mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.2 KiB
C++
114 lines
3.2 KiB
C++
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#include "Heat.h"
|
|
#include "Perf.h"
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
|
|
#include "ToneAlarm_Disco.h"
|
|
#endif
|
|
#include "ToneAlarm.h"
|
|
#include "Semaphores.h"
|
|
|
|
namespace Linux {
|
|
|
|
enum hw_type {
|
|
UTIL_HARDWARE_RPI1 = 0,
|
|
UTIL_HARDWARE_RPI2,
|
|
UTIL_HARDWARE_BEBOP,
|
|
UTIL_HARDWARE_BEBOP2,
|
|
UTIL_HARDWARE_DISCO,
|
|
UTIL_NUM_HARDWARES,
|
|
};
|
|
|
|
class Util : public AP_HAL::Util {
|
|
public:
|
|
static Util *from(AP_HAL::Util *util) {
|
|
return static_cast<Util*>(util);
|
|
}
|
|
|
|
void init(int argc, char *const *argv);
|
|
bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
|
|
|
|
/**
|
|
return commandline arguments, if available
|
|
*/
|
|
void commandline_arguments(uint8_t &argc, char * const *&argv);
|
|
|
|
bool toneAlarm_init();
|
|
void toneAlarm_set_tune(uint8_t tune);
|
|
|
|
void _toneAlarm_timer_tick();
|
|
|
|
/*
|
|
set system clock in UTC microseconds
|
|
*/
|
|
void set_system_clock(uint64_t time_utc_usec);
|
|
const char *get_custom_log_directory() const override final { return custom_log_directory; }
|
|
const char *get_custom_terrain_directory() const override final { return custom_terrain_directory; }
|
|
|
|
void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
|
|
void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }
|
|
|
|
bool is_chardev_node(const char *path);
|
|
void set_imu_temp(float current) override;
|
|
void set_imu_target_temp(int8_t *target) override;
|
|
|
|
uint32_t available_memory(void) override;
|
|
|
|
/*
|
|
* Write a string as specified by @fmt to the file in @path. Note this
|
|
* should not be used on hot path since it will open, write and close the
|
|
* file for each call.
|
|
*/
|
|
int write_file(const char *path, const char *fmt, ...) FMT_PRINTF(3, 4);
|
|
|
|
/*
|
|
* Read a string as specified by @fmt from the file in @path. Note this
|
|
* should not be used on hot path since it will open, read and close the
|
|
* file for each call.
|
|
*/
|
|
int read_file(const char *path, const char *fmt, ...) FMT_SCANF(3, 4);
|
|
|
|
perf_counter_t perf_alloc(enum perf_counter_type t, const char *name) override
|
|
{
|
|
return Perf::get_instance()->add(t, name);
|
|
}
|
|
|
|
void perf_begin(perf_counter_t perf) override
|
|
{
|
|
return Perf::get_instance()->begin(perf);
|
|
}
|
|
|
|
void perf_end(perf_counter_t perf) override
|
|
{
|
|
return Perf::get_instance()->end(perf);
|
|
}
|
|
|
|
void perf_count(perf_counter_t perf) override
|
|
{
|
|
return Perf::get_instance()->count(perf);
|
|
}
|
|
|
|
// create a new semaphore
|
|
AP_HAL::Semaphore *new_semaphore(void) override { return new Semaphore; }
|
|
|
|
int get_hw_arm32();
|
|
|
|
private:
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
|
|
static ToneAlarm_Disco _toneAlarm;
|
|
#else
|
|
static ToneAlarm _toneAlarm;
|
|
#endif
|
|
int saved_argc;
|
|
Heat *_heat;
|
|
char *const *saved_argv;
|
|
const char *custom_log_directory = nullptr;
|
|
const char *custom_terrain_directory = nullptr;
|
|
static const char *_hw_names[UTIL_NUM_HARDWARES];
|
|
};
|
|
|
|
}
|