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115 lines
3.5 KiB
115 lines
3.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Param/AP_Param.h> |
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#include <sys/ioctl.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) |
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#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN |
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#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n)) |
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#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1) // query if node identification is in progress |
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#define UAVCAN_IOCS_HARDPOINT_SET _UAVCAN_IOC(10) // control hardpoint (e.g. OpenGrab EPM) |
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#define UAVCAN_NODE_FILE "/dev/uavcan/esc" // design flaw of uavcan driver, this should be /dev/uavcan/node one day |
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#endif |
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extern "C" typedef int (*main_fn_t)(int argc, char **); |
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class AP_BoardConfig |
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{ |
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public: |
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// constructor |
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AP_BoardConfig(void) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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}; |
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void init(void); |
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static const struct AP_Param::GroupInfo var_info[]; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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// public method to start a driver |
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static bool px4_start_driver(main_fn_t main_function, const char *name, const char *arguments); |
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// valid types for BRD_TYPE |
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enum px4_board_type { |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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PX4_BOARD_AUTO = 0, |
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PX4_BOARD_PX4V1 = 1, |
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PX4_BOARD_PIXHAWK = 2, |
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PX4_BOARD_PIXHAWK2 = 3, |
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PX4_BOARD_PIXRACER = 4, |
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PX4_BOARD_PHMINI = 5, |
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PX4_BOARD_PH2SLIM = 6, |
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#endif |
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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VRX_BOARD_BRAIN51 = 7, |
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VRX_BOARD_BRAIN52 = 8, |
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VRX_BOARD_UBRAIN51 = 9, |
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VRX_BOARD_UBRAIN52 = 10, |
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VRX_BOARD_CORE10 = 11, |
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VRX_BOARD_BRAIN54 = 12, |
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#endif |
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}; |
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#endif |
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private: |
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AP_Int16 vehicleSerialNumber; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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struct { |
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AP_Int8 pwm_count; |
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AP_Int8 safety_enable; |
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AP_Int32 ignore_safety_channels; |
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1 |
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AP_Int8 can_enable; |
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#endif |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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AP_Int8 ser1_rtscts; |
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AP_Int8 ser2_rtscts; |
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AP_Int8 sbus_out_rate; |
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#endif |
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AP_Int8 board_type; |
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} px4; |
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void px4_drivers_start(void); |
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void px4_setup(void); |
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void px4_setup_pwm(void); |
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void px4_setup_safety(void); |
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void px4_setup_uart(void); |
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void px4_setup_sbus(void); |
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void px4_setup_canbus(void); |
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void px4_setup_drivers(void); |
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void px4_sensor_error(const char *reason); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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void px4_start_common_sensors(void); |
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void px4_start_fmuv1_sensors(void); |
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void px4_start_fmuv2_sensors(void); |
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void px4_start_fmuv4_sensors(void); |
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void px4_start_pixhawk2slim_sensors(void); |
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void px4_start_phmini_sensors(void); |
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void px4_start_optional_sensors(void); |
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#endif |
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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void vrx_start_common_sensors(void); |
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void vrx_start_brain51_sensors(void); |
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void vrx_start_brain52_sensors(void); |
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void vrx_start_ubrain51_sensors(void); |
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void vrx_start_ubrain52_sensors(void); |
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void vrx_start_core10_sensors(void); |
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void vrx_start_brain54_sensors(void); |
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void vrx_start_optional_sensors(void); |
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#endif |
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#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN |
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// target temperarure for IMU in Celsius, or -1 to disable |
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AP_Int8 _imu_target_temperature; |
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};
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