Line data Source code
1 : /*
2 : This program is free software: you can redistribute it and/or modify
3 : it under the terms of the GNU General Public License as published by
4 : the Free Software Foundation, either version 3 of the License, or
5 : (at your option) any later version.
6 :
7 : This program is distributed in the hope that it will be useful,
8 : but WITHOUT ANY WARRANTY; without even the implied warranty of
9 : MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
10 : GNU General Public License for more details.
11 :
12 : You should have received a copy of the GNU General Public License
13 : along with this program. If not, see <http://www.gnu.org/licenses/>.
14 : */
15 : /*
16 : * AP_BoardConfig - board specific configuration
17 : */
18 :
19 : #include "AP_BoardConfig.h"
20 :
21 : #include <AP_Common/AP_Common.h>
22 : #include <AP_HAL/AP_HAL.h>
23 : #include <AP_Math/AP_Math.h>
24 : #include <AP_RTC/AP_RTC.h>
25 : #include <AP_Vehicle/AP_Vehicle_Type.h>
26 : #include <GCS_MAVLink/GCS.h>
27 : #include <AP_Filesystem/AP_Filesystem.h>
28 : #include <GCS_MAVLink/GCS.h>
29 : #include <GCS_MAVLink/GCS_MAVLink.h>
30 : #include <AP_InertialSensor/AP_InertialSensor_rate_config.h>
31 :
32 : #include <stdio.h>
33 :
34 : #ifndef BOARD_TYPE_DEFAULT
35 : #define BOARD_TYPE_DEFAULT PX4_BOARD_AUTO
36 : #endif
37 :
38 : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
39 : #ifndef BOARD_SER1_RTSCTS_DEFAULT
40 : # define BOARD_SER1_RTSCTS_DEFAULT 0
41 : #endif
42 : #ifndef BOARD_SER2_RTSCTS_DEFAULT
43 : # define BOARD_SER2_RTSCTS_DEFAULT 0
44 : #endif
45 : #ifndef BOARD_SER3_RTSCTS_DEFAULT
46 : # define BOARD_SER3_RTSCTS_DEFAULT 0
47 : #endif
48 : #ifndef BOARD_SER4_RTSCTS_DEFAULT
49 : # define BOARD_SER4_RTSCTS_DEFAULT 0
50 : #endif
51 : #ifndef BOARD_SER5_RTSCTS_DEFAULT
52 : # define BOARD_SER5_RTSCTS_DEFAULT 0
53 : #endif
54 : #ifndef BOARD_SER6_RTSCTS_DEFAULT
55 : # define BOARD_SER6_RTSCTS_DEFAULT 0
56 : #endif
57 : #ifndef BOARD_SER7_RTSCTS_DEFAULT
58 : # define BOARD_SER7_RTSCTS_DEFAULT 0
59 : #endif
60 : #ifndef BOARD_SER8_RTSCTS_DEFAULT
61 : # define BOARD_SER8_RTSCTS_DEFAULT 0
62 : #endif
63 : #endif
64 :
65 :
66 : #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
67 : #ifndef BOARD_SER1_RTSCTS_DEFAULT
68 : # define BOARD_SER1_RTSCTS_DEFAULT 2
69 : #endif
70 : #ifndef BOARD_SER2_RTSCTS_DEFAULT
71 : # define BOARD_SER2_RTSCTS_DEFAULT 2
72 : #endif
73 : #ifndef BOARD_SER3_RTSCTS_DEFAULT
74 : # define BOARD_SER3_RTSCTS_DEFAULT 2
75 : #endif
76 : #ifndef BOARD_SER4_RTSCTS_DEFAULT
77 : # define BOARD_SER4_RTSCTS_DEFAULT 2
78 : #endif
79 : #ifndef BOARD_SER5_RTSCTS_DEFAULT
80 : # define BOARD_SER5_RTSCTS_DEFAULT 2
81 : #endif
82 : #ifndef BOARD_SER6_RTSCTS_DEFAULT
