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248 lines
6.7 KiB
248 lines
6.7 KiB
#pragma once |
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#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 "SRV_Channel/SRV_Channel.h" |
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#include <AP_Notify/AP_Notify.h> |
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#include <AP_Logger/AP_Logger.h> |
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#include <AP_BattMonitor/AP_BattMonitor.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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#include <AP_CANManager/AP_CANManager.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS |
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#include <AP_HAL_ChibiOS/CANIface.h> |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include <AP_HAL_SITL/CANSocketIface.h> |
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#endif |
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#ifndef HAL_NO_GCS |
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#include "GCS_MAVLink.h" |
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#endif |
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#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) |
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#define AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY |
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#endif |
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#ifdef HAL_PERIPH_ENABLE_NOTIFY |
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#ifndef HAL_PERIPH_ENABLE_RC_OUT |
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#error "HAL_PERIPH_ENABLE_NOTIFY requires HAL_PERIPH_ENABLE_RC_OUT" |
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#endif |
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#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY |
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#error "You cannot enable HAL_PERIPH_ENABLE_NOTIFY and HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY at the same time. Notify already includes it" |
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#endif |
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#ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY |
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#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" |
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#endif |
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#ifdef HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY |
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#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" |
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#endif |
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#endif |
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#if defined(HAL_PERIPH_ENABLE_BATTERY_MPPT_PACKETDIGITAL) && HAL_MAX_CAN_PROTOCOL_DRIVERS < 2 |
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#error "Battery MPPT PacketDigital driver requires at least two CAN Ports" |
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#endif |
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#include "Parameters.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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void stm32_watchdog_init(); |
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void stm32_watchdog_pat(); |
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#endif |
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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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AP_Periph_FW(); |
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CLASS_NO_COPY(AP_Periph_FW); |
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static AP_Periph_FW* get_singleton() |
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{ |
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if (_singleton == nullptr) { |
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AP_HAL::panic("AP_Periph_FW used before allocation."); |
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} |
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return _singleton; |
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} |
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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 can_battery_update(); |
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void load_parameters(); |
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void prepare_reboot(); |
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#ifdef HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT |
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void check_for_serial_reboot_cmd(const int8_t serial_index); |
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#endif |
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS |
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static ChibiOS::CANIface* can_iface_periph[HAL_NUM_CAN_IFACES]; |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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static HALSITL::CANIface* can_iface_periph[HAL_NUM_CAN_IFACES]; |
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#endif |
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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_BATTERY |
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struct AP_Periph_Battery { |
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void handle_battery_failsafe(const char* type_str, const int8_t action) { } |
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AP_BattMonitor lib{0, FUNCTOR_BIND_MEMBER(&AP_Periph_FW::AP_Periph_Battery::handle_battery_failsafe, void, const char*, const int8_t), nullptr}; |
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uint32_t last_read_ms; |
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uint32_t last_can_send_ms; |
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} battery; |
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#endif |
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#if HAL_NUM_CAN_IFACES >= 2 |
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// This allows you to change the protocol and it continues to use the one at boot. |
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// Without this, changing away from UAVCAN causes loss of comms and you can't |
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// change the rest of your params or verify it succeeded. |
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AP_CANManager::Driver_Type can_protocol_cached[HAL_NUM_CAN_IFACES]; |
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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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uint32_t last_airspeed_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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void send_msp_airspeed(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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#ifdef HAL_PERIPH_ENABLE_RC_OUT |
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SRV_Channels servo_channels; |
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bool rcout_has_new_data_to_update; |
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void rcout_init(); |
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void rcout_init_1Hz(); |
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void rcout_esc(int16_t *rc, uint8_t num_channels); |
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void rcout_srv(const uint8_t actuator_id, const float command_value); |
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void rcout_update(); |
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void rcout_handle_safety_state(uint8_t safety_state); |
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#endif |
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#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) |
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void update_rainbow(); |
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#endif |
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#ifdef HAL_PERIPH_ENABLE_NOTIFY |
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// notification object for LEDs, buzzers etc |
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AP_Notify notify; |
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#endif |
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#if HAL_LOGGING_ENABLED |
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static const struct LogStructure log_structure[]; |
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AP_Logger logger; |
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#endif |
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#ifndef HAL_NO_GCS |
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GCS_Periph _gcs; |
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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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static AP_Periph_FW *_singleton; |
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// show stack as DEBUG msgs |
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void show_stack_free(); |
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static bool no_iface_finished_dna; |
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}; |
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namespace AP |
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{ |
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AP_Periph_FW& periph(); |
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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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