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ardupilot/libraries/AP_BoardConfig/AP_BoardConfig.h

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#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>
#include <AC_PID/AC_PI.h>
#ifndef AP_FEATURE_BOARD_DETECT
#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)
#define AP_FEATURE_BOARD_DETECT 1
#else
#define AP_FEATURE_BOARD_DETECT 0
#endif
#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
#ifndef HAL_WATCHDOG_ENABLED_DEFAULT
#define HAL_WATCHDOG_ENABLED_DEFAULT false
#endif
#if HAL_HAVE_IMU_HEATER
#ifndef HAL_IMUHEAT_P_DEFAULT
#define HAL_IMUHEAT_P_DEFAULT 200
#endif
#ifndef HAL_IMUHEAT_I_DEFAULT
#define HAL_IMUHEAT_I_DEFAULT 0.3
#endif
#endif
extern "C" typedef int (*main_fn_t)(int argc, char **);
class AP_BoardConfig {
public:
AP_BoardConfig() {
_singleton = 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_singleton(void) {
return _singleton;
}
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 config_error(const char *reason, ...) FMT_PRINTF(1, 2) NORETURN;
// notify user of a non-fatal startup error related to allocation failures.
static void allocation_error(const char *reason, ...) FMT_PRINTF(1, 2) NORETURN;
// permit other libraries (in particular, GCS_MAVLink) to detect
// that we're never going to boot properly:
static bool in_config_error(void) { return _in_error_loop; }
// 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_FMUV6 = 39,
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 HAL_WITH_IO_MCU
return _singleton?uint8_t(_singleton->state.io_enable.get()):0;
#else
return 0;
#endif
}
#ifdef HAL_PIN_ALT_CONFIG
// get alternative config selection
uint8_t get_alt_config(void) {
return uint8_t(_alt_config.get());
}
#endif // HAL_PIN_ALT_CONFIG
enum board_safety_button_option {
BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF= (1 << 0),
BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON= (1 << 1),
BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED= (1 << 2),
BOARD_SAFETY_OPTION_SAFETY_ON_DISARM= (1 << 3),
};
// return safety button options. Bits are in enum board_safety_button_option
uint16_t get_safety_button_options(void) const {
return uint16_t(state.safety_option.get());
}
// 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
}
#if HAL_HAVE_BOARD_VOLTAGE
// get minimum board voltage
static float get_minimum_board_voltage(void) {
return _singleton?_singleton->_vbus_min.get():0;
}
#endif
#if HAL_HAVE_SERVO_VOLTAGE
// get minimum servo voltage
static float get_minimum_servo_voltage(void) {
return _singleton?_singleton->_vservo_min.get():0;
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
static uint8_t get_sdcard_slowdown(void) {
return _singleton?_singleton->_sdcard_slowdown.get():0;
}
#endif
enum board_options {
BOARD_OPTION_WATCHDOG = (1 << 0),
DISABLE_FTP = (1<<1),
ALLOW_SET_INTERNAL_PARM = (1<<2),
};
// return true if ftp is disabled
static bool ftp_disabled(void) {
return _singleton?(_singleton->_options & DISABLE_FTP)!=0:1;
}
// return true if watchdog enabled
static bool watchdog_enabled(void) {
return _singleton?(_singleton->_options & BOARD_OPTION_WATCHDOG)!=0:HAL_WATCHDOG_ENABLED_DEFAULT;
}
// return true if we allow setting of internal parameters (for developers)
static bool allow_set_internal_parameters(void) {
return _singleton?(_singleton->_options & ALLOW_SET_INTERNAL_PARM)!=0:false;
}
// handle press of safety button. Return true if safety state
// should be toggled
bool safety_button_handle_pressed(uint8_t press_count);
#if HAL_HAVE_IMU_HEATER
void set_imu_temp(float current_temp_c);
// heater duty cycle is as a percentage (0 to 100)
float get_heater_duty_cycle(void) const {
return heater.output;
}
// getters for current temperature and min arming temperature, return false if heater disabled
bool get_board_heater_temperature(float &temperature) const;
bool get_board_heater_arming_temperature(int8_t &temperature) const;
#endif
private:
static AP_BoardConfig *_singleton;
AP_Int16 vehicleSerialNumber;
struct {
AP_Int8 safety_enable;
AP_Int16 safety_option;
AP_Int32 ignore_safety_channels;
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
AP_Int8 ser_rtscts[6];
AP_Int8 sbus_out_rate;
#endif
AP_Int8 board_type;
AP_Int8 io_enable;
} state;
#if AP_FEATURE_BOARD_DETECT
static enum px4_board_type px4_configured_board;
void board_setup_drivers(void);
bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
bool spi_check_register_inv2(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
void validate_board_type(void);
void board_autodetect(void);
bool check_ms5611(const char* devname);
#endif // AP_FEATURE_BOARD_DETECT
void board_init_safety(void);
void board_setup_uart(void);
void board_setup_sbus(void);
void board_setup(void);
// common method to throw errors
static void throw_error(const char *err_str, const char *fmt, va_list arg) NORETURN;
static bool _in_error_loop;
#if HAL_HAVE_IMU_HEATER
struct {
AP_Int8 imu_target_temperature;
uint32_t last_update_ms;
AC_PI pi_controller{HAL_IMUHEAT_P_DEFAULT, HAL_IMUHEAT_I_DEFAULT, 70};
uint16_t count;
float sum;
float output;
uint32_t last_log_ms;
float temperature;
AP_Int8 imu_arming_temperature_margin_low;
} heater;
#endif
#if HAL_RCINPUT_WITH_AP_RADIO
// direct attached radio
AP_Radio _radio;
#endif
// real-time-clock; private because access is via the singleton
AP_RTC rtc;
#if HAL_HAVE_BOARD_VOLTAGE
AP_Float _vbus_min;
#endif
#if HAL_HAVE_SERVO_VOLTAGE
AP_Float _vservo_min;
#endif
#ifdef HAL_GPIO_PWM_VOLT_PIN
AP_Int8 _pwm_volt_sel;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
AP_Int8 _sdcard_slowdown;
#endif
AP_Int16 _boot_delay_ms;
AP_Int32 _options;
#ifdef HAL_PIN_ALT_CONFIG
AP_Int8 _alt_config;
#endif
};
namespace AP {
AP_BoardConfig *boardConfig(void);
};
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