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ardupilot/libraries/AP_HAL_ChibiOS/Util.cpp
bugobliterator 9a21297cd1 AP_HAL_ChibiOS: add support for DShot on IOMCU 
set timer counter size to be a byte wide
use HAL_DSHOT_ENABLED instead of DISABLE_DSHOT
build iomcu-dshot from existing iomcu
correct defines for DMAR size on iomcu
allow iomcu dshot rate to be configured from FMU
correct DMA allocation for dshot on iomcu
allow debug builds on iofirmware
ensure dshot is enabled on iomcu dshot
support proper iomcu dshot output thread triggered by FMU
allow selective disablement of serial LEDs and passthrough
disable serial LEDs and passthrough on iomcu-dshot
propagate ESC telemetry to iomcu
dshot_send_groups() for iomcu
remove use of ICU on iomcu for dshot. only allocate possible DMA channels
rename serial passthrough and dshot defines
update dshot docs
resize dshot iomcu main stack to minimum
correct dshot prescaler usage and bit_width_mul calculation
use ChibiOS in tickless mode on iomcu-dshot so that virtual timers can be used
propagate dshot commands to iomcu
passthrough oneshot125 to iomcu
2023-08-15 06:53:48 +10:00

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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
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <hal.h>
#include "Util.h"
#include <ch.h>
#include "RCOutput.h"
#include "UARTDriver.h"
#include "hwdef/common/stm32_util.h"
#include "hwdef/common/watchdog.h"
#include "hwdef/common/flash.h"
#include <AP_ROMFS/AP_ROMFS.h>
#include <AP_Common/ExpandingString.h>
#include "sdcard.h"
#include "shared_dma.h"
#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM_ENABLED || HAL_CANMANAGER_ENABLED || HAL_USE_PWM == TRUE
#include <AP_Notify/AP_Notify.h>
#endif
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#endif
#ifndef HAL_BOOTLOADER_BUILD
#include <AP_Logger/AP_Logger.h>
#endif
#if HAL_WITH_IO_MCU
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
#if AP_SIGNED_FIRMWARE && !defined(HAL_BOOTLOADER_BUILD)
#include <AP_CheckFirmware/AP_CheckFirmware.h>
#endif
extern const AP_HAL::HAL& hal;
using namespace ChibiOS;
#if CH_CFG_USE_HEAP == TRUE
/**
how much free memory do we have in bytes.
*/
uint32_t Util::available_memory(void)
{
// from malloc.c in hwdef
return mem_available();
}
/*
Special Allocation Routines
*/
void* Util::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
{
if (mem_type == AP_HAL::Util::MEM_DMA_SAFE) {
return malloc_dma(size);
} else if (mem_type == AP_HAL::Util::MEM_FAST) {
return malloc_fastmem(size);
} else {
return calloc(1, size);
}
}
void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
{
if (ptr != NULL) {
free(ptr);
}
}
#ifdef ENABLE_HEAP
void *Util::allocate_heap_memory(size_t size)
{
memory_heap_t *heap = (memory_heap_t *)malloc(size + sizeof(memory_heap_t));
if (heap == nullptr) {
return nullptr;
}
chHeapObjectInit(heap, heap + 1U, size);
return heap;
}
/*
realloc implementation thanks to wolfssl, used by AP_Scripting
*/
void *Util::std_realloc(void *addr, size_t size)
{
if (size == 0) {
free(addr);
return nullptr;
}
if (addr == nullptr) {
return malloc(size);
}
void *new_mem = malloc(size);
if (new_mem != nullptr) {
memcpy(new_mem, addr, chHeapGetSize(addr) > size ? size : chHeapGetSize(addr));
free(addr);
}
return new_mem;
}
void *Util::heap_realloc(void *heap, void *ptr, size_t old_size, size_t new_size)
{
if (heap == nullptr) {
return nullptr;
}
if (new_size == 0) {
if (ptr != nullptr) {
chHeapFree(ptr);
}
return nullptr;
}
if (ptr == nullptr) {
return chHeapAlloc((memory_heap_t *)heap, new_size);
}
void *new_mem = chHeapAlloc((memory_heap_t *)heap, new_size);
if (new_mem != nullptr) {
const size_t old_size2 = chHeapGetSize(ptr);
#if defined(HAL_DEBUG_BUILD) && !defined(IOMCU_FW)
if (new_size != 0 && old_size2 != old_size) {
INTERNAL_ERROR(AP_InternalError::error_t::invalid_arg_or_result);
}
#endif
memcpy(new_mem, ptr, old_size2 > new_size ? new_size : old_size2);
chHeapFree(ptr);
}
return new_mem;
