ardupilot/libraries/AP_HAL_Linux/Util.cpp

205 lines
4.1 KiB
C++

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <stdio.h>
#include <stdarg.h>
#include <sys/stat.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <time.h>
#include <fcntl.h>
extern const AP_HAL::HAL& hal;
#include "Util.h"
#include "Heat_Pwm.h"
using namespace Linux;
static int state;
ToneAlarm Util::_toneAlarm;
void Util::init(int argc, char * const *argv) {
saved_argc = argc;
saved_argv = argv;
#ifdef HAL_UTILS_HEAT
#if HAL_UTILS_HEAT == HAL_LINUX_HEAT_PWM
_heat = new Linux::HeatPwm(HAL_LINUX_HEAT_PWM_NUM,
HAL_LINUX_HEAT_KP,
HAL_LINUX_HEAT_KI,
HAL_LINUX_HEAT_PERIOD_NS,
HAL_LINUX_HEAT_TARGET_TEMP);
#else
#error Unrecognized Heat
#endif // #if
#else
_heat = new Linux::Heat();
#endif // #ifdef
}
void Util::set_imu_temp(float current)
{
_heat->set_imu_temp(current);
}
/**
return commandline arguments, if available
*/
void Util::commandline_arguments(uint8_t &argc, char * const *&argv)
{
argc = saved_argc;
argv = saved_argv;
}
bool Util::toneAlarm_init()
{
return _toneAlarm.init();
}
void Util::toneAlarm_set_tune(uint8_t tone)
{
_toneAlarm.set_tune(tone);
}
void Util::_toneAlarm_timer_tick(){
if(state == 0){
state = state + _toneAlarm.init_tune();
}else if(state == 1){
state = state + _toneAlarm.set_note();
}
if(state == 2){
state = state + _toneAlarm.play();
}else if(state == 3){
state = 1;
}
if(_toneAlarm.is_tune_comp()){
state = 0;
}
}
void Util::set_system_clock(uint64_t time_utc_usec)
{
#if CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
timespec ts;
ts.tv_sec = time_utc_usec/1.0e6;
ts.tv_nsec = (time_utc_usec % 1000000) * 1000;
clock_settime(CLOCK_REALTIME, &ts);
#endif
}
bool Util::is_chardev_node(const char *path)
{
struct stat st;
if (!path || lstat(path, &st) < 0)
return false;
return S_ISCHR(st.st_mode);
}
/*
always report 256k of free memory. Using mallinfo() isn't useful as
it only reported the current heap, which auto-expands. What we're
trying to do here is ensure that code which checks for free memory
before allocating objects does allow the allocation
*/
uint32_t Util::available_memory(void)
{
return 256*1024;
}
int Util::write_file(const char *path, const char *fmt, ...)
{
errno = 0;
int fd = ::open(path, O_WRONLY | O_CLOEXEC);
if (fd == -1) {
return -errno;
}
va_list args;
va_start(args, fmt);
int ret = ::vdprintf(fd, fmt, args);
int errno_bkp = errno;
::close(fd);
va_end(args);
if (ret < 1) {
return -errno_bkp;
}
return ret;
}
int Util::read_file(const char *path, const char *fmt, ...)
{
errno = 0;
FILE *file = ::fopen(path, "re");
if (!file)
return -errno;
va_list args;
va_start(args, fmt);
int ret = ::vfscanf(file, fmt, args);
int errno_bkp = errno;
::fclose(file);
va_end(args);
if (ret < 1)
return -errno_bkp;
return ret;
}
const char *Linux::Util::_hw_names[UTIL_NUM_HARDWARES] = {
[UTIL_HARDWARE_RPI1] = "BCM2708",
[UTIL_HARDWARE_RPI2] = "BCM2709",
[UTIL_HARDWARE_BEBOP] = "Mykonos3 board",
[UTIL_HARDWARE_BEBOP2] = "Milos board",
};
#define MAX_SIZE_LINE 50
int Util::get_hw_arm32()
{
int ret = -ENOENT;
char buffer[MAX_SIZE_LINE];
const char* hardware_description_entry = "Hardware";
char* flag;
FILE* f;
f = fopen("/proc/cpuinfo", "r");
if (f == NULL) {
ret = -errno;
goto end;
}
while (fgets(buffer, MAX_SIZE_LINE, f) != NULL) {
flag = strstr(buffer, hardware_description_entry);
if (flag != NULL) {
for (uint8_t i = 0; i < UTIL_NUM_HARDWARES; i++) {
if (strstr(buffer, _hw_names[i]) != 0) {
ret = i;
goto close_end;
}
}
}
}
close_end:
fclose(f);
end:
return ret;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX