ardupilot/libraries/AP_HAL_ChibiOS/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/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_ChibiOS_Namespace.h"
#include "AP_HAL_ChibiOS.h"
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#include <ch.h>
class ExpandingString;
#ifndef HAL_ENABLE_SAVE_PERSISTENT_PARAMS
// on F7 and H7 we will try to save key persistent parameters at the
// end of the bootloader sector. This enables temperature calibration
// data to be saved persistently in the factory
#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS (defined(STM32F7) || defined(STM32H7))
#endif
#ifndef AP_BOOTLOADER_FLASHING_ENABLED
#define AP_BOOTLOADER_FLASHING_ENABLED 0
#endif
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;
// Special Allocation Routines
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;
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#ifdef ENABLE_HEAP
// heap functions, note that a heap once alloc'd cannot be dealloc'd
virtual void *allocate_heap_memory(size_t size) override;
virtual void *heap_realloc(void *heap, void *ptr, size_t old_size, size_t new_size) override;
virtual void *std_realloc(void *ptr, size_t new_size) override;
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#endif // ENABLE_HEAP
/*
return state of safety switch, if applicable
*/
enum safety_state safety_switch_state(void) override;
// get system ID as a string
bool get_system_id(char buf[50]) override;
bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
bool toneAlarm_init(uint8_t types) override;
#if HAL_USE_PWM == TRUE
bool toneAlarm_init(const PWMConfig& pwm_cfg, PWMDriver* pwm_drv, pwmchannel_t chan, bool active_high);
#endif
void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
static uint8_t _toneAlarm_types;
// return true if the reason for the reboot was a watchdog reset
bool was_watchdog_reset() const override;
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
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// request information on running threads
void thread_info(ExpandingString &str) override;
#endif
#if CH_CFG_USE_SEMAPHORES
// request information on dma contention
void dma_info(ExpandingString &str) override;
#endif
#if CH_CFG_USE_HEAP == TRUE
void mem_info(ExpandingString &str) override;
#endif
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
// apply persistent parameters to current parameters
void apply_persistent_params(void) const;
#endif
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
// save/load key persistent parameters in bootloader sector
bool load_persistent_params(ExpandingString &str) const override;
#endif
#if HAL_UART_STATS_ENABLED
// request information on uart I/O
virtual void uart_info(ExpandingString &str) override;
#endif
#if HAL_USE_PWM == TRUE
void timer_info(ExpandingString &str) override;
#endif
// returns random values
bool get_random_vals(uint8_t* data, size_t size) override;
// returns true random values
bool get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us) override;
// set armed state
void set_soft_armed(const bool b) override;
private:
#if HAL_USE_PWM == TRUE
struct ToneAlarmPwmGroup {
pwmchannel_t chan;
PWMConfig pwm_cfg;
PWMDriver* pwm_drv;
};
static ToneAlarmPwmGroup _toneAlarm_pwm_group;
#endif
/*
set HW RTC in UTC microseconds
*/
void set_hw_rtc(uint64_t time_utc_usec) override;
/*
get system clock in UTC microseconds
*/
uint64_t get_hw_rtc() const override;
#if AP_BOOTLOADER_FLASHING_ENABLED
FlashBootloader flash_bootloader() override;
#endif
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#ifdef ENABLE_HEAP
static memory_heap_t scripting_heap;
#endif // ENABLE_HEAP
// stm32F4 and F7 have 20 total RTC backup registers. We use the first one for boot type
// flags, so 19 available for persistent data
static_assert(sizeof(persistent_data) <= 19*4, "watchdog persistent data too large");
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
// save/load key persistent parameters in bootloader sector
bool get_persistent_params(ExpandingString &str) const;
#endif
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// log info on stack usage
void log_stack_info(void) override;
#if AP_CRASHDUMP_ENABLED
// get last crash dump
size_t last_crash_dump_size() const override;
void* last_crash_dump_ptr() const override;
#endif
#if HAL_ENABLE_DFU_BOOT
void boot_to_dfu() override;
#endif
};