/*
* 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 .
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include
#include "AP_HAL_ChibiOS_Namespace.h"
#include "Semaphores.h"
#include "ToneAlarm.h"
class ChibiOS::Util : public AP_HAL::Util {
public:
static Util *from(AP_HAL::Util *util) {
return static_cast(util);
}
bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
AP_HAL::Semaphore *new_semaphore(void) override { return new ChibiOS::Semaphore; }
uint32_t available_memory() override;
// Special Allocation Routines
void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type);
void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type);
/*
return state of safety switch, if applicable
*/
enum safety_state safety_switch_state(void) override;
// IMU temperature control
void set_imu_temp(float current);
void set_imu_target_temp(int8_t *target);
#ifdef HAL_PWM_ALARM
bool toneAlarm_init();
void toneAlarm_set_tune(uint8_t tone);
void _toneAlarm_timer_tick();
static ToneAlarm& get_ToneAlarm() { return _toneAlarm; }
#endif
private:
#ifdef HAL_PWM_ALARM
static ToneAlarm _toneAlarm;
#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
};