}
#endif // ENABLE_HEAP
#endif // CH_CFG_USE_HEAP
/*
get safety switch state
*/
Util::safety_state Util::safety_switch_state(void)
{
#if HAL_USE_PWM == TRUE
return ((RCOutput *)hal.rcout)->_safety_switch_state();
#else
return SAFETY_NONE;
#endif
}
#ifdef HAL_PWM_ALARM
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = HAL_PWM_ALARM;
#elif HAL_USE_PWM == TRUE
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = {};
#endif
uint8_t Util::_toneAlarm_types = 0;
bool Util::toneAlarm_init(uint8_t types)
{
#ifdef HAL_PWM_ALARM
_toneAlarm_pwm_group.pwm_cfg.period = 1000;
pwmStart(_toneAlarm_pwm_group.pwm_drv, &_toneAlarm_pwm_group.pwm_cfg);
#endif
_toneAlarm_types = types;
#if HAL_USE_PWM != TRUE && !HAL_DSHOT_ALARM_ENABLED && !HAL_CANMANAGER_ENABLED
// Nothing to do
return false;
#else
return true;
#endif
}
#if HAL_USE_PWM == TRUE
bool Util::toneAlarm_init(const PWMConfig& pwm_cfg, PWMDriver* pwm_drv, pwmchannel_t chan, bool active_high)
{
#ifdef HAL_PWM_ALARM
pwmStop(_toneAlarm_pwm_group.pwm_drv);
#endif
_toneAlarm_pwm_group.pwm_cfg = pwm_cfg;
_toneAlarm_pwm_group.pwm_drv = pwm_drv;
_toneAlarm_pwm_group.pwm_cfg.period = 1000;
_toneAlarm_pwm_group.pwm_cfg.channels[chan].mode = active_high ? PWM_OUTPUT_ACTIVE_HIGH : PWM_OUTPUT_ACTIVE_LOW;
_toneAlarm_pwm_group.chan = chan;
pwmStart(_toneAlarm_pwm_group.pwm_drv, &_toneAlarm_pwm_group.pwm_cfg);
return true;
}
#endif
void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
{
#if HAL_USE_PWM == TRUE
if (_toneAlarm_pwm_group.pwm_drv != nullptr) {
if (is_zero(frequency) || is_zero(volume)) {
pwmDisableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan);
} else {
pwmChangePeriod(_toneAlarm_pwm_group.pwm_drv,
roundf(_toneAlarm_pwm_group.pwm_cfg.frequency/frequency));
pwmEnableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan, roundf(volume*_toneAlarm_pwm_group.pwm_cfg.frequency/frequency)/2);
}
}
#endif // HAL_USE_PWM
#if HAL_DSHOT_ALARM_ENABLED
// don't play the motors while flying
if (!(_toneAlarm_types & AP_Notify::Notify_Buzz_DShot) || get_soft_armed() || hal.rcout->get_dshot_esc_type() != RCOutput::DSHOT_ESC_BLHELI) {
return;
}
if (is_zero(frequency)) { // silence
hal.rcout->send_dshot_command(RCOutput::DSHOT_RESET, RCOutput::ALL_CHANNELS, duration_ms);
} else if (frequency < 1047) { // C
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP1, RCOutput::ALL_CHANNELS, duration_ms);
} else if (frequency < 1175) { // D
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP2, RCOutput::ALL_CHANNELS, duration_ms);
} else if (frequency < 1319) { // E
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP3, RCOutput::ALL_CHANNELS, duration_ms);
} else if (frequency < 1397) { // F
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP4, RCOutput::ALL_CHANNELS, duration_ms);
} else { // G+
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP5, RCOutput::ALL_CHANNELS, duration_ms);
}
#endif // HAL_DSHOT_ALARM_ENABLED
}
/*
set HW RTC in UTC microseconds
*/
void Util::set_hw_rtc(uint64_t time_utc_usec)
{
stm32_set_utc_usec(time_utc_usec);
}
/*
get system clock in UTC microseconds
*/
uint64_t Util::get_hw_rtc() const
{
return stm32_get_utc_usec();
}
#include <GCS_MAVLink/GCS.h>
#if AP_BOOTLOADER_FLASHING_ENABLED
#if HAL_GCS_ENABLED
#define Debug(fmt, args ...) do { gcs().send_text(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
#endif // HAL_GCS_ENABLED
#ifndef Debug
#define Debug(fmt, args ...) do { hal.console->printf(fmt, ## args); } while (0)
#endif
#ifdef HAL_NO_FLASH_SUPPORT
#error "Bootloader-flashing enabled but no flashing support"
#endif
Util::FlashBootloader Util::flash_bootloader()
{
uint32_t fw_size;
const char *fw_name = "bootloader.bin";
EXPECT_DELAY_MS(11000);
const uint8_t *fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) {
Debug("failed to find %s\n", fw_name);
return FlashBootloader::NOT_AVAILABLE;
}
#if AP_SIGNED_FIRMWARE
if (!AP_CheckFirmware::check_signed_bootloader(fw, fw_size)) {
// don't allow flashing of an unsigned bootloader in a secure
