mirror of https://github.com/ArduPilot/ardupilot
155 lines
3.9 KiB
C++
155 lines
3.9 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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extern "C" typedef int (*main_fn_t)(int argc, char **);
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class AP_BoardConfig {
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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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void init_safety(void);
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static const struct AP_Param::GroupInfo var_info[];
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#if HAL_WITH_UAVCAN
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class CAN_var_info {
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friend class AP_BoardConfig;
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public:
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CAN_var_info() : _uavcan(nullptr)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 _can_enable;
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AP_Int8 _can_debug;
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AP_Int32 _can_bitrate;
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AP_Int8 _uavcan_enable;
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AP_UAVCAN *_uavcan;
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};
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#endif
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// notify user of a fatal startup error related to available sensors.
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static void sensor_config_error(const char *reason);
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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: these values need to be in sync with the
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// values from the param description
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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_AEROFC = 13,
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PX4_BOARD_AUAV21 = 20,
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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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static int8_t get_can_enable()
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{
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#if HAL_WITH_UAVCAN
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return _st_can_enable;
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#else
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return 0;
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#endif
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}
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static int8_t get_can_debug()
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{
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#if HAL_WITH_UAVCAN
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return _st_can_debug;
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#else
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return 0;
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#endif
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}
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private:
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AP_Int16 vehicleSerialNumber;
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#if HAL_WITH_UAVCAN
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CAN_var_info _var_info_can;
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#endif
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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 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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AP_Int8 io_enable;
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} px4;
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static enum px4_board_type px4_configured_board;
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#if HAL_WITH_UAVCAN
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static int8_t _st_can_enable;
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static int8_t _st_can_debug;
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#endif
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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_init_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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bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
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void validate_board_type(void);
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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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