You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
65 lines
1.2 KiB
65 lines
1.2 KiB
|
|
#pragma once |
|
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT |
|
|
|
#include <AP_HAL_F4Light/AP_HAL_F4Light.h> |
|
#include "handler.h" |
|
|
|
#include <AP_Param/AP_Param.h> |
|
|
|
#include <hal.h> |
|
#include "USBDriver.h" |
|
#include <pwm_in.h> |
|
#include <usart.h> |
|
#include <i2c.h> |
|
#include <spi.h> |
|
|
|
|
|
#if defined(USB_MASSSTORAGE) |
|
#include "massstorage/mass_storage.h" |
|
#endif |
|
|
|
/* |
|
Backup SRAM 4KByte - 0x4002 4000 - 0x4002 3FFF can be used as EEPROM buffer? |
|
|
|
ideally it should be used for state storage for recovery from in-flight reboots but we never get this from upstream... |
|
|
|
*/ |
|
|
|
|
|
class HAL_state{ |
|
public: |
|
HAL_state() |
|
: sd_busy(0) |
|
, disconnect(0) |
|
{} |
|
|
|
uint8_t sd_busy; |
|
uint8_t disconnect; |
|
}; |
|
|
|
class HAL_F4Light : public AP_HAL::HAL { |
|
public: |
|
HAL_F4Light(); |
|
void run(int argc, char * const argv[], Callbacks* callbacks) const override; |
|
|
|
void lateInit(); |
|
|
|
static HAL_state state; // hal is const so we should move out its internal state |
|
|
|
private: |
|
AP_HAL::UARTDriver** uarts[6]; |
|
|
|
void connect_uart(AP_HAL::UARTDriver* uartL,AP_HAL::UARTDriver* uartR, AP_HAL::Proc proc); |
|
// parameters in hal_param_helper |
|
|
|
#if defined(USB_MASSSTORAGE) |
|
F4Light::MassStorage massstorage; |
|
#endif |
|
|
|
}; |
|
|
|
|
|
#endif // __AP_HAL_F4Light_CLASS_H__
|
|
|