83 : # define BOARD_SER6_RTSCTS_DEFAULT 2
84 : #endif
85 : #ifndef BOARD_SER7_RTSCTS_DEFAULT
86 : # define BOARD_SER7_RTSCTS_DEFAULT 2
87 : #endif
88 : #ifndef BOARD_SER8_RTSCTS_DEFAULT
89 : # define BOARD_SER8_RTSCTS_DEFAULT 2
90 : #endif
91 : #ifndef BOARD_TYPE_DEFAULT
92 : # define BOARD_TYPE_DEFAULT PX4_BOARD_AUTO
93 : #endif
94 : #endif
95 :
96 : #ifndef BOARD_SAFETY_ENABLE_DEFAULT
97 : #if defined(HAL_GPIO_PIN_SAFETY_IN)
98 : // have safety startup enabled if we have a safety pin
99 : # define BOARD_SAFETY_ENABLE_DEFAULT 1
100 : #elif defined(HAL_WITH_IO_MCU)
101 : // if we have an IOMCU then enable by default
102 : # define BOARD_SAFETY_ENABLE_DEFAULT HAL_WITH_IO_MCU
103 : #else
104 : # define BOARD_SAFETY_ENABLE_DEFAULT 0
105 : #endif
106 : #endif
107 :
108 : #ifndef HAL_IMU_TEMP_DEFAULT
109 : #define HAL_IMU_TEMP_DEFAULT -1 // disabled
110 : #endif
111 :
112 : #ifndef HAL_IMU_TEMP_MARGIN_LOW_DEFAULT
113 : #define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 0 // disabled
114 : #endif
115 :
116 : #ifndef BOARD_SAFETY_OPTION_DEFAULT
117 : # define BOARD_SAFETY_OPTION_DEFAULT (BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)
118 : #endif
119 : #ifndef BOARD_SAFETY_ENABLE
120 : # define BOARD_SAFETY_ENABLE 1
121 : #endif
122 :
123 : #ifndef BOARD_CONFIG_BOARD_VOLTAGE_MIN
124 : #define BOARD_CONFIG_BOARD_VOLTAGE_MIN 4.3f
125 : #endif
126 :
127 : #ifndef HAL_BRD_OPTIONS_DEFAULT
128 : #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) && !APM_BUILD_TYPE(APM_BUILD_Replay)
129 : #ifdef HAL_DEBUG_BUILD
130 : #define HAL_BRD_OPTIONS_DEFAULT BOARD_OPTION_WATCHDOG | BOARD_OPTION_DEBUG_ENABLE
131 : #else
132 : #define HAL_BRD_OPTIONS_DEFAULT BOARD_OPTION_WATCHDOG
133 : #endif
134 : #else
135 : #define HAL_BRD_OPTIONS_DEFAULT 0
136 : #endif
137 : #endif
138 :
139 : #ifndef HAL_DEFAULT_BOOT_DELAY
140 : #define HAL_DEFAULT_BOOT_DELAY 0
141 : #endif
142 :
143 : extern const AP_HAL::HAL& hal;
144 : AP_BoardConfig *AP_BoardConfig::_singleton;
145 :
146 : // constructor
147 2098 : AP_BoardConfig::AP_BoardConfig()
148 : #if HAL_HAVE_IMU_HEATER
149 : // initialise heater PI controller. Note we do this in the cpp file
150 : // for ccache efficiency
151 : : heater{{HAL_IMUHEAT_P_DEFAULT, HAL_IMUHEAT_I_DEFAULT, 70},}
152 : #endif
153 : {
154 2098 : _singleton = this;
155 2098 : AP_Param::setup_object_defaults(this, var_info);
156 2098 : };
157 :
158 : // table of user settable parameters
159 : const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
160 :
161 : // index 0 was used by PWM_COUNT
162 :
163 : #if AP_FEATURE_RTSCTS
164 : #ifdef HAL_HAVE_RTSCTS_SERIAL1
165 : // @Param: SER1_RTSCTS
166 : // @DisplayName: Serial 1 flow control
167 : // @Description: Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.
