mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.5 KiB
C++
89 lines
2.5 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_ChibiOS_Namespace.h"
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#include "AP_HAL_ChibiOS.h"
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class ChibiOS::Util : public AP_HAL::Util {
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public:
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static Util *from(AP_HAL::Util *util) {
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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 { return false; }
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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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/*
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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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// IMU temperature control
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void set_imu_temp(float current) override;
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void set_imu_target_temp(int8_t *target) 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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#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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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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void* try_alloc_from_ccm_ram(size_t size);
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uint32_t available_memory_in_ccm_ram(void);
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#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
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struct {
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int8_t *target;
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float integrator;
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uint16_t count;
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float sum;
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uint32_t last_update_ms;
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} heater;
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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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#ifndef HAL_NO_FLASH_SUPPORT
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bool flash_bootloader() override;
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#endif
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};
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