ardupilot/libraries/AP_HAL_ChibiOS/Util.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_ChibiOS_Namespace.h"
#include "AP_HAL_ChibiOS.h"
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#include <ch.h>
class ChibiOS::Util : public AP_HAL::Util {
public:
static Util *from(AP_HAL::Util *util) {
return static_cast<Util*>(util);
}
bool run_debug_shell(AP_HAL::BetterStream *stream) override { return false; }
uint32_t available_memory() override;
// Special Allocation Routines
void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
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#ifdef ENABLE_HEAP
// heap functions, note that a heap once alloc'd cannot be dealloc'd
virtual void *allocate_heap_memory(size_t size);
virtual void *heap_realloc(void *heap, void *ptr, size_t new_size);
#endif // ENABLE_HEAP
/*
return state of safety switch, if applicable
*/
enum safety_state safety_switch_state(void) override;
// IMU temperature control
void set_imu_temp(float current) override;
void set_imu_target_temp(int8_t *target) override;
// get system ID as a string
bool get_system_id(char buf[40]) override;
bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
#ifdef HAL_PWM_ALARM
bool toneAlarm_init() override;
void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
#endif
#ifdef USE_POSIX
/*
initialise (or re-initialise) filesystem storage
*/
bool fs_init(void) override;
#endif
private:
#ifdef HAL_PWM_ALARM
struct ToneAlarmPwmGroup {
pwmchannel_t chan;
PWMConfig pwm_cfg;
PWMDriver* pwm_drv;
};
static ToneAlarmPwmGroup _toneAlarm_pwm_group;
#endif
void* try_alloc_from_ccm_ram(size_t size);
uint32_t available_memory_in_ccm_ram(void);
#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
struct {
int8_t *target;
float integrator;
uint16_t count;
float sum;
uint32_t last_update_ms;
} heater;
#endif
/*
set HW RTC in UTC microseconds
*/
void set_hw_rtc(uint64_t time_utc_usec) override;
/*
get system clock in UTC microseconds
*/
uint64_t get_hw_rtc() const override;
#ifndef HAL_NO_FLASH_SUPPORT
bool flash_bootloader() override;
#endif
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#ifdef ENABLE_HEAP
static memory_heap_t scripting_heap;
#endif // ENABLE_HEAP
};