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- #pragma once
- #include <AP_HAL/AP_HAL.h>
- #include "AP_HAL_ChibiOS_Namespace.h"
- #include "AP_HAL_ChibiOS.h"
- #include <ch.h>
- 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) override { return false; }
- uint32_t available_memory() override;
-
- void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
- void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
- #ifdef ENABLE_HEAP
-
- virtual void *allocate_heap_memory(size_t size) override;
- virtual void *heap_realloc(void *heap, void *ptr, size_t new_size) override;
- #endif
-
- enum safety_state safety_switch_state(void) override;
-
- void set_imu_temp(float current) override;
- void set_imu_target_temp(int8_t *target) override;
-
- bool get_system_id(char buf[40]) override;
- bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
- #ifdef HAL_PWM_ALARM
- bool toneAlarm_init() override;
- void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
- #endif
- #ifdef USE_POSIX
-
- bool fs_init(void) override;
- #endif
-
- bool was_watchdog_reset() const override;
- private:
- #ifdef HAL_PWM_ALARM
- struct ToneAlarmPwmGroup {
- pwmchannel_t chan;
- PWMConfig pwm_cfg;
- PWMDriver* pwm_drv;
- };
- static ToneAlarmPwmGroup _toneAlarm_pwm_group;
- #endif
- #if HAL_HAVE_IMU_HEATER
- struct {
- int8_t *target;
- float integrator;
- uint16_t count;
- float sum;
- uint32_t last_update_ms;
- float output;
- } heater;
- #endif
-
- void set_hw_rtc(uint64_t time_utc_usec) override;
-
- uint64_t get_hw_rtc() const override;
- #if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
- bool flash_bootloader() override;
- #endif
- #ifdef ENABLE_HEAP
- static memory_heap_t scripting_heap;
- #endif
-
-
- static_assert(sizeof(persistent_data) <= 19*4, "watchdog persistent data too large");
- };
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