mirror of https://github.com/ArduPilot/ardupilot
102 lines
3.2 KiB
C++
102 lines
3.2 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 and David "Buzz" Bussenschutt
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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 "HAL_ESP32_Namespace.h"
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#include "AP_HAL_ESP32.h"
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class ESP32::Util : public AP_HAL::Util
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{
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public:
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static Util *from(AP_HAL::Util *util)
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{
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return static_cast<Util*>(util);
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}
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bool run_debug_shell(AP_HAL::BetterStream *stream) override
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{
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return false;
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}
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uint32_t available_memory() override;
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// Special Allocation Routines
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void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
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void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
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#ifdef ENABLE_HEAP
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// heap functions, note that a heap once alloc'd cannot be dealloc'd
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virtual void *allocate_heap_memory(size_t size) override;
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virtual void *heap_realloc(void *heap, void *ptr, size_t new_size) override;
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virtual void *std_realloc(void *ptr, size_t new_size) override;
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#endif // ENABLE_HEAP
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/*
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return state of safety switch, if applicable
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*/
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enum safety_state safety_switch_state(void) override;
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// get system ID as a string
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bool get_system_id(char buf[40]) override;
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bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
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#ifdef HAL_PWM_ALARM
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bool toneAlarm_init() override;
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void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
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#endif
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// return true if the reason for the reboot was a watchdog reset
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bool was_watchdog_reset() const override;
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#if CH_DBG_ENABLE_STACK_CHECK == TRUE
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// request information on running threads
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size_t thread_info(char *buf, size_t bufsize) override;
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#endif
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private:
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#ifdef HAL_PWM_ALARM
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struct ToneAlarmPwmGroup {
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pwmchannel_t chan;
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PWMConfig pwm_cfg;
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PWMDriver* pwm_drv;
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};
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static ToneAlarmPwmGroup _toneAlarm_pwm_group;
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#endif
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/*
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set HW RTC in UTC microseconds
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*/
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void set_hw_rtc(uint64_t time_utc_usec) override;
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/*
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get system clock in UTC microseconds
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*/
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uint64_t get_hw_rtc() const override;
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#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
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FlashBootloader flash_bootloader() override;
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#endif
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#ifdef ENABLE_HEAP
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// static memory_heap_t scripting_heap;
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#endif // ENABLE_HEAP
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// stm32F4 and F7 have 20 total RTC backup registers. We use the first one for boot type
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// flags, so 19 available for persistent data
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static_assert(sizeof(persistent_data) <= 19*4, "watchdog persistent data too large");
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};
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