mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.2 KiB
C++
40 lines
1.2 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL_Empty/AP_HAL_Empty_Namespace.h>
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#include <AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h>
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#include "hwdef/common/halconf.h"
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#ifdef USE_POSIX
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#include <ff.h>
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#endif
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#include <stdio.h>
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#include "ch.h"
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class HAL_ChibiOS : public AP_HAL::HAL {
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public:
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HAL_ChibiOS();
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void run(int argc, char* const* argv, Callbacks* callbacks) const override;
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};
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void hal_chibios_set_priority(uint8_t priority);
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#if HAL_NUM_CAN_IFACES
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typedef ChibiOS::CANIface HAL_CANIface;
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#endif
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thread_t* get_main_thread(void);
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