// setup. This prevents the easy mistake of leaving an
// unsigned bootloader in ROMFS, which would give a trivail
// way to bypass signing
AP_ROMFS::free(fw);
return FlashBootloader::NOT_SIGNED;
}
#endif
// make sure size is multiple of 32
fw_size = (fw_size + 31U) & ~31U;
bool uptodate = true;
const uint32_t addr = hal.flash->getpageaddr(0);
if (memcmp(fw, (const void*)addr, fw_size) != 0) {
uptodate = false;
}
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
// see if we should store persistent parameters along with the
// bootloader. We only do this on boards using a single sector for
// the bootloader. The persistent parameters are stored as text at
// the end of the sector
const int32_t space_available = hal.flash->getpagesize(0) - int32_t(fw_size);
ExpandingString persistent_params {}, old_persistent_params {};
if (get_persistent_params(persistent_params) &&
space_available >= persistent_params.get_length() &&
(!load_persistent_params(old_persistent_params) ||
strcmp(persistent_params.get_string(),
old_persistent_params.get_string()) != 0)) {
// persistent parameters have changed, we will update
// bootloader to allow storage of the params
uptodate = false;
}
#endif
if (uptodate) {
Debug("Bootloader up-to-date\n");
AP_ROMFS::free(fw);
return FlashBootloader::NO_CHANGE;
}
Debug("Erasing\n");
uint32_t erased_size = 0;
uint8_t erase_page = 0;
while (erased_size < fw_size) {
uint32_t page_size = hal.flash->getpagesize(erase_page);
if (page_size == 0) {
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
hal.scheduler->expect_delay_ms(1000);
if (!hal.flash->erasepage(erase_page)) {
Debug("Erase %u failed\n", erase_page);
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
erased_size += page_size;
erase_page++;
}
Debug("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
const uint8_t max_attempts = 10;
hal.flash->keep_unlocked(true);
for (uint8_t i=0; i<max_attempts; i++) {
hal.scheduler->expect_delay_ms(1000);
bool ok = hal.flash->write(addr, fw, fw_size);
if (!ok) {
Debug("Flash failed! (attempt=%u/%u)\n",
i+1,
max_attempts);
hal.scheduler->delay(100);
continue;
}
Debug("Flash OK\n");
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
if (persistent_params.get_length()) {
const uint32_t ofs = hal.flash->getpagesize(0) - persistent_params.get_length();
hal.flash->write(addr+ofs, persistent_params.get_string(), persistent_params.get_length());
}
#endif
hal.flash->keep_unlocked(false);
AP_ROMFS::free(fw);
return FlashBootloader::OK;
}
hal.flash->keep_unlocked(false);
Debug("Flash failed after %u attempts\n", max_attempts);
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
#endif // AP_BOOTLOADER_FLASHING_ENABLED
/*
display system identifer - board type and serial number
*/
bool Util::get_system_id(char buf[50])
{
uint8_t serialid[12];
char board_name[24];
memcpy(serialid, (const void *)UDID_START, 12);
// avoid board names greater than 23 chars (sizeof includes null char, so allow 24 bytes total)
static_assert(sizeof(CHIBIOS_SHORT_BOARD_NAME) <= 24, "CHIBIOS_SHORT_BOARD_NAME must be 23 characters or less");
strncpy(board_name, CHIBIOS_SHORT_BOARD_NAME, 23);
board_name[23] = 0;
// this format is chosen to match the format used by HAL_PX4
snprintf(buf, 50, "%s %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
board_name,
(unsigned)serialid[3], (unsigned)serialid[2], (unsigned)serialid[1], (unsigned)serialid[0],
(unsigned)serialid[7], (unsigned)serialid[6], (unsigned)serialid[5], (unsigned)serialid[4],
(unsigned)serialid[11], (unsigned)serialid[10], (unsigned)serialid[9],(unsigned)serialid[8]);
buf[49] = 0;
return true;
}
bool Util::get_system_id_unformatted(uint8_t buf[], uint8_t &len)
{
len = MIN(12, len);
memcpy(buf, (const void *)UDID_START, len);
return true;
}
// return true if the reason for the reboot was a watchdog reset
bool Util::was_watchdog_reset() const
{
return stm32_was_watchdog_reset();
}
#if CH_DBG_ENABLE_STACK_CHECK == TRUE && !defined(HAL_BOOTLOADER_BUILD)
