ardupilot/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "hal.h"
#ifdef __cplusplus
extern "C" {
#endif
void stm32_timer_set_input_filter(stm32_tim_t *tim, uint8_t channel, uint8_t filter_mode);
void stm32_timer_set_channel_input(stm32_tim_t *tim, uint8_t channel, uint8_t input_source);
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
// print stack usage
void show_stack_usage(void);
#endif
// allocation functions in malloc.c
size_t mem_available(void);
void *malloc_dma(size_t size);
void *malloc_axi_sram(size_t size);
void *malloc_fastmem(size_t size);
thread_t *thread_create_alloc(size_t size, const char *name, tprio_t prio, tfunc_t pf, void *arg);
struct memory_region {
void *address;
uint32_t size;
uint32_t flags;
};
#if CH_CFG_USE_HEAP == TRUE
uint8_t malloc_get_heaps(memory_heap_t **_heaps, const struct memory_region **regions);
#endif
// flush all dcache
void memory_flush_all(void);
// UTC system clock handling
void stm32_set_utc_usec(uint64_t time_utc_usec);
uint64_t stm32_get_utc_usec(void);
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// hook for FAT timestamps
uint32_t get_fattime(void);
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// one-time programmable area
#if defined(FLASH_OTP_BASE)
#define OTP_BASE FLASH_OTP_BASE
#define OTP_SIZE (FLASH_OTP_END-FLASH_OTP_BASE)
#elif defined(STM32F4)
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#define OTP_BASE 0x1fff7800
#define OTP_SIZE 512
#elif defined(STM32F7)
#define OTP_BASE 0x1ff0f000
#define OTP_SIZE 1024
#endif
enum rtc_boot_magic {
RTC_BOOT_OFF = 0,
RTC_BOOT_HOLD = 0xb0070001,
RTC_BOOT_FAST = 0xb0070002,
RTC_BOOT_CANBL = 0xb0080000, // ORd with 8 bit local node ID
RTC_BOOT_FWOK = 0xb0093a26 // indicates FW ran for 30s
};
// see if RTC registers is setup for a fast reboot
enum rtc_boot_magic check_fast_reboot(void);
// set RTC register for a fast reboot
void set_fast_reboot(enum rtc_boot_magic v);
// enable peripheral power if needed
void peripheral_power_enable(void);
// initialise allocation subsystem
void malloc_init(void);
/*
read mode of a pin. This allows a pin config to be read, changed and
then written back
*/
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F4) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
iomode_t palReadLineMode(ioline_t line);
enum PalPushPull {
PAL_PUSHPULL_NOPULL=0,
PAL_PUSHPULL_PULLUP=1,
PAL_PUSHPULL_PULLDOWN=2
};
void palLineSetPushPull(ioline_t line, enum PalPushPull pp);
#endif
// set n RTC backup registers starting at given idx
void set_rtc_backup(uint8_t idx, const uint32_t *v, uint8_t n);
// get RTC backup registers starting at given idx
void get_rtc_backup(uint8_t idx, uint32_t *v, uint8_t n);
void stm32_cacheBufferInvalidate(const void *p, size_t size);
void stm32_cacheBufferFlush(const void *p, size_t size);
#ifdef HAL_GPIO_PIN_FAULT
// printf for fault handlers
void fault_printf(const char *fmt, ...);
#endif
// halt hook for printing panic message
void system_halt_hook(void);
// hook for stack overflow
void stack_overflow(thread_t *tp);
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/*
check how much stack is free given a stack base. Assumes the fill
byte is 0x55
*/
uint32_t stack_free(void *stack_base);
// returns true is address in memory region
bool is_address_in_memory(void *addr);
// return the start of memory region that contains the address
void* get_addr_mem_region_start_addr(void *addr);
// return the end of memory region that contains the address
void* get_addr_mem_region_end_addr(void *addr);
// return the size of crash dump
uint32_t stm32_crash_dump_size(void);
uint32_t stm32_crash_dump_addr(void);
uint32_t stm32_crash_dump_max_size(void);
typedef enum {
Reset = 1,
NMI = 2,
HardFault = 3,
MemManage = 4,
BusFault = 5,
UsageFault = 6,
} FaultType;
// Record information about a fault
void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr);
/**
* Generates a block of random values, returns total values generated
* if nonblocking, for blocking returns if successful or not
*/
#if HAL_USE_HW_RNG && defined(RNG)
bool stm32_rand_generate_blocking(unsigned char* output, unsigned int sz, uint32_t timeout_us);
unsigned int stm32_rand_generate_nonblocking(unsigned char* output, unsigned int sz);
#endif
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// allow stack view code to show free ISR stack
extern uint32_t __main_stack_base__;
extern uint32_t __main_stack_end__;
extern uint32_t __main_thread_stack_base__;
extern uint32_t __main_thread_stack_end__;
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#ifdef __cplusplus
}
#endif