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49 lines
1.5 KiB
49 lines
1.5 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 "Semaphores.h" |
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class ChibiOS::ChibiUtil : public AP_HAL::Util { |
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public: |
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bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; } |
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AP_HAL::Semaphore *new_semaphore(void) override { return new ChibiOS::Semaphore; } |
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uint32_t available_memory() 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); |
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void set_imu_target_temp(int8_t *target); |
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private: |
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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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