mirror of https://github.com/ArduPilot/ardupilot
283 lines
7.8 KiB
C++
283 lines
7.8 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 <AP_RTC/AP_RTC.h>
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#include <AC_PID/AC_PI.h>
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#ifndef AP_FEATURE_BOARD_DETECT
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#if 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) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
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#define AP_FEATURE_BOARD_DETECT 1
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#else
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#define AP_FEATURE_BOARD_DETECT 0
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#endif
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#endif
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#ifndef AP_FEATURE_RTSCTS
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#define AP_FEATURE_RTSCTS 0
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#endif
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#ifndef AP_FEATURE_SBUS_OUT
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#define AP_FEATURE_SBUS_OUT 0
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#endif
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#if HAL_RCINPUT_WITH_AP_RADIO
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#include <AP_Radio/AP_Radio.h>
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#endif
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#ifndef HAL_WATCHDOG_ENABLED_DEFAULT
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#define HAL_WATCHDOG_ENABLED_DEFAULT false
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#endif
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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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AP_BoardConfig() {
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_singleton = this;
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AP_Param::setup_object_defaults(this, var_info);
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};
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/* Do not allow copies */
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AP_BoardConfig(const AP_BoardConfig &other) = delete;
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AP_BoardConfig &operator=(const AP_BoardConfig&) = delete;
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// singleton support
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static AP_BoardConfig *get_singleton(void) {
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return _singleton;
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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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// notify user of a fatal startup error related to available sensors.
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static void config_error(const char *reason, ...);
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// permit other libraries (in particular, GCS_MAVLink) to detect
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// that we're never going to boot properly:
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static bool in_config_error(void) { return _in_sensor_config_error; }
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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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BOARD_TYPE_UNKNOWN = -1,
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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_PIXHAWK_PRO = 14,
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PX4_BOARD_AUAV21 = 20,
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PX4_BOARD_PCNC1 = 21,
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PX4_BOARD_MINDPXV2 = 22,
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PX4_BOARD_SP01 = 23,
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PX4_BOARD_FMUV5 = 24,
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VRX_BOARD_BRAIN51 = 30,
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VRX_BOARD_BRAIN52 = 32,
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VRX_BOARD_BRAIN52E = 33,
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VRX_BOARD_UBRAIN51 = 34,
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VRX_BOARD_UBRAIN52 = 35,
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VRX_BOARD_CORE10 = 36,
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VRX_BOARD_BRAIN54 = 38,
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PX4_BOARD_FMUV6 = 39,
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PX4_BOARD_OLDDRIVERS = 100,
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};
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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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static enum px4_board_type get_board_type(void) {
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#if AP_FEATURE_BOARD_DETECT
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return px4_configured_board;
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#else
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return BOARD_TYPE_UNKNOWN;
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#endif
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}
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// ask if IOMCU is enabled. This is a uint8_t to allow
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// developer debugging by setting BRD_IO_ENABLE=100 to avoid the
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// crc check of IO firmware on startup
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static uint8_t io_enabled(void) {
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#if HAL_WITH_IO_MCU
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return _singleton?uint8_t(_singleton->state.io_enable.get()):0;
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#else
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return 0;
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#endif
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}
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// get number of PWM outputs enabled on FMU
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static uint8_t get_pwm_count(void) {
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return _singleton?_singleton->pwm_count.get():8;
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}
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// get alternative config selection
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uint8_t get_alt_config(void) {
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return uint8_t(_alt_config.get());
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}
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enum board_safety_button_option {
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BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF= (1 << 0),
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BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON= (1 << 1),
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BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED= (1 << 2),
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BOARD_SAFETY_OPTION_SAFETY_ON_DISARM= (1 << 3),
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};
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// return safety button options. Bits are in enum board_safety_button_option
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uint16_t get_safety_button_options(void) const {
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return uint16_t(state.safety_option.get());
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}
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// return the value of BRD_SAFETY_MASK
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uint16_t get_safety_mask(void) const {
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#if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM)
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return uint16_t(state.ignore_safety_channels.get());
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#else
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return 0;
