mirror of https://github.com/ArduPilot/ardupilot
274 lines
7.6 KiB
C++
274 lines
7.6 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <AP_GPS/AP_GPS.h>
|
|
#include <AP_Compass/AP_Compass.h>
|
|
#include <AP_Baro/AP_Baro.h>
|
|
#include "SRV_Channel/SRV_Channel.h"
|
|
#include <AP_Notify/AP_Notify.h>
|
|
#include <AP_Logger/AP_Logger.h>
|
|
#include <AP_BattMonitor/AP_BattMonitor.h>
|
|
#include <AP_Airspeed/AP_Airspeed.h>
|
|
#include <AP_RangeFinder/AP_RangeFinder.h>
|
|
#include <AP_MSP/AP_MSP.h>
|
|
#include <AP_MSP/msp.h>
|
|
#include "../AP_Bootloader/app_comms.h"
|
|
#include "hwing_esc.h"
|
|
#include <AP_CANManager/AP_CANManager.h>
|
|
#include <AP_Scripting/AP_Scripting.h>
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
#include <AP_HAL_ChibiOS/CANIface.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
#include <AP_HAL_SITL/CANSocketIface.h>
|
|
#endif
|
|
|
|
#if HAL_GCS_ENABLED
|
|
#include "GCS_MAVLink.h"
|
|
#endif
|
|
|
|
#if defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_TOSHIBA_LED_WITHOUT_NOTIFY)
|
|
#define AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_NOTIFY
|
|
#if !defined(HAL_PERIPH_ENABLE_RC_OUT) && !defined(HAL_PERIPH_NOTIFY_WITHOUT_RCOUT)
|
|
#error "HAL_PERIPH_ENABLE_NOTIFY requires HAL_PERIPH_ENABLE_RC_OUT"
|
|
#endif
|
|
#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
|
|
#error "You cannot enable HAL_PERIPH_ENABLE_NOTIFY and HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY at the same time. Notify already includes it"
|
|
#endif
|
|
#ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
|
|
#error "You cannot enable HAL_PERIPH_ENABLE_NOTIFY and any HAL_PERIPH_ENABLE_<device>_LED_WITHOUT_NOTIFY at the same time. Notify already includes them all"
|
|
#endif
|
|
#ifdef HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY
|
|
#error "You cannot use HAL_PERIPH_ENABLE_NOTIFY and HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY at the same time. Notify already includes it. Set param OUTx_FUNCTION=120"
|
|
#endif
|
|
#endif
|
|
|
|
#if defined(HAL_PERIPH_ENABLE_BATTERY_MPPT_PACKETDIGITAL) && HAL_MAX_CAN_PROTOCOL_DRIVERS < 2
|
|
#error "Battery MPPT PacketDigital driver requires at least two CAN Ports"
|
|
#endif
|
|
|
|
|
|
#include "Parameters.h"
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
void stm32_watchdog_init();
|
|
void stm32_watchdog_pat();
|
|
#endif
|
|
/*
|
|
app descriptor compatible with MissionPlanner
|
|
*/
|
|
extern const struct app_descriptor app_descriptor;
|
|
|
|
class AP_Periph_FW {
|
|
public:
|
|
AP_Periph_FW();
|
|
|
|
CLASS_NO_COPY(AP_Periph_FW);
|
|
|
|
static AP_Periph_FW* get_singleton()
|
|
{
|
|
if (_singleton == nullptr) {
|
|
AP_HAL::panic("AP_Periph_FW used before allocation.");
|
|
}
|
|
return _singleton;
|
|
}
|
|
|
|
void init();
|
|
void update();
|
|
|
|
Parameters g;
|
|
|
|
void can_start();
|
|
void can_update();
|
|
void can_mag_update();
|
|
void can_gps_update();
|
|
void send_moving_baseline_msg();
|
|
void send_relposheading_msg();
|
|
void can_baro_update();
|
|
void can_airspeed_update();
|
|
void can_rangefinder_update();
|
|
void can_battery_update();
|
|
|
|
void load_parameters();
|
|
void prepare_reboot();
|
|
|
|
#ifdef HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT
|
|
void check_for_serial_reboot_cmd(const int8_t serial_index);
|
|
#endif
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
static ChibiOS::CANIface* can_iface_periph[HAL_NUM_CAN_IFACES];
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
static HALSITL::CANIface* can_iface_periph[HAL_NUM_CAN_IFACES];
|
|
#endif
|
|
|
|
AP_SerialManager serial_manager;
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_GPS
|
|
AP_GPS gps;
|
|
#if HAL_NUM_CAN_IFACES >= 2
|
|
int8_t gps_mb_can_port = -1;
|
|
#endif
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_MAG
|
|
Compass compass;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_BARO
|
|
AP_Baro baro;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_BATTERY
|
|
struct AP_Periph_Battery {
|
|
void handle_battery_failsafe(const char* type_str, const int8_t action) { }
|
|
AP_BattMonitor lib{0, FUNCTOR_BIND_MEMBER(&AP_Periph_FW::AP_Periph_Battery::handle_battery_failsafe, void, const char*, const int8_t), nullptr};
|
|
|
|
uint32_t last_read_ms;
|
|
uint32_t last_can_send_ms;
|
|
} battery;
|
|
#endif
|
|
|
|
#if HAL_NUM_CAN_IFACES >= 2
|
|
// This allows you to change the protocol and it continues to use the one at boot.