168 : // @Values: 0:Disabled,1:Enabled,2:Auto,3:RS-485 Driver enable RTS pin
169 : // @RebootRequired: True
170 : // @User: Advanced
171 : AP_GROUPINFO("SER1_RTSCTS", 1, AP_BoardConfig, state.ser_rtscts[1], BOARD_SER1_RTSCTS_DEFAULT),
172 : #endif
173 :
174 : #ifdef HAL_HAVE_RTSCTS_SERIAL2
175 : // @Param: SER2_RTSCTS
176 : // @CopyFieldsFrom: BRD_SER1_RTSCTS
177 : // @DisplayName: Serial 2 flow control
178 : // @Description: Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
179 : AP_GROUPINFO("SER2_RTSCTS", 2, AP_BoardConfig, state.ser_rtscts[2], BOARD_SER2_RTSCTS_DEFAULT),
180 : #endif
181 :
182 : #ifdef HAL_HAVE_RTSCTS_SERIAL3
183 : // @Param: SER3_RTSCTS
184 : // @CopyFieldsFrom: BRD_SER1_RTSCTS
185 : // @DisplayName: Serial 3 flow control
186 : // @Description: Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
187 : AP_GROUPINFO("SER3_RTSCTS", 26, AP_BoardConfig, state.ser_rtscts[3], BOARD_SER3_RTSCTS_DEFAULT),
188 : #endif
189 :
190 : #ifdef HAL_HAVE_RTSCTS_SERIAL4
191 : // @Param: SER4_RTSCTS
192 : // @CopyFieldsFrom: BRD_SER1_RTSCTS
193 : // @DisplayName: Serial 4 flow control
194 : // @Description: Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
195 : AP_GROUPINFO("SER4_RTSCTS", 27, AP_BoardConfig, state.ser_rtscts[4], BOARD_SER4_RTSCTS_DEFAULT),
196 : #endif
197 :
198 : #ifdef HAL_HAVE_RTSCTS_SERIAL5
199 : // @Param: SER5_RTSCTS
200 : // @CopyFieldsFrom: BRD_SER1_RTSCTS
201 : // @DisplayName: Serial 5 flow control
202 : // @Description: Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
203 : AP_GROUPINFO("SER5_RTSCTS", 25, AP_BoardConfig, state.ser_rtscts[5], BOARD_SER5_RTSCTS_DEFAULT),
204 : #endif
205 :
206 : #ifdef HAL_HAVE_RTSCTS_SERIAL6
207 : // @Param: SER6_RTSCTS
208 : // @CopyFieldsFrom: BRD_SER1_RTSCTS
209 : // @DisplayName: Serial 6 flow control
210 : // @Description: Enable flow control on serial 6. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
211 : AP_GROUPINFO("SER6_RTSCTS", 30, AP_BoardConfig, state.ser_rtscts[6], BOARD_SER6_RTSCTS_DEFAULT),
212 : #endif
213 :
214 : #ifdef HAL_HAVE_RTSCTS_SERIAL7
215 : // @Param: SER7_RTSCTS
216 : // @CopyFieldsFrom: BRD_SER1_RTSCTS
217 : // @DisplayName: Serial 7 flow control
218 : // @Description: Enable flow control on serial 7. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
219 : AP_GROUPINFO("SER7_RTSCTS", 31, AP_BoardConfig, state.ser_rtscts[7], BOARD_SER7_RTSCTS_DEFAULT),
220 : #endif
221 :
222 : #ifdef HAL_HAVE_RTSCTS_SERIAL8
223 : // @Param: SER8_RTSCTS
224 : // @CopyFieldsFrom: BRD_SER8_RTSCTS
225 : // @DisplayName: Serial 8 flow control
226 : // @Description: Enable flow control on serial 8. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
227 : AP_GROUPINFO("SER8_RTSCTS", 32, AP_BoardConfig, state.ser_rtscts[8], BOARD_SER8_RTSCTS_DEFAULT),
228 : #endif
229 : #endif
230 :
231 : // @Param: SAFETY_DEFLT
232 : // @DisplayName: Sets default state of the safety switch
233 : // @Description: This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
234 : // @Values: 0:Disabled,1:Enabled
235 : // @RebootRequired: True
236 : // @User: Standard
237 : AP_GROUPINFO("SAFETY_DEFLT", 3, AP_BoardConfig, state.safety_enable, BOARD_SAFETY_ENABLE_DEFAULT),
238 :
239 : #if AP_FEATURE_SBUS_OUT
240 : // @Param: SBUS_OUT
241 : // @DisplayName: SBUS output rate
242 : // @Description: This sets the SBUS output frame rate in Hz
243 : // @Values: 0:Disabled,1:50Hz,2:75Hz,3:100Hz,4:150Hz,5:200Hz,6:250Hz,7:300Hz
