From 288569e15695de189fd520e773e92efe4c583d54 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 11 Apr 2019 18:25:36 +1000
Subject: [PATCH] AP_BoardConfig: added BRD_OPTIONS

used to enable STM32 watchdog
---
 libraries/AP_BoardConfig/AP_BoardConfig.cpp | 15 +++++++++++++++
 libraries/AP_BoardConfig/AP_BoardConfig.h   | 15 +++++++++++++--
 2 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 0f2fa053b0..1c646b49c5 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -68,6 +68,14 @@
 #define BOARD_CONFIG_BOARD_VOLTAGE_MIN 4.3f
 #endif
 
+#ifndef HAL_BRD_OPTIONS_DEFAULT
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#define HAL_BRD_OPTIONS_DEFAULT BOARD_OPTION_WATCHDOG
+#else
+#define HAL_BRD_OPTIONS_DEFAULT 0
+#endif
+#endif
+
 extern const AP_HAL::HAL& hal;
 AP_BoardConfig *AP_BoardConfig::_singleton;
 
@@ -230,6 +238,13 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     AP_GROUPINFO("PWM_VOLT_SEL", 18, AP_BoardConfig, _pwm_volt_sel, 0),
 #endif
 
+    // @Param: OPTIONS
+    // @DisplayName: Board options
+    // @Description: Board specific option flags
+    // @Bitmask: 0:Enable hardware watchdog
+    // @User: Advanced
+    AP_GROUPINFO("OPTIONS", 19, AP_BoardConfig, _options, HAL_BRD_OPTIONS_DEFAULT),
+
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index ee528d8197..c41e74c493 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -157,13 +157,22 @@ public:
         return _singleton?_singleton->_sdcard_slowdown.get():0;
     }
 #endif
-    
+
+    enum board_options {
+        BOARD_OPTION_WATCHDOG = (1 << 0),
+    };
+
+    // return true if watchdog enabled
+    static bool watchdog_enabled(void) {
+        return _singleton?(_singleton->_options & BOARD_OPTION_WATCHDOG)!=0:false;
+    }
+
 private:
     static AP_BoardConfig *_singleton;
     
     AP_Int16 vehicleSerialNumber;
     AP_Int8 pwm_count;
-    
+
 #if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM) || HAL_HAVE_SAFETY_SWITCH
     struct {
         AP_Int8 safety_enable;
@@ -223,4 +232,6 @@ private:
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     AP_Int8 _sdcard_slowdown;
 #endif
+
+    AP_Int32 _options;
 };