mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
/*
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "AP_HAL_ChibiOS_Namespace.h"
|
|
#include "Semaphores.h"
|
|
#include "ToneAlarm.h"
|
|
|
|
// this checks an address is in main memory and 16 bit aligned
|
|
#define IS_DMA_SAFE(addr) ((uint32_t(addr) & 0xF0000001) == 0x20000000)
|
|
|
|
class ChibiOS::Util : public AP_HAL::Util {
|
|
public:
|
|
static Util *from(AP_HAL::Util *util) {
|
|
return static_cast<Util*>(util);
|
|
}
|
|
|
|
bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
|
|
AP_HAL::Semaphore *new_semaphore(void) override { return new ChibiOS::Semaphore; }
|
|
uint32_t available_memory() override;
|
|
|
|
// Special Allocation Routines
|
|
void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type);
|
|
void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type);
|
|
|
|
/*
|
|
return state of safety switch, if applicable
|
|
*/
|
|
enum safety_state safety_switch_state(void) override;
|
|
|
|
// IMU temperature control
|
|
void set_imu_temp(float current);
|
|
void set_imu_target_temp(int8_t *target);
|
|
|
|
#ifdef HAL_PWM_ALARM
|
|
bool toneAlarm_init();
|
|
void toneAlarm_set_tune(uint8_t tone);
|
|
void _toneAlarm_timer_tick();
|
|
|
|
static ToneAlarm& get_ToneAlarm() { return _toneAlarm; }
|
|
#endif
|
|
|
|
private:
|
|
#ifdef HAL_PWM_ALARM
|
|
static ToneAlarm _toneAlarm;
|
|
#endif
|
|
void* try_alloc_from_ccm_ram(size_t size);
|
|
uint32_t available_memory_in_ccm_ram(void);
|
|
|
|
#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
|
|
struct {
|
|
int8_t *target;
|
|
float integrator;
|
|
uint16_t count;
|
|
float sum;
|
|
uint32_t last_update_ms;
|
|
} heater;
|
|
#endif
|
|
};
|