2022-03-16 10:43:25 -07:00
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/*
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Copyright 2016 - 2019 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef UTILS_SYS_H_
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#define UTILS_SYS_H_
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#include <stdbool.h>
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#include <stdint.h>
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#include "datatypes.h"
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void utils_sys_lock_cnt(void);
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void utils_sys_unlock_cnt(void);
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uint8_t utils_second_motor_id(void);
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int utils_read_hall(bool is_second_motor, int samples);
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const char* utils_hw_type_to_string(HW_TYPE hw);
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int utils_check_min_stack_left(thread_t *th);
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int utils_stack_left_now(void);
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2022-09-18 13:47:50 -07:00
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bool utils_is_func_valid(void *addr);
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2022-03-16 10:43:25 -07:00
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// Return the age of a timestamp in seconds
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#define UTILS_AGE_S(x) ((float)chVTTimeElapsedSinceX(x) / (float)CH_CFG_ST_FREQUENCY)
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#endif /* UTILS_SYS_H_ */
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