ardupilot/libraries/AP_BoardConfig/AP_BoardConfig.h

116 lines
3.4 KiB
C++

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