|
|
// Without this, changing away from UAVCAN causes loss of comms and you can't
|
|
// change the rest of your params or verify it succeeded.
|
|
AP_CANManager::Driver_Type can_protocol_cached[HAL_NUM_CAN_IFACES];
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_MSP
|
|
struct {
|
|
AP_MSP msp;
|
|
MSP::msp_port_t port;
|
|
uint32_t last_gps_ms;
|
|
uint32_t last_baro_ms;
|
|
uint32_t last_mag_ms;
|
|
uint32_t last_airspeed_ms;
|
|
} msp;
|
|
void msp_init(AP_HAL::UARTDriver *_uart);
|
|
void msp_sensor_update(void);
|
|
void send_msp_packet(uint16_t cmd, void *p, uint16_t size);
|
|
void send_msp_GPS(void);
|
|
void send_msp_compass(void);
|
|
void send_msp_baro(void);
|
|
void send_msp_airspeed(void);
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_ADSB
|
|
void adsb_init();
|
|
void adsb_update();
|
|
void can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg);
|
|
struct {
|
|
mavlink_message_t msg;
|
|
mavlink_status_t status;
|
|
} adsb;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
|
|
AP_Airspeed airspeed;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
|
|
RangeFinder rangefinder;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
|
|
void pwm_irq_handler(uint8_t pin, bool pin_state, uint32_t timestamp);
|
|
void pwm_hardpoint_init();
|
|
void pwm_hardpoint_update();
|
|
struct {
|
|
uint8_t last_state;
|
|
uint32_t last_ts_us;
|
|
uint32_t last_send_ms;
|
|
uint16_t pwm_value;
|
|
uint16_t highest_pwm;
|
|
} pwm_hardpoint;
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_HWESC
|
|
HWESC_Telem hwesc_telem;
|
|
void hwesc_telem_update();
|
|
#endif
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_RC_OUT
|
|
#if HAL_WITH_ESC_TELEM
|
|
AP_ESC_Telem esc_telem;
|
|
uint32_t last_esc_telem_update_ms;
|
|
#endif
|
|
|
|
SRV_Channels servo_channels;
|
|
bool rcout_has_new_data_to_update;
|
|
|
|
void rcout_init();
|
|
void rcout_init_1Hz();
|
|
void rcout_esc(int16_t *rc, uint8_t num_channels);
|
|
void rcout_srv(const uint8_t actuator_id, const float command_value);
|
|
void rcout_update();
|
|
void rcout_handle_safety_state(uint8_t safety_state);
|
|
#endif
|
|
|
|
|
|
#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY)
|
|
void update_rainbow();
|
|
#endif
|
|
#ifdef HAL_PERIPH_ENABLE_NOTIFY
|
|
// notification object for LEDs, buzzers etc
|
|
AP_Notify notify;
|
|
uint64_t vehicle_state = 1; // default to initialisation
|
|
float yaw_earth;
|
|
uint32_t last_vehicle_state;
|
|
|
|
// Handled under LUA script to control LEDs
|
|
float get_yaw_earth() { return yaw_earth; }
|
|
uint32_t get_vehicle_state() { return vehicle_state; }
|
|
#elif defined(AP_SCRIPTING_ENABLED)
|
|
// create dummy methods for the case when the user doesn't want to use the notify object
|
|
float get_yaw_earth() { return 0.0; }
|
|
uint32_t get_vehicle_state() { return 0.0; }
|
|
#endif
|
|
|
|
#if AP_SCRIPTING_ENABLED
|
|
AP_Scripting scripting;
|
|
#endif
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
static const struct LogStructure log_structure[];
|
|
AP_Logger logger;
|
|
#endif
|
|
|
|
#if HAL_GCS_ENABLED
|
|
GCS_Periph _gcs;
|
|
#endif
|
|
// setup the var_info table
|
|
AP_Param param_loader{var_info};
|
|
|
|
static const AP_Param::Info var_info[];
|
|
|
|
uint32_t last_mag_update_ms;
|
|
uint32_t last_gps_update_ms;
|
|
uint32_t last_baro_update_ms;
|
|
uint32_t last_airspeed_update_ms;
|
|
|
|
static AP_Periph_FW *_singleton;
|
|
|
|
// show stack as DEBUG msgs
|
|
void show_stack_free();
|
|
|
|
static bool no_iface_finished_dna;
|
|
};
|
|
|
|
namespace AP
|
|
{
|
|
AP_Periph_FW& periph();
|
|
}
|
|
|
|
extern AP_Periph_FW periph;
|
|
|
|
extern "C" {
|
|
void can_printf(const char *fmt, ...) FMT_PRINTF(1,2);
|
|
}
|
|
|