/*
display stack usage as text buffer for @SYS/threads.txt
*/
__RAMFUNC__ void Util::thread_info(ExpandingString &str)
{
#if HAL_ENABLE_THREAD_STATISTICS
uint64_t cumulative_cycles = currcore->kernel_stats.m_crit_isr.cumulative;
for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
if (tp->stats.best > 0) { // not run
cumulative_cycles += (uint64_t)tp->stats.cumulative;
}
}
#endif
// a header to allow for machine parsers to determine format
const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
#if HAL_ENABLE_THREAD_STATISTICS
str.printf("ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u LOAD=%4.1f%%\n",
&__main_stack_base__,
unsigned(stack_free(&__main_stack_base__)),
unsigned(isr_stack_size), 100.0f * float(currcore->kernel_stats.m_crit_isr.cumulative) / float(cumulative_cycles));
currcore->kernel_stats.m_crit_isr.cumulative = 0U;
#else
str.printf("ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u\n",
&__main_stack_base__,
unsigned(stack_free(&__main_stack_base__)),
unsigned(isr_stack_size));
#endif
for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
uint32_t total_stack;
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
total_stack = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
total_stack = uint32_t(tp) - uint32_t(tp->wabase);
}
#if HAL_ENABLE_THREAD_STATISTICS
time_measurement_t stats = tp->stats;
if (tp->stats.best > 0) { // not run
str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u LOAD=%4.1f%%%s\n",
tp->name, unsigned(tp->realprio), tp->wabase,
unsigned(stack_free(tp->wabase)), unsigned(total_stack),
100.0f * float(stats.cumulative) / float(cumulative_cycles),
// more than a loop slice is bad for everyone else, warn on
// more than a 200Hz slice so that only the worst offenders are identified
// also don't do this for the main or idle threads
tp != chThdGetSelfX() && unsigned(RTC2US(STM32_HSECLK, stats.worst)) > 5000
&& tp != get_main_thread() && tp->realprio != 1 ? "*" : "");
} else {
str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u\n",
tp->name, unsigned(tp->realprio), tp->wabase, unsigned(stack_free(tp->wabase)), unsigned(total_stack));
}
// Giovanni thinks this is dangerous, but we can't get useable data without it
if (tp != chThdGetSelfX()) {
chTMObjectInit(&tp->stats); // reset counters to zero
} else {
tp->stats.cumulative = 0U;
}
#else
str.printf("%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
tp->name, unsigned(tp->realprio), tp->wabase,
unsigned(stack_free(tp->wabase)), unsigned(total_stack));
#endif
}
}
#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
#if CH_CFG_USE_SEMAPHORES
// request information on dma contention
void Util::dma_info(ExpandingString &str)
{
#if AP_HAL_SHARED_DMA_ENABLED
ChibiOS::Shared_DMA::dma_info(str);
#endif
}
#endif
#if CH_CFG_USE_HEAP == TRUE
/*
return information on heap usage
*/
void Util::mem_info(ExpandingString &str)
{
memory_heap_t *heaps;
const struct memory_region *regions;
uint8_t num_heaps = malloc_get_heaps(&heaps, &regions);
str.printf("MemInfoV1\n");
for (uint8_t i=0; i<num_heaps; i++) {
size_t totalp=0, largest=0;
// get memory available on main heap
chHeapStatus(i == 0 ? nullptr : &heaps[i], &totalp, &largest);
str.printf("START=0x%08x LEN=%3uk FREE=%6u LRG=%6u TYPE=%1u\n",
unsigned(regions[i].address), unsigned(regions[i].size/1024),
unsigned(totalp), unsigned(largest), unsigned(regions[i].flags));
}
}
#endif
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
static const char *persistent_header = "{{PERSISTENT_START_V1}}\n";
/*
create a set of persistent parameters in string form
*/
bool Util::get_persistent_params(ExpandingString &str) const
{
str.printf("%s", persistent_header);
#if HAL_INS_TEMPERATURE_CAL_ENABLE
const auto *ins = AP_InertialSensor::get_singleton();
if (ins) {
ins->get_persistent_params(str);
}
#endif
#if AP_OPENDRONEID_ENABLED
const auto *odid = AP_OpenDroneID::get_singleton();
if (odid) {
odid->get_persistent_params(str);
}
#endif
