mirror of https://github.com/ArduPilot/ardupilot
140 lines
3.5 KiB
C++
140 lines
3.5 KiB
C++
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include <stdio.h>
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#include <stdarg.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <apps/nsh.h>
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#include <fcntl.h>
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#include "UARTDriver.h"
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#include <uORB/uORB.h>
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#include <uORB/topics/safety.h>
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#include <systemlib/board_serial.h>
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extern const AP_HAL::HAL& hal;
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#include "Util.h"
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using namespace VRBRAIN;
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extern bool _vrbrain_thread_should_exit;
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/*
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constructor
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*/
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VRBRAINUtil::VRBRAINUtil(void)
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{
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_safety_handle = orb_subscribe(ORB_ID(safety));
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}
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/*
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start an instance of nsh
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*/
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bool VRBRAINUtil::run_debug_shell(AP_HAL::BetterStream *stream)
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{
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VRBRAINUARTDriver *uart = (VRBRAINUARTDriver *)stream;
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int fd;
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// trigger exit in the other threads. This stops use of the
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// various driver handles, and especially the px4io handle,
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// which otherwise would cause a crash if px4io is stopped in
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// the shell
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_vrbrain_thread_should_exit = true;
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// take control of stream fd
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fd = uart->_get_fd();
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// mark it blocking (nsh expects a blocking fd)
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unsigned v;
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v = fcntl(fd, F_GETFL, 0);
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fcntl(fd, F_SETFL, v & ~O_NONBLOCK);
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// setup the UART on stdin/stdout/stderr
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close(0);
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close(1);
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close(2);
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dup2(fd, 0);
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dup2(fd, 1);
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dup2(fd, 2);
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nsh_consolemain(0, NULL);
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// this shouldn't happen
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hal.console->printf("shell exited\n");
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return true;
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}
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/*
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return state of safety switch
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*/
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enum VRBRAINUtil::safety_state VRBRAINUtil::safety_switch_state(void)
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{
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if (_safety_handle == -1) {
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_safety_handle = orb_subscribe(ORB_ID(safety));
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}
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if (_safety_handle == -1) {
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return AP_HAL::Util::SAFETY_NONE;
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}
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struct safety_s safety;
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if (orb_copy(ORB_ID(safety), _safety_handle, &safety) != OK) {
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return AP_HAL::Util::SAFETY_NONE;
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}
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if (!safety.safety_switch_available) {
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return AP_HAL::Util::SAFETY_NONE;
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}
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if (safety.safety_off) {
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return AP_HAL::Util::SAFETY_ARMED;
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}
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return AP_HAL::Util::SAFETY_DISARMED;
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}
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void VRBRAINUtil::set_system_clock(uint64_t time_utc_usec)
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{
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timespec ts;
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ts.tv_sec = time_utc_usec/1.0e6;
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ts.tv_nsec = (time_utc_usec % 1000000) * 1000;
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clock_settime(CLOCK_REALTIME, &ts);
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}
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/*
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display VRBRAIN system identifer - board type and serial number
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*/
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bool VRBRAINUtil::get_system_id(char buf[40])
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{
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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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#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V4)
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const char *board_type = "VRBRAINv4";
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V5)
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const char *board_type = "VRBRAINv5";
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#elif defined(CONFIG_ARCH_BOARD_VRHERO_V1)
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const char *board_type = "VRHEROv1";
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#endif
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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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/**
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how much free memory do we have in bytes.
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*/
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uint16_t VRBRAINUtil::available_memory(void)
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{
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struct mallinfo mem;
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mem = mallinfo();
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if (mem.fordblks > 0xFFFF) {
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return 0xFFFF;
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}
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return mem.fordblks;
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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