mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.2 KiB
C++
81 lines
2.2 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_VRBRAIN_Namespace.h"
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#include "Semaphores.h"
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class VRBRAIN::NSHShellStream : public AP_HAL::BetterStream {
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public:
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size_t write(uint8_t);
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size_t write(const uint8_t *buffer, size_t size);
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int16_t read() override;
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uint32_t available() override;
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uint32_t txspace() override;
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private:
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int shell_stdin = -1;
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int shell_stdout = -1;
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pthread_t shell_thread_ctx;
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struct {
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int in = -1;
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int out = -1;
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} child;
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bool showed_memory_warning = false;
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bool showed_armed_warning = false;
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void start_shell(void);
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static void shell_thread(void *arg);
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};
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class VRBRAIN::VRBRAINUtil : public AP_HAL::Util {
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public:
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VRBRAINUtil(void);
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bool run_debug_shell(AP_HAL::BetterStream *stream);
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enum safety_state safety_switch_state(void);
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/*
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set system clock in UTC microseconds
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*/
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void set_system_clock(uint64_t time_utc_usec);
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/*
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get system identifier (STM32 serial number)
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*/
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bool get_system_id(char buf[40]);
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uint32_t available_memory(void) override;
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/*
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return a stream for access to nsh shell
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*/
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AP_HAL::BetterStream *get_shell_stream() { return &_shell_stream; }
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perf_counter_t perf_alloc(perf_counter_type t, const char *name) override;
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void perf_begin(perf_counter_t ) override;
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void perf_end(perf_counter_t) override;
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void perf_count(perf_counter_t) override;
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// create a new semaphore
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AP_HAL::Semaphore *new_semaphore(void) override { return new VRBRAIN::Semaphore; }
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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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// allocate and free DMA-capable memory if possible. Otherwise return normal memory
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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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private:
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int _safety_handle;
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VRBRAIN::NSHShellStream _shell_stream;
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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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int fd = -1;
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} _heater;
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};
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