ardupilot/libraries/AP_HAL/Util.h

202 lines
6.9 KiB
C++

#pragma once
#include <stdarg.h>
#include <AP_Common/AP_Common.h> // for FMT_PRINTF
#include "AP_HAL_Namespace.h"
class ExpandingString;
class AP_HAL::Util {
public:
int snprintf(char* str, size_t size,
const char *format, ...) FMT_PRINTF(4, 5);
int vsnprintf(char* str, size_t size,
const char *format, va_list ap);
virtual void set_soft_armed(const bool b);
bool get_soft_armed() const { return soft_armed; }
// return the time that the armed state last changed
uint32_t get_last_armed_change() const { return last_armed_change_ms; };
// return true if the reason for the reboot was a watchdog reset
virtual bool was_watchdog_reset() const { return false; }
// return true if safety was off and this was a watchdog reset
bool was_watchdog_safety_off() const {
return was_watchdog_reset() && persistent_data.safety_state == SAFETY_ARMED;
}
// return true if this is a watchdog reset boot and we were armed
bool was_watchdog_armed() const { return was_watchdog_reset() && persistent_data.armed; }
virtual const char* get_custom_log_directory() const { return nullptr; }
virtual const char* get_custom_terrain_directory() const { return nullptr; }
virtual const char *get_custom_storage_directory() const { return nullptr; }
// get path to custom defaults file for AP_Param
virtual const char* get_custom_defaults_file() const {
return HAL_PARAM_DEFAULTS_PATH;
}
// set command line parameters to the eeprom on start
virtual void set_cmdline_parameters() {};
// run a debug shall on the given stream if possible. This is used
// to support dropping into a debug shell to run firmware upgrade
// commands
virtual bool run_debug_shell(AP_HAL::BetterStream *stream) = 0;
enum safety_state : uint8_t {
SAFETY_NONE, SAFETY_DISARMED, SAFETY_ARMED
};
/*
persistent data structure. This data is restored on boot if
there has been a watchdog reset. The data in this structure
should only be read if was_watchdog_reset() is true
Note that on STM32 this structure is limited to 76 bytes
*/
struct PersistentData {
float roll_rad, pitch_rad, yaw_rad; // attitude
int32_t home_lat, home_lon, home_alt_cm; // home position
uint32_t fault_addr;
uint32_t fault_icsr;
uint32_t fault_lr;
uint32_t internal_errors;
uint16_t internal_error_count;
uint16_t internal_error_last_line;
uint32_t spi_count;
uint32_t i2c_count;
uint32_t i2c_isr_count;
uint16_t waypoint_num;
uint16_t last_mavlink_msgid;
uint16_t last_mavlink_cmd;
uint16_t semaphore_line;
uint16_t fault_line;
uint8_t fault_type;
uint8_t fault_thd_prio;
char thread_name4[4];
int8_t scheduler_task;
bool armed; // true if vehicle was armed
enum safety_state safety_state;
};
struct PersistentData persistent_data;
// last_persistent_data is only filled in if we've suffered a watchdog reset
struct PersistentData last_persistent_data;
/*
return state of safety switch, if applicable
*/
virtual enum safety_state safety_switch_state(void) { return SAFETY_NONE; }
/*
set HW RTC in UTC microseconds
*/
virtual void set_hw_rtc(uint64_t time_utc_usec);
/*
get system clock in UTC microseconds
*/
virtual uint64_t get_hw_rtc() const;
enum class FlashBootloader {
OK=0,
NO_CHANGE=1,
FAIL=2,
NOT_AVAILABLE=3,
};
// overwrite bootloader (probably with one from ROMFS)
virtual FlashBootloader flash_bootloader() { return FlashBootloader::NOT_AVAILABLE; }
/*
get system identifier (eg. serial number)
return false if a system identifier is not available
Buf should be filled with a printable string and must be null
terminated
*/
virtual bool get_system_id(char buf[40]) { return false; }
virtual bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) { return false; }
/**
return commandline arguments, if available
*/
virtual void commandline_arguments(uint8_t &argc, char * const *&argv) { argc = 0; }
virtual bool toneAlarm_init(uint8_t types) { return false;}
virtual void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) {}
/*
return a stream for access to a system shell, if available
*/
virtual AP_HAL::BetterStream *get_shell_stream() { return nullptr; }
/* Support for an imu heating system */
virtual void set_imu_temp(float current) {}
/* Support for an imu heating system */
virtual void set_imu_target_temp(int8_t *target) {}
// allocate and free DMA-capable memory if possible. Otherwise return normal memory
enum Memory_Type {
MEM_DMA_SAFE,
MEM_FAST
};
virtual void *malloc_type(size_t size, Memory_Type mem_type) { return calloc(1, size); }
virtual void free_type(void *ptr, size_t size, Memory_Type mem_type) { return free(ptr); }
#ifdef ENABLE_HEAP
// heap functions, note that a heap once alloc'd cannot be dealloc'd
virtual void *allocate_heap_memory(size_t size) = 0;
virtual void *heap_realloc(void *heap, void *ptr, size_t new_size) = 0;
#if USE_LIBC_REALLOC
virtual void *std_realloc(void *ptr, size_t new_size) { return realloc(ptr, new_size); }
#else
virtual void *std_realloc(void *ptr, size_t new_size) = 0;
#endif // USE_LIBC_REALLOC
#endif // ENABLE_HEAP
/**
how much free memory do we have in bytes. If unknown return 4096
*/
virtual uint32_t available_memory(void) { return 4096; }
// attempt to trap the processor, presumably to enter an attached debugger
virtual bool trap() const { return false; }
// request information on running threads
virtual void thread_info(ExpandingString &str) {}
// request information on dma contention
virtual void dma_info(ExpandingString &str) {}
// request information on memory allocation
virtual void mem_info(ExpandingString &str) {}
// load persistent parameters from bootloader sector
virtual bool load_persistent_params(ExpandingString &str) const { return false; }
// request information on uart I/O
virtual void uart_info(ExpandingString &str) {}
// generate Random values
virtual bool get_random_vals(uint8_t* data, size_t size) { return false; }
// generate Random values, will block until enough entropy is available
virtual bool get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us) { return false; }
// log info on stack usage
virtual void log_stack_info(void) {}
virtual void last_crash_dump(ExpandingString &str) const {}
protected:
// we start soft_armed false, so that actuators don't send any
// values until the vehicle code has fully started
bool soft_armed = false;
uint32_t last_armed_change_ms;
};