitmask: 2:GPS
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", 4),
#endif
#if HAL_GCS_ENABLED
// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
// @Description: Allows setting an individual system id for this vehicle to distinguish it from others on the same network
// @Range: 1 255
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
#endif
#if AP_SCRIPTING_ENABLED
// @Group: SCR_
// @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
GOBJECT(scripting, "SCR_", AP_Scripting),
#endif
#if HAL_CANFD_SUPPORTED
// can node FD Out mode
GSCALAR(can_fdmode, "CAN_FDMODE", 0),
#endif
AP_VAREND
};
void AP_Periph_FW::load_parameters(void)
{
AP_Param::setup_sketch_defaults();
if (!AP_Param::check_var_info()) {
hal.console->printf("Bad parameter table\n");
AP_HAL::panic("Bad parameter table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
StorageManager::erase();
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
}
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
}
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