mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_F4Light_Namespace.h"
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#include <AP_Param/AP_Param.h>
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#include <AP_Param_Helper/AP_Param_Helper.h>
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extern "C" {
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void get_board_serial(uint8_t *serialid);
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};
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class F4Light::Util : public AP_HAL::Util {
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public:
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Util(): gps_shift(0) {}
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bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; } // shell in FC? you must be kidding!
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void set_soft_armed(const bool b) {
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if(soft_armed != b){
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soft_armed = b;
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Scheduler::arming_state_changed(b);
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}
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}
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inline bool get_soft_armed() { return soft_armed; }
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uint32_t available_memory(void) override
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{
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return 128*1024;
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}
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bool get_system_id(char buf[40]) override {
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uint8_t serialid[12];
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memset(serialid, 0, sizeof(serialid));
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get_board_serial(serialid);
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const char *board_type = BOARD_OWN_NAME;
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// this format is chosen to match the human_readable_serial()
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// function in auth.c
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snprintf(buf, 40, "%s %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
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board_type,
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(unsigned)serialid[0], (unsigned)serialid[1], (unsigned)serialid[2], (unsigned)serialid[3],
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(unsigned)serialid[4], (unsigned)serialid[5], (unsigned)serialid[6], (unsigned)serialid[7],
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(unsigned)serialid[8], (unsigned)serialid[9], (unsigned)serialid[10],(unsigned)serialid[11]);
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return true;
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}
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// create a new semaphore
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Semaphore *new_semaphore(void) override { return new F4Light::Semaphore; }
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void *malloc_type(size_t size, Memory_Type mem_type) override;
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void free_type(void *ptr, size_t size, Memory_Type mem_type) override;
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private:
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uint64_t gps_shift; // shift from board time to real time
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};
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