mirror of https://github.com/ArduPilot/ardupilot
125 lines
2.7 KiB
C++
125 lines
2.7 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_MSP/AP_MSP.h>
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#include <AP_MSP/msp.h>
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#include "../AP_Bootloader/app_comms.h"
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#include "hwing_esc.h"
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#if defined(HAL_PERIPH_NEOPIXEL_COUNT) || defined(HAL_PERIPH_ENABLE_NCP5623_LED)
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#define AP_PERIPH_HAVE_LED
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#endif
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#include "Parameters.h"
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#include "ch.h"
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/*
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app descriptor compatible with MissionPlanner
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*/
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extern const struct app_descriptor app_descriptor;
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class AP_Periph_FW {
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public:
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void init();
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void update();
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Parameters g;
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void can_start();
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void can_update();
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void can_mag_update();
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void can_gps_update();
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void can_baro_update();
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void can_airspeed_update();
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void can_rangefinder_update();
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void load_parameters();
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AP_SerialManager serial_manager;
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#ifdef HAL_PERIPH_ENABLE_GPS
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AP_GPS gps;
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#endif
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#ifdef HAL_PERIPH_ENABLE_MAG
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Compass compass;
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#endif
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#ifdef HAL_PERIPH_ENABLE_BARO
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AP_Baro baro;
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#endif
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#ifdef HAL_PERIPH_ENABLE_MSP
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struct {
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AP_MSP msp;
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MSP::msp_port_t port;
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uint32_t last_gps_ms;
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uint32_t last_baro_ms;
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uint32_t last_mag_ms;
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} msp;
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void msp_init(AP_HAL::UARTDriver *_uart);
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void msp_sensor_update(void);
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void send_msp_packet(uint16_t cmd, void *p, uint16_t size);
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void send_msp_GPS(void);
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void send_msp_compass(void);
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void send_msp_baro(void);
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#endif
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#ifdef HAL_PERIPH_ENABLE_ADSB
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void adsb_init();
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void adsb_update();
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void can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg);
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struct {
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mavlink_message_t msg;
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mavlink_status_t status;
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} adsb;
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#endif
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#ifdef HAL_PERIPH_ENABLE_AIRSPEED
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AP_Airspeed airspeed;
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#endif
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#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
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RangeFinder rangefinder;
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#endif
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#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
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void pwm_irq_handler(uint8_t pin, bool pin_state, uint32_t timestamp);
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void pwm_hardpoint_init();
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void pwm_hardpoint_update();
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struct {
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uint8_t last_state;
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uint32_t last_ts_us;
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uint32_t last_send_ms;
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uint16_t pwm_value;
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uint16_t highest_pwm;
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} pwm_hardpoint;
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#endif
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#ifdef HAL_PERIPH_ENABLE_HWESC
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HWESC_Telem hwesc_telem;
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void hwesc_telem_update();
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#endif
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// setup the var_info table
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AP_Param param_loader{var_info};
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static const AP_Param::Info var_info[];
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uint32_t last_mag_update_ms;
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uint32_t last_gps_update_ms;
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uint32_t last_baro_update_ms;
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uint32_t last_airspeed_update_ms;
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};
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extern AP_Periph_FW periph;
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extern "C" {
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void can_printf(const char *fmt, ...);
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}
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