if (str.has_failed_allocation() || str.get_length() <= strlen(persistent_header)) {
// no data
return false;
}
// ensure that the length is a multiple of 32 to meet flash alignment requirements
while (!str.has_failed_allocation() && str.get_length() % 32 != 0) {
str.append(" ", 1);
}
return !str.has_failed_allocation();
}
/*
load a set of persistent parameters in string form from the bootloader sector
*/
bool Util::load_persistent_params(ExpandingString &str) const
{
const uint32_t addr = hal.flash->getpageaddr(0);
const uint32_t size = hal.flash->getpagesize(0);
const char *s = (const char *)memmem((void*)addr, size,
persistent_header,
strlen(persistent_header));
if (s) {
str.append(s, (addr+size) - uint32_t(s));
return !str.has_failed_allocation();
}
return false;
}
/*
get a persistent variable by name,
len is the length of the value buffer, and is updated with the length of the value
*/
bool Util::get_persistent_param_by_name(const char *name, char* value, size_t& len) const
{
ExpandingString persistent_params {};
if (!load_persistent_params(persistent_params)) {
return false;
}
char *s = persistent_params.get_writeable_string();
if (s == nullptr) {
return false;
}
char *saveptr;
s += strlen(persistent_header);
for (char *p = strtok_r(s, "\n", &saveptr);
p; p = strtok_r(nullptr, "\n", &saveptr)) {
char *eq = strchr(p, int('='));
if (eq) {
*eq = 0;
if (strcmp(p, name) == 0) {
// also get the length of the value
strncpy(value, eq+1, len);
len = strlen(value);
return true;
}
}
}
return false;
}
/*
apply persistent parameters from the bootloader sector to AP_Param
*/
void Util::apply_persistent_params(void) const
{
ExpandingString str {};
if (!load_persistent_params(str)) {
return;
}
char *s = str.get_writeable_string();
char *saveptr;
s += strlen(persistent_header);
uint32_t count = 0;
uint32_t errors = 0;
for (char *p = strtok_r(s, "\n", &saveptr);
p; p = strtok_r(nullptr, "\n", &saveptr)) {
char *eq = strchr(p, int('='));
if (eq) {
*eq = 0;
const char *pname = p;
const float value = strtof(eq+1, NULL);
if (AP_Param::set_default_by_name(pname, value)) {
count++;
/*
we now have a special case for INS_ACC*_ID. To
support factory accelerometer calibration we need to
do a save() on the ID parameters if they are not
already in storage. This is needed as
AP_InertialSensor determines if a calibration has
been done by whether the IDs are configured in
storage
*/
if (strncmp(pname, "INS_ACC", 7) == 0 &&
strcmp(pname+strlen(pname)-3, "_ID") == 0) {
enum ap_var_type ptype;
AP_Int32 *ap = (AP_Int32 *)AP_Param::find(pname, &ptype);
if (ap && ptype == AP_PARAM_INT32) {
if (ap->get() != int32_t(value)) {
// the accelerometer ID has changed since
// this persistent data was saved. Stop
// loading persistent parameters as it is
// no longer valid for this board. This
// can happen if the user has set
// parameters to prevent loading of
// specific IMU drivers, or if they have
// setup an external IMU
errors++;
break;
}
if (!ap->configured()) {
ap->save();
}
}
}
}
}
}
if (count) {
AP_Param::invalidate_count();
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Loaded %u persistent parameters (%u errors)",
unsigned(count), unsigned(errors));
}
}
#endif // HAL_ENABLE_SAVE_PERSISTENT_PARAMS
#if HAL_WITH_IO_MCU
extern ChibiOS::UARTDriver uart_io;
#endif
#if HAL_UART_STATS_ENABLED
// request information on uart I/O
void Util::uart_info(ExpandingString &str)
{
// a header to allow for machine parsers to determine format
str.printf("UARTV1\n");
for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
auto *uart = hal.serial(i);
if (uart) {
str.printf("SERIAL%u ", i);
uart->uart_info(str);
}
}
#if HAL_WITH_IO_MCU
str.printf("IOMCU ");
uart_io.uart_info(str);
#endif
}
#endif
// request information on uart I/O
#if HAL_USE_PWM == TRUE
void Util::timer_info(ExpandingString &str)
{
hal.rcout->timer_info(str);
}
#endif
/**
* This method will generate random values with set size. It will fall back to AP_Math's get_random16()
* if True RNG fails or enough entropy is not present.