244 : // @RebootRequired: True
245 : // @User: Advanced
246 : AP_GROUPINFO("SBUS_OUT", 4, AP_BoardConfig, state.sbus_out_rate, 0),
247 : #endif
248 :
249 : // @Param: SERIAL_NUM
250 : // @DisplayName: User-defined serial number
251 : // @Description: User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
252 : // @Range: -8388608 8388607
253 : // @User: Standard
254 : AP_GROUPINFO("SERIAL_NUM", 5, AP_BoardConfig, vehicleSerialNumber, 0),
255 :
256 : // @Param: SAFETY_MASK
257 : // @DisplayName: Outputs which ignore the safety switch state
258 : // @Description: A bitmask which controls what outputs can move while the safety switch has not been pressed
259 : // @Bitmask: 0:Output1
260 : // @Bitmask: 1:Output2
261 : // @Bitmask: 2:Output3
262 : // @Bitmask: 3:Output4
263 : // @Bitmask: 4:Output5
264 : // @Bitmask: 5:Output6
265 : // @Bitmask: 6:Output7
266 : // @Bitmask: 7:Output8
267 : // @Bitmask: 8:Output9
268 : // @Bitmask: 9:Output10
269 : // @Bitmask: 10:Output11
270 : // @Bitmask: 11:Output12
271 : // @Bitmask: 12:Output13
272 : // @Bitmask: 13:Output14
273 : // @Bitmask: 14:Output15
274 : // @Bitmask: 15:Output16
275 : // @Bitmask: 16:Output17
276 : // @Bitmask: 17:Output18
277 : // @Bitmask: 18:Output19
278 : // @Bitmask: 19:Output20
279 : // @Bitmask: 20:Output21
280 : // @Bitmask: 21:Output22
281 : // @Bitmask: 22:Output23
282 : // @Bitmask: 23:Output24
283 : // @Bitmask: 24:Output25
284 : // @Bitmask: 25:Output26
285 : // @Bitmask: 26:Output27
286 : // @Bitmask: 27:Output28
287 : // @Bitmask: 28:Output29
288 : // @Bitmask: 29:Output30
289 : // @Bitmask: 30:Output31
290 : // @Bitmask: 31:Output32
291 : // @RebootRequired: True
292 : // @User: Advanced
293 : AP_GROUPINFO("SAFETY_MASK", 7, AP_BoardConfig, state.ignore_safety_channels, 0),
294 :
295 : #if HAL_HAVE_IMU_HEATER
296 : // @Param: HEAT_TARG
297 : // @DisplayName: Board heater temperature target
298 : // @Description: Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.
299 : // @Range: -1 80
300 : // @Units: degC
301 : // @User: Advanced
302 : AP_GROUPINFO("HEAT_TARG", 8, AP_BoardConfig, heater.imu_target_temperature, HAL_IMU_TEMP_DEFAULT),
303 : #endif
304 :
305 : #if AP_FEATURE_BOARD_DETECT
306 : // @Param: TYPE
307 : // @DisplayName: Board type
308 : // @Description: This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
309 : // @Values: 0:AUTO,1:PX4V1,2:Pixhawk,3:Cube/Pixhawk2,5:PixhawkMini,6:Pixhawk2Slim,13:Intel Aero FC,14:Pixhawk Pro,20:AUAV2.1,39:PX4 FMUV6,100:PX4 OLDDRIVERS
310 : // @RebootRequired: True
311 : // @User: Advanced
312 : AP_GROUPINFO("TYPE", 9, AP_BoardConfig, state.board_type, BOARD_TYPE_DEFAULT),
313 : #endif
314 :
315 : #if HAL_WITH_IO_MCU
316 : // @Param: IO_ENABLE
317 : // @DisplayName: Enable IO co-processor
318 : // @Description: This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
319 : // @Values: 0:Disabled,1:Enabled,2:EnableNoFWUpdate
320 : // @RebootRequired: True
321 : // @User: Advanced
322 : AP_GROUPINFO("IO_ENABLE", 10, AP_BoardConfig, state.io_enable, 1),
323 : #endif
324 :
325 : #if AP_RADIO_ENABLED
326 : // @Group: RADIO
327 : // @Path: ../AP_Radio/AP_Radio.cpp
328 : AP_SUBGROUPINFO(_radio, "RADIO", 11, AP_BoardConfig, AP_Radio),
329 : #endif
330 :
331 : // @Param: SAFETYOPTION
332 : // @DisplayName: Options for safety button behavior
333 : // @Description: This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
