/* * 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 "AP_HAL_ChibiOS.h" #include 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); // get system ID as a string bool get_system_id(char buf[40]) 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 // return true if the reason for the reboot was a watchdog reset bool was_watchdog_reset() const override; // return true if safety was off and this was a watchdog reset bool was_watchdog_safety_off() const override; // return true if vehicle was armed and this was a watchdog reset bool was_watchdog_armed() const override; 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; bool flash_bootloader() override; void set_soft_armed(const bool b) override; };