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#endif
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}
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#if HAL_HAVE_BOARD_VOLTAGE
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// get minimum board voltage
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static float get_minimum_board_voltage(void) {
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return _singleton?_singleton->_vbus_min.get():0;
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}
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#endif
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#if HAL_HAVE_SERVO_VOLTAGE
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// get minimum servo voltage
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static float get_minimum_servo_voltage(void) {
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return _singleton?_singleton->_vservo_min.get():0;
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}
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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static uint8_t get_sdcard_slowdown(void) {
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return _singleton?_singleton->_sdcard_slowdown.get():0;
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}
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#endif
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enum board_options {
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BOARD_OPTION_WATCHDOG = (1 << 0),
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DISABLE_FTP = (1<<1),
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ALLOW_SET_INTERNAL_PARM = (1<<2),
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};
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// return true if ftp is disabled
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static bool ftp_disabled(void) {
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return _singleton?(_singleton->_options & DISABLE_FTP)!=0:1;
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}
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// return true if watchdog enabled
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static bool watchdog_enabled(void) {
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return _singleton?(_singleton->_options & BOARD_OPTION_WATCHDOG)!=0:HAL_WATCHDOG_ENABLED_DEFAULT;
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}
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// return true if we allow setting of internal parameters (for developers)
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static bool allow_set_internal_parameters(void) {
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return _singleton?(_singleton->_options & ALLOW_SET_INTERNAL_PARM)!=0:false;
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}
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// handle press of safety button. Return true if safety state
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// should be toggled
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bool safety_button_handle_pressed(uint8_t press_count);
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#if HAL_HAVE_IMU_HEATER
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void set_imu_temp(float current_temp_c);
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// heater duty cycle is as a percentage (0 to 100)
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float get_heater_duty_cycle(void) const {
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return heater.output;
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}
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#endif
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private:
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static AP_BoardConfig *_singleton;
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AP_Int16 vehicleSerialNumber;
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AP_Int8 pwm_count;
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struct {
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AP_Int8 safety_enable;
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AP_Int16 safety_option;
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AP_Int32 ignore_safety_channels;
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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AP_Int8 ser_rtscts[6];
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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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} state;
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#if AP_FEATURE_BOARD_DETECT
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static enum px4_board_type px4_configured_board;
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void board_setup_drivers(void);
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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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bool spi_check_register_inv2(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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void board_autodetect(void);
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bool check_ms5611(const char* devname);
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#endif // AP_FEATURE_BOARD_DETECT
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void board_init_safety(void);
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void board_setup_uart(void);
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void board_setup_sbus(void);
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void board_setup(void);
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static bool _in_sensor_config_error;
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#if HAL_HAVE_IMU_HEATER
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struct {
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AP_Int8 imu_target_temperature;
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uint32_t last_update_ms;
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AC_PI pi_controller{200, 0.3, 70};
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uint16_t count;
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float sum;
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float output;
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uint32_t last_log_ms;
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} heater;
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#endif
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#if HAL_RCINPUT_WITH_AP_RADIO
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// direct attached radio
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AP_Radio _radio;
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#endif
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// real-time-clock; private because access is via the singleton
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AP_RTC rtc;
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#if HAL_HAVE_BOARD_VOLTAGE
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AP_Float _vbus_min;
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#endif
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#if HAL_HAVE_SERVO_VOLTAGE
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AP_Float _vservo_min;
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#endif
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#ifdef HAL_GPIO_PWM_VOLT_PIN
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AP_Int8 _pwm_volt_sel;
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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AP_Int8 _sdcard_slowdown;
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#endif
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AP_Int16 _boot_delay_ms;
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AP_Int32 _options;
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AP_Int8 _alt_config;
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};
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namespace AP {
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AP_BoardConfig *boardConfig(void);
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};
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