334 : // @Bitmask: 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
335 : // @User: Standard
336 : AP_GROUPINFO("SAFETYOPTION", 13, AP_BoardConfig, state.safety_option, BOARD_SAFETY_OPTION_DEFAULT),
337 :
338 : #if AP_RTC_ENABLED
339 : // @Group: RTC
340 : // @Path: ../AP_RTC/AP_RTC.cpp
341 : AP_SUBGROUPINFO(rtc, "RTC", 14, AP_BoardConfig, AP_RTC),
342 : #endif
343 :
344 : #if HAL_HAVE_BOARD_VOLTAGE
345 : // @Param: VBUS_MIN
346 : // @DisplayName: Autopilot board voltage requirement
347 : // @Description: Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
348 : // @Units: V
349 : // @Range: 4.0 5.5
350 : // @Increment: 0.1
351 : // @User: Advanced
352 : AP_GROUPINFO("VBUS_MIN", 15, AP_BoardConfig, _vbus_min, BOARD_CONFIG_BOARD_VOLTAGE_MIN),
353 :
354 : #endif
355 :
356 : #if HAL_HAVE_SERVO_VOLTAGE
357 : // @Param: VSERVO_MIN
358 : // @DisplayName: Servo voltage requirement
359 : // @Description: Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
360 : // @Units: V
361 : // @Range: 3.3 12.0
362 : // @Increment: 0.1
363 : // @User: Advanced
364 : AP_GROUPINFO("VSERVO_MIN", 16, AP_BoardConfig, _vservo_min, 0),
365 : #endif
366 :
367 : #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
368 : // @Param: SD_SLOWDOWN
369 : // @DisplayName: microSD slowdown
370 : // @Description: This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
371 : // @Range: 0 32
372 : // @Increment: 1
373 : // @User: Advanced
374 : AP_GROUPINFO("SD_SLOWDOWN", 17, AP_BoardConfig, _sdcard_slowdown, 0),
375 : #endif
376 :
377 : #ifdef HAL_GPIO_PWM_VOLT_PIN
378 : // @Param: PWM_VOLT_SEL
379 : // @DisplayName: Set PWM Out Voltage
380 : // @Description: This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.
381 : // @Values: 0:3.3V,1:5V
382 : // @User: Advanced
383 : AP_GROUPINFO("PWM_VOLT_SEL", 18, AP_BoardConfig, _pwm_volt_sel, 0),
384 : #endif
385 :
386 : // @Param: OPTIONS
387 : // @DisplayName: Board options
388 : // @Description: Board specific option flags
389 : // @Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm, 9:Use safety pins as profiled
390 : // @User: Advanced
391 : AP_GROUPINFO("OPTIONS", 19, AP_BoardConfig, _options, HAL_BRD_OPTIONS_DEFAULT),
392 :
393 : // @Param: BOOT_DELAY
394 : // @DisplayName: Boot delay
395 : // @Description: This adds a delay in milliseconds to boot to ensure peripherals initialise fully
396 : // @Range: 0 10000
397 : // @Units: ms
398 : // @User: Advanced
399 : AP_GROUPINFO("BOOT_DELAY", 20, AP_BoardConfig, _boot_delay_ms, HAL_DEFAULT_BOOT_DELAY),
400 :
401 : #if HAL_HAVE_IMU_HEATER
402 : // @Param: HEAT_P
403 : // @DisplayName: Board Heater P gain
404 : // @Description: Board Heater P gain
405 : // @Range: 1 500
406 : // @Increment: 1
407 : // @User: Advanced
408 :
409 : // @Param: HEAT_I
410 : // @DisplayName: Board Heater I gain
411 : // @Description: Board Heater integrator gain
412 : // @Range: 0 1
413 : // @Increment: 0.1
414 : // @User: Advanced
415 :
416 : // @Param: HEAT_IMAX
417 : // @DisplayName: Board Heater IMAX
418 : // @Description: Board Heater integrator maximum
419 : // @Range: 0 100
420 : // @Increment: 1
421 : // @User: Advanced
422 : AP_SUBGROUPINFO(heater.pi_controller, "HEAT_", 21, AP_BoardConfig, AC_PI),
423 : #endif
424 :
425 : #ifdef HAL_PIN_ALT_CONFIG
426 : // @Param: ALT_CONFIG
427 : // @DisplayName: Alternative HW config
428 : // @Description: Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.
