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96 lines
2.7 KiB
96 lines
2.7 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* Code by Andrew Tridgell and Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_HAL_ChibiOS_Namespace.h" |
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#include "AP_HAL_ChibiOS.h" |
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class ChibiOS::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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bool run_debug_shell(AP_HAL::BetterStream *stream) override { return false; } |
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uint32_t available_memory() override; |
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// Special Allocation Routines |
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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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/* |
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return state of safety switch, if applicable |
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*/ |
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enum safety_state safety_switch_state(void) override; |
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// IMU temperature control |
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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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// get system ID as a string |
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bool get_system_id(char buf[40]) override; |
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bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override; |
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#ifdef HAL_PWM_ALARM |
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bool toneAlarm_init() override; |
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void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override; |
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#endif |
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#ifdef USE_POSIX |
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/* |
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initialise (or re-initialise) filesystem storage |
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*/ |
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bool fs_init(void) override; |
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#endif |
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private: |
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#ifdef HAL_PWM_ALARM |
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struct ToneAlarmPwmGroup { |
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pwmchannel_t chan; |
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PWMConfig pwm_cfg; |
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PWMDriver* pwm_drv; |
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}; |
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static ToneAlarmPwmGroup _toneAlarm_pwm_group; |
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#endif |
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void* try_alloc_from_ccm_ram(size_t size); |
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uint32_t available_memory_in_ccm_ram(void); |
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#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER |
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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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} heater; |
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#endif |
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/* |
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set HW RTC 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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/* |
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get system clock in UTC microseconds |
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*/ |
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uint64_t get_hw_rtc() const override; |
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#ifndef HAL_NO_FLASH_SUPPORT |
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bool flash_bootloader() override; |
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#endif |
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};
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