mirror of https://github.com/ArduPilot/ardupilot
125 lines
2.2 KiB
C++
125 lines
2.2 KiB
C++
/*
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* AP_HardwareAbstractionLayer.h
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*
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* Created on: Apr 4, 2011
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*
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*/
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#ifndef AP_HARDWAREABSTRACTIONLAYER_H_
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#define AP_HARDWAREABSTRACTIONLAYER_H_
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#include "../AP_Common/AP_Vector.h"
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#include "../GCS_MAVLink/GCS_MAVLink.h"
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class AP_ADC;
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class IMU;
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class GPS;
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class APM_BMP085_Class;
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class Compass;
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class BetterStream;
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class RangeFinder;
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class FastSerial;
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class AP_IMU_INS;
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class AP_InertialSensor;
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class APM_RC_Class;
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class AP_TimerProcess;
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class Arduino_Mega_ISR_Registry;
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namespace apo {
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class AP_RcChannel;
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class AP_CommLink;
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class AP_BatteryMonitor;
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// enumerations
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enum halMode_t {
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MODE_LIVE, MODE_HIL_CNTL,
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/*MODE_HIL_NAV*/
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};
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enum board_t {
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BOARD_ARDUPILOTMEGA_1280, BOARD_ARDUPILOTMEGA_2560, BOARD_ARDUPILOTMEGA_2
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};
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class AP_HardwareAbstractionLayer {
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public:
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// default ctors on pointers called on pointers here, this
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// allows NULL to be used as a boolean for if the device was
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// initialized
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AP_HardwareAbstractionLayer(halMode_t mode, board_t board, MAV_TYPE vehicle);
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/**
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* Sensors
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*/
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AP_ADC * adc;
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GPS * gps;
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APM_BMP085_Class * baro;
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Compass * compass;
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Vector<RangeFinder *> rangeFinders;
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AP_BatteryMonitor * batteryMonitor;
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AP_IMU_INS * imu;
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AP_InertialSensor * ins;
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/**
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* Scheduler
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*/
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AP_TimerProcess * scheduler;
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Arduino_Mega_ISR_Registry * isr_registry;
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/**
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* Actuators
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*/
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APM_RC_Class * radio;
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/**
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* Radio Channels
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*/
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Vector<AP_RcChannel *> rc;
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/**
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* Communication Channels
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*/
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AP_CommLink * gcs;
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AP_CommLink * hil;
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FastSerial * debug;
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/**
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* data
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*/
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uint8_t load;
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/**
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* settings
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*/
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uint8_t slideSwitchPin;
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uint8_t pushButtonPin;
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uint8_t aLedPin;
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uint8_t bLedPin;
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uint8_t cLedPin;
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uint16_t eepromMaxAddr;
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// accessors
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halMode_t getMode() {
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return _mode;
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}
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board_t getBoard() {
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return _board;
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}
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MAV_TYPE getVehicle() {
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return _vehicle;
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}
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private:
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// enumerations
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halMode_t _mode;
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board_t _board;
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MAV_TYPE _vehicle;
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};
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} // namespace apo
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#endif /* AP_HARDWAREABSTRACTIONLAYER_H_ */
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// vim:ts=4:sw=4:expandtab
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