429 : // @Range: 0 10
430 : // @Increment: 1
431 : // @User: Advanced
432 : // @RebootRequired: True
433 : AP_GROUPINFO("ALT_CONFIG", 22, AP_BoardConfig, _alt_config, 0),
434 : #endif // HAL_PIN_ALT_CONFIG
435 :
436 : #if HAL_HAVE_IMU_HEATER
437 : // @Param: HEAT_LOWMGN
438 : // @DisplayName: Board heater temp lower margin
439 : // @Description: Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check
440 : // @Range: 0 20
441 : // @Units: degC
442 : // @User: Advanced
443 : AP_GROUPINFO("HEAT_LOWMGN", 23, AP_BoardConfig, heater.imu_arming_temperature_margin_low, HAL_IMU_TEMP_MARGIN_LOW_DEFAULT),
444 : #endif
445 :
446 : #if AP_SDCARD_STORAGE_ENABLED
447 : // @Param: SD_MISSION
448 : // @DisplayName: SDCard Mission size
449 : // @Description: This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.
450 : // @Range: 0 64
451 : // @RebootRequired: True
452 : // @User: Advanced
453 : AP_GROUPINFO("SD_MISSION", 24, AP_BoardConfig, sdcard_storage.mission_kb, 0),
454 :
455 : // @Param: SD_FENCE
456 : // @DisplayName: SDCard Fence size
457 : // @Description: This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.
458 : // @Range: 0 64
459 : // @RebootRequired: True
460 : // @User: Advanced
461 : AP_GROUPINFO("SD_FENCE", 29, AP_BoardConfig, sdcard_storage.fence_kb, 0),
462 : #endif
463 :
464 : // index 25 used by SER5_RTSCTS
465 : // index 26 used by SER3_RTSCTS
466 : // index 27 used by SER4_RTSCTS
467 :
468 :
469 : #if HAL_WITH_IO_MCU_DSHOT
470 : // @Param: IO_DSHOT
471 : // @DisplayName: Load DShot FW on IO
472 : // @Description: This loads the DShot firmware on the IO co-processor
473 : // @Values: 0:StandardFW,1:DshotFW
474 : // @RebootRequired: True
475 : // @User: Advanced
476 : AP_GROUPINFO("IO_DSHOT", 28, AP_BoardConfig, state.io_dshot, 0),
477 : #endif
478 :
479 : // index 30 used by SER6_RTSCTS
480 : // index 31 used by SER7_RTSCTS
481 : // index 32 used by SER8_RTSCTS
482 :
483 : #if AP_CPU_IDLE_STATS_ENABLED
484 : // @Param: IDLE_STATS
485 : // @DisplayName: Capture and calculate true CPU load using idle threads
486 : // @Description: Capture and calculate true CPU load using idle threads
487 : // @Values: 0:Disable,1:Enable
488 : // @RebootRequired: True
489 : // @User: Advanced
490 : AP_GROUPINFO("IDLE_STATS", 33, AP_BoardConfig, state.idle_stats, 0),
491 : #endif
492 :
493 : AP_GROUPEND
494 : };
495 :
496 2094 : void AP_BoardConfig::init()
497 : {
498 2094 : board_setup();
499 :
500 : #if AP_RTC_ENABLED
501 2094 : AP::rtc().set_utc_usec(hal.util->get_hw_rtc(), AP_RTC::SOURCE_HW);
502 : #endif
503 :
504 2094 : if (_boot_delay_ms > 0) {
505 0 : uint16_t delay_ms = uint16_t(_boot_delay_ms.get());
506 0 : if (hal.util->was_watchdog_armed() && delay_ms > 200) {
507 : // don't delay a long time on watchdog reset, the pilot
508 : // may be able to save the vehicle
509 0 : delay_ms = 200;
510 : }
511 0 : hal.scheduler->delay(delay_ms);
512 : }
513 :
514 : #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && defined(USE_POSIX)
515 : uint8_t slowdown = constrain_int16(_sdcard_slowdown.get(), 0, 32);
516 : const uint8_t max_slowdown = 8;
517 : do {
518 : if (AP::FS().retry_mount()) {
519 : break;
520 : }
521 : slowdown++;
522 : hal.scheduler->delay(5);
523 : } while (slowdown < max_slowdown);
524 : if (slowdown < max_slowdown) {
525 : _sdcard_slowdown.set(slowdown);
526 : } else {
527 : printf("SDCard failed to start\n");
528 : }
529 : #endif
530 2094 : }
531 :
532 : // set default value for BRD_SAFETY_MASK
533 918 : void AP_BoardConfig::set_default_safety_ignore_mask(uint32_t mask)
534 : {
535 918 : state.ignore_safety_channels.set_default(mask);
536 918 : }
537 :
538 2086 : void AP_BoardConfig::init_safety()
539 : {
540 2086 : board_init_safety();
541 2086 : board_init_debug();
542 2086 : }
543 :
544 : /*
545 : notify user of a fatal startup error related to available sensors.
