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97 lines
2.1 KiB
97 lines
2.1 KiB
#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_Common/AP_FWVersion.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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struct app_descriptor { |
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uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }; |
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uint32_t image_crc1 = 0; |
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uint32_t image_crc2 = 0; |
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uint32_t image_size = 0; |
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uint32_t git_hash = 0; |
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uint8_t version_major = AP::fwversion().major; |
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uint8_t version_minor = AP::fwversion().minor; |
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uint8_t reserved[6] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff }; |
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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_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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// 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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