mirror of https://github.com/ArduPilot/ardupilot
133 lines
4.2 KiB
C++
133 lines
4.2 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "Heat.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#include "ToneAlarm_Disco.h"
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#endif
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#include "ToneAlarm.h"
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#include "Semaphores.h"
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namespace Linux {
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enum hw_type {
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UTIL_HARDWARE_RPI1 = 0,
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UTIL_HARDWARE_RPI2,
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UTIL_HARDWARE_RPI4,
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UTIL_HARDWARE_BEBOP,
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UTIL_HARDWARE_BEBOP2,
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UTIL_HARDWARE_DISCO,
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UTIL_NUM_HARDWARES,
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};
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class Util : public AP_HAL::Util {
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public:
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static Util *from(AP_HAL::Util *util) {
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return static_cast<Util*>(util);
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}
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void init(int argc, char *const *argv);
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/**
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return commandline arguments, if available
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*/
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void commandline_arguments(uint8_t &argc, char * const *&argv) override;
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/*
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get/set system clock in UTC microseconds
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*/
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void set_hw_rtc(uint64_t time_utc_usec) override;
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uint64_t get_hw_rtc() const override;
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const char *get_custom_log_directory() const override final { return custom_log_directory; }
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const char *get_custom_terrain_directory() const override final { return custom_terrain_directory; }
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const char *get_custom_storage_directory() const override final { return custom_storage_directory; }
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void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
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void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }
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void set_custom_storage_directory(const char *_custom_storage_directory) {
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custom_storage_directory = _custom_storage_directory;
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}
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void set_custom_defaults_path(const char *_custom_defaults) {
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custom_defaults = _custom_defaults;
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}
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// get path to custom defaults file for AP_Param
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const char* get_custom_defaults_file() const override final {
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return custom_defaults;
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}
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/* Parse cpu set in the form 0; 0,2; or 0-2 */
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bool parse_cpu_set(const char *s, cpu_set_t *cpu_set) const;
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bool is_chardev_node(const char *path);
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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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uint32_t available_memory(void) override;
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bool get_system_id(char buf[50]) override;
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bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
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#if ENABLE_HEAP
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// heap functions, note that a heap once alloc'd cannot be dealloc'd
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virtual void *allocate_heap_memory(size_t size) override;
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virtual void *heap_realloc(void *h, void *ptr, size_t old_size, size_t new_size) override;
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#endif // ENABLE_HEAP
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/*
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* Write a string as specified by @fmt to the file in @path. Note this
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* should not be used on hot path since it will open, write and close the
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* file for each call.
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*/
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int write_file(const char *path, const char *fmt, ...) FMT_PRINTF(3, 4);
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/*
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* Read a string as specified by @fmt from the file in @path. Note this
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* should not be used on hot path since it will open, read and close the
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* file for each call.
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*/
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int read_file(const char *path, const char *fmt, ...) FMT_SCANF(3, 4);
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int get_hw_arm32();
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bool toneAlarm_init(uint8_t types) override { return _toneAlarm.init(); }
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void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override {
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_toneAlarm.set_buzzer_tone(frequency, volume, duration_ms);
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}
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// fills data with random values of requested size
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bool get_random_vals(uint8_t* data, size_t size) override;
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private:
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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static ToneAlarm_Disco _toneAlarm;
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#else
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static ToneAlarm _toneAlarm;
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#endif
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int saved_argc;
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Heat *_heat;
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char *const *saved_argv;
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const char *custom_log_directory = nullptr;
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const char *custom_terrain_directory = nullptr;
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const char *custom_storage_directory = nullptr;
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const char *custom_defaults = HAL_PARAM_DEFAULTS_PATH;
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static const char *_hw_names[UTIL_NUM_HARDWARES];
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#if ENABLE_HEAP
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struct heap_allocation_header {
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size_t allocation_size; // size of allocated block, not including this header
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};
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struct heap {
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size_t max_heap_size;
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size_t current_heap_usage;
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};
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#endif // ENABLE_HEAP
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};
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}
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