ardupilot/libraries/AP_BoardConfig/AP_BoardConfig.h

211 lines
5.9 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_RTC/AP_RTC.h>
#if defined(HAL_NEEDS_PARAM_HELPER)
#include <AP_Param_Helper/AP_Param_Helper.h>
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO)
#define AP_FEATURE_BOARD_DETECT 1
#else
#define AP_FEATURE_BOARD_DETECT 0
#endif
#ifndef AP_FEATURE_RTSCTS
#define AP_FEATURE_RTSCTS 0
#endif
#ifndef AP_FEATURE_RTSCTS
#define AP_FEATURE_RTSCTS 0
#endif
#ifndef AP_FEATURE_SBUS_OUT
#define AP_FEATURE_SBUS_OUT 0
#endif
#if HAL_RCINPUT_WITH_AP_RADIO
#include <AP_Radio/AP_Radio.h>
#endif
extern "C" typedef int (*main_fn_t)(int argc, char **);
class AP_BoardConfig {
public:
AP_BoardConfig() {
instance = this;
AP_Param::setup_object_defaults(this, var_info);
};
/* Do not allow copies */
AP_BoardConfig(const AP_BoardConfig &other) = delete;
AP_BoardConfig &operator=(const AP_BoardConfig&) = delete;
// singleton support
static AP_BoardConfig *get_instance(void) {
return instance;
}
void init(void);
void init_safety(void);
static const struct AP_Param::GroupInfo var_info[];
// notify user of a fatal startup error related to available sensors.
static void sensor_config_error(const char *reason);
// permit other libraries (in particular, GCS_MAVLink) to detect
// that we're never going to boot properly:
static bool in_sensor_config_error(void) { return _in_sensor_config_error; }
#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);
#endif
// valid types for BRD_TYPE: these values need to be in sync with the
// values from the param description
enum px4_board_type {
BOARD_TYPE_UNKNOWN = -1,
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_AEROFC = 13,
PX4_BOARD_PIXHAWK_PRO = 14,
PX4_BOARD_AUAV21 = 20,
PX4_BOARD_PCNC1 = 21,
PX4_BOARD_MINDPXV2 = 22,
PX4_BOARD_SP01 = 23,
PX4_BOARD_FMUV5 = 24,
VRX_BOARD_BRAIN51 = 30,
VRX_BOARD_BRAIN52 = 32,
VRX_BOARD_BRAIN52E = 33,
VRX_BOARD_UBRAIN51 = 34,
VRX_BOARD_UBRAIN52 = 35,
VRX_BOARD_CORE10 = 36,
VRX_BOARD_BRAIN54 = 38,
PX4_BOARD_OLDDRIVERS = 100,
};
// set default value for BRD_SAFETY_MASK
void set_default_safety_ignore_mask(uint16_t mask);
static enum px4_board_type get_board_type(void) {
#if AP_FEATURE_BOARD_DETECT
return px4_configured_board;
#else
return BOARD_TYPE_UNKNOWN;
#endif
}
// ask if IOMCU is enabled. This is a uint8_t to allow
// developer debugging by setting BRD_IO_ENABLE=100 to avoid the
// crc check of IO firmware on startup
static uint8_t io_enabled(void) {
#if AP_FEATURE_BOARD_DETECT
return instance?uint8_t(instance->state.io_enable.get()):0;
#else
return 0;
#endif
}
// get number of PWM outputs enabled on FMU
static uint8_t get_pwm_count(void) {
return instance?instance->pwm_count.get():8;
}
#if HAL_HAVE_SAFETY_SWITCH
enum board_safety_button_option {
BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF=1,
BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON=2,
BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED=4,
};
// return safety button options. Bits are in enum board_safety_button_option
uint16_t get_safety_button_options(void) {
return uint16_t(state.safety_option.get());
}
#endif
// return the value of BRD_SAFETY_MASK
uint16_t get_safety_mask(void) const {
#if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM)
return uint16_t(state.ignore_safety_channels.get());
#else
return 0;
#endif
}
private:
static AP_BoardConfig *instance;
AP_Int16 vehicleSerialNumber;
AP_Int8 pwm_count;
#if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM) || HAL_HAVE_SAFETY_SWITCH
struct {
AP_Int8 safety_enable;
AP_Int16 safety_option;
AP_Int32 ignore_safety_channels;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
AP_Int8 ser1_rtscts;
AP_Int8 ser2_rtscts;
AP_Int8 sbus_out_rate;
#endif
AP_Int8 board_type;
AP_Int8 io_enable;
} state;
#endif
#if AP_FEATURE_BOARD_DETECT
static enum px4_board_type px4_configured_board;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
void px4_setup_pwm(void);
void px4_setup_safety_mask(void);
void px4_tone_alarm(const char *tone_string);
void px4_setup_px4io(void);
void px4_setup_peripherals(void);
#endif
void board_setup_drivers(void);
bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
void validate_board_type(void);
void board_autodetect(void);
#endif // AP_FEATURE_BOARD_DETECT
void board_init_safety(void);
void board_setup_uart(void);
void board_setup_sbus(void);
void board_setup(void);
static bool _in_sensor_config_error;
// target temperarure for IMU in Celsius, or -1 to disable
AP_Int8 _imu_target_temperature;
#if HAL_RCINPUT_WITH_AP_RADIO
// direct attached radio
AP_Radio _radio;
#endif
#if defined(HAL_NEEDS_PARAM_HELPER)
// HAL specific parameters
AP_Param_Helper param_helper{false};
#endif
// real-time-clock; private because access is via the singleton
AP_RTC rtc;
};