ardupilot/libraries/AP_HAL_F4Light/Util.h

59 lines
1.7 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_F4Light_Namespace.h"
#include <AP_Param/AP_Param.h>
#include <AP_Param_Helper/AP_Param_Helper.h>
extern "C" {
void get_board_serial(uint8_t *serialid);
};
class F4Light::Util : public AP_HAL::Util {
public:
Util(): gps_shift(0) {}
bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; } // shell in FC? you must be kidding!
void set_soft_armed(const bool b) {
if(soft_armed != b){
soft_armed = b;
Scheduler::arming_state_changed(b);
}
}
inline bool get_soft_armed() { return soft_armed; }
uint32_t available_memory(void) override
{
return 128*1024;
}
bool get_system_id(char buf[40]) override {
uint8_t serialid[12];
memset(serialid, 0, sizeof(serialid));
get_board_serial(serialid);
const char *board_type = BOARD_OWN_NAME;
// this format is chosen to match the human_readable_serial()
// function in auth.c
snprintf(buf, 40, "%s %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
board_type,
(unsigned)serialid[0], (unsigned)serialid[1], (unsigned)serialid[2], (unsigned)serialid[3],
(unsigned)serialid[4], (unsigned)serialid[5], (unsigned)serialid[6], (unsigned)serialid[7],
(unsigned)serialid[8], (unsigned)serialid[9], (unsigned)serialid[10],(unsigned)serialid[11]);
return true;
}
void *malloc_type(size_t size, Memory_Type mem_type) override;
void free_type(void *ptr, size_t size, Memory_Type mem_type) override;
private:
uint64_t gps_shift; // shift from board time to real time
};