*/
bool Util::get_random_vals(uint8_t* data, size_t size)
{
#if HAL_USE_HW_RNG && defined(RNG)
size_t true_random_vals = stm32_rand_generate_nonblocking(data, size);
if (true_random_vals != size) {
if (!(true_random_vals % 2)) {
data[true_random_vals] = (uint8_t)(get_random16() & 0xFF);
true_random_vals++;
}
while(true_random_vals < size) {
uint16_t val = get_random16();
memcpy(&data[true_random_vals], &val, sizeof(uint16_t));
true_random_vals+=sizeof(uint16_t);
}
}
#else
size_t true_random_vals = 0;
while(true_random_vals < size) {
uint16_t val = get_random16();
memcpy(&data[true_random_vals], &val, sizeof(uint16_t));
true_random_vals+=sizeof(uint16_t);
}
if (size % 2) {
data[size-1] = get_random16() & 0xFF;
}
#endif
return true;
}
/**
* This method will generate true random values with set size. This method will block for set amount
* of true random numbers to be generated, the timeout specifies the maximum amount of time to wait
* for the call to finish.
*/
bool Util::get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us)
{
#if HAL_USE_HW_RNG && defined(RNG)
if (stm32_rand_generate_blocking(data, size, timeout_us)) {
return true;
} else {
return false;
}
#else
return false;
#endif
}
/*
log info on stack usage. Called at 1Hz by logging thread, logs next
thread on each call
*/
void Util::log_stack_info(void)
{
#if !defined(HAL_BOOTLOADER_BUILD) && HAL_LOGGING_ENABLED
static thread_t *last_tp;
static uint8_t thread_id;
thread_t *tp = last_tp;
if (tp == nullptr) {
tp = chRegFirstThread();
thread_id = 0;
} else {
tp = chRegNextThread(last_tp);
thread_id++;
}
struct log_STAK pkt = {
LOG_PACKET_HEADER_INIT(LOG_STAK_MSG),
time_us : AP_HAL::micros64(),
};
if (tp == nullptr) {
pkt.thread_id = 255;
pkt.priority = 255;
const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
pkt.stack_total = isr_stack_size;
pkt.stack_free = stack_free(&__main_stack_base__);
strncpy_noterm(pkt.name, "ISR", sizeof(pkt.name));
} else {
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
pkt.stack_total = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
pkt.stack_total = uint32_t(tp) - uint32_t(tp->wabase);
}
pkt.thread_id = thread_id;
pkt.priority = tp->realprio,
pkt.stack_free = stack_free(tp->wabase);
strncpy_noterm(pkt.name, tp->name, sizeof(pkt.name));
}
AP::logger().WriteBlock(&pkt, sizeof(pkt));
last_tp = tp;
#endif
}
#if AP_CRASHDUMP_ENABLED
size_t Util::last_crash_dump_size() const
{
// get dump size
uint32_t size = stm32_crash_dump_size();
char* dump_start = (char*)stm32_crash_dump_addr();
if (!(dump_start[0] == 0x63 && dump_start[1] == 0x43)) {
// there's no valid Crash Dump
return 0;
}
if (size == 0xFFFFFFFF) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Crash Dump incomplete, dumping what we got!");
size = stm32_crash_dump_max_size();
}
return size;
}
void* Util::last_crash_dump_ptr() const
{
if (last_crash_dump_size() == 0) {
return nullptr;
}
return (void*)stm32_crash_dump_addr();
}
#endif // AP_CRASHDUMP_ENABLED
#if HAL_ENABLE_DFU_BOOT && !defined(HAL_BOOTLOADER_BUILD)
void Util::boot_to_dfu()
{
hal.util->persistent_data.boot_to_dfu = true;
stm32_watchdog_save((uint32_t *)&hal.util->persistent_data, (sizeof(hal.util->persistent_data)+3)/4);
hal.scheduler->reboot(false);
}
#endif
// set armed state
void Util::set_soft_armed(const bool b)
{
AP_HAL::Util::set_soft_armed(b);
#ifdef HAL_GPIO_PIN_nARMED
palWriteLine(HAL_GPIO_PIN_nARMED, !b);
#endif
}
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