546 : */
547 : bool AP_BoardConfig::_in_error_loop;
548 :
549 8 : void AP_BoardConfig::throw_error(const char *err_type, const char *fmt, va_list arg)
550 : {
551 8 : _in_error_loop = true;
552 : /*
553 : to give the user the opportunity to connect to USB we keep
554 : repeating the error. The mavlink delay callback is initialised
555 : before this, so the user can change parameters (and in
556 : particular BRD_TYPE if needed)
557 : */
558 8 : uint32_t last_print_ms = 0;
559 : while (true) {
560 25986 : uint32_t now = AP_HAL::millis();
561 25986 : if (now - last_print_ms >= 5000) {
562 24 : last_print_ms = now;
563 : char printfmt[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+2];
564 24 : hal.util->snprintf(printfmt, sizeof(printfmt), "%s: %s\n", err_type, fmt);
565 : {
566 : va_list arg_copy;
567 24 : va_copy(arg_copy, arg);
568 24 : vprintf(printfmt, arg_copy);
569 24 : va_end(arg_copy);
570 : }
571 : #if HAL_GCS_ENABLED
572 24 : hal.util->snprintf(printfmt, sizeof(printfmt), "%s: %s", err_type, fmt);
573 : {
574 : va_list arg_copy;
575 24 : va_copy(arg_copy, arg);
576 24 : gcs().send_textv(MAV_SEVERITY_CRITICAL, printfmt, arg_copy);
577 24 : va_end(arg_copy);
578 : }
579 : #endif
580 : }
581 : #if HAL_GCS_ENABLED
582 25986 : gcs().update_receive();
583 25978 : gcs().update_send();
584 : #endif
585 25978 : EXPECT_DELAY_MS(10);
586 25978 : hal.scheduler->delay(5);
587 25978 : }
588 : }
589 :
590 0 : void AP_BoardConfig::allocation_error(const char *fmt, ...)
591 : {
592 : va_list arg_list;
593 0 : va_start(arg_list, fmt);
594 0 : char newfmt[64] {};
595 0 : snprintf(newfmt, sizeof(newfmt), "Unable to allocate %s", fmt);
596 0 : throw_error("Allocation Error", newfmt, arg_list);
597 : va_end(arg_list);
598 : }
599 :
600 8 : void AP_BoardConfig::config_error(const char *fmt, ...)
601 : {
602 : va_list arg_list;
603 8 : va_start(arg_list, fmt);
604 8 : throw_error("Config Error", fmt, arg_list);
605 : va_end(arg_list);
606 : }
607 :
608 : /*
609 : handle logic for safety state button press. This should be called at
610 : 10Hz when the button is pressed. The button can either be directly
611 : on a pin or on a UAVCAN device
612 : This function returns true if the safety state should be toggled
613 : */
614 0 : bool AP_BoardConfig::safety_button_handle_pressed(uint8_t press_count)
615 : {
616 0 : if (press_count != 10) {
617 0 : return false;
618 : }
619 : // get button options
620 0 : uint16_t safety_options = get_safety_button_options();
621 0 : if (!(safety_options & BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) &&
622 0 : hal.util->get_soft_armed()) {
623 0 : return false;
624 : }
625 0 : AP_HAL::Util::safety_state safety_state = hal.util->safety_switch_state();
626 0 : if (safety_state == AP_HAL::Util::SAFETY_DISARMED &&
627 0 : !(safety_options & BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF)) {
628 0 : return false;
629 : }
630 0 : if (safety_state == AP_HAL::Util::SAFETY_ARMED &&
631 0 : !(safety_options & BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)) {
632 0 : return false;
633 : }
634 0 : return true;
635 : }
636 :
637 : namespace AP {
638 4108 : AP_BoardConfig *boardConfig(void) {
639 4108 : return AP_BoardConfig::get_singleton();
640 : }
641 : };
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