mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
50 lines
1.5 KiB
C++
50 lines
1.5 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 "Semaphores.h"
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class ChibiOS::ChibiUtil : public AP_HAL::Util {
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public:
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bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
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AP_HAL::Semaphore *new_semaphore(void) override { return new ChibiOS::Semaphore; }
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uint32_t available_memory() 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);
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void set_imu_target_temp(int8_t *target);
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private:
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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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