From 348506b3c4265e0cc15f6458c1d9504f72dfa3b5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Apr 2019 13:53:45 +1000
Subject: [PATCH] AP_BoardConfig: added BRD_OPTIONS

used to enable STM32 watchdog

# Conflicts:
#	libraries/AP_BoardConfig/AP_BoardConfig.cpp
#	libraries/AP_BoardConfig/AP_BoardConfig.h
---
 libraries/AP_BoardConfig/AP_BoardConfig.cpp | 15 +++++++++++++++
 libraries/AP_BoardConfig/AP_BoardConfig.h   | 11 +++++++++++
 2 files changed, 26 insertions(+)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 7be312e7f7..e2a393905e 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -97,6 +97,14 @@
 #define BOARD_PWM_COUNT_DEFAULT 8
 #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::instance;
 
@@ -233,6 +241,13 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     AP_GROUPINFO("SD_SLOWDOWN",  17,     AP_BoardConfig, _sdcard_slowdown,  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 8c0168704d..ab7761ab22 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -155,6 +155,15 @@ public:
     }
 #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 *instance;
     
@@ -225,4 +234,6 @@ private:
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     AP_Int8 _sdcard_slowdown;
 #endif
+
+    AP_Int32 _options;
 };