mirror of
https://github.com/ArduPilot/ardupilot
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5c823debc0
when we flash the bootloader we can save key peristent parameters to the end of the bootloader sector, allowing them to persistent across changes of firmware type This allows for factory temperature calibration
122 lines
4.0 KiB
C++
122 lines
4.0 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_ChibiOS_Namespace.h"
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#include "AP_HAL_ChibiOS.h"
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#include <ch.h>
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class ExpandingString;
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#ifndef HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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// on F7 and H7 we will try to save key persistent parameters at the
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// end of the bootloader sector. This enables temperature calibration
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// data to be saved persistently in the factory
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#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS !defined(HAL_BOOTLOADER_BUILD) && (defined(STM32F7) || defined(STM32H7))
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#endif
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class ChibiOS::Util : public AP_HAL::Util {
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public:
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static Util *from(AP_HAL::Util *util) {
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return static_cast<Util*>(util);
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}
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bool run_debug_shell(AP_HAL::BetterStream *stream) override { return false; }
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uint32_t available_memory() override;
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// Special Allocation Routines
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void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
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void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
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#ifdef ENABLE_HEAP
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// heap functions, note that a heap once alloc'd cannot be dealloc'd
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virtual void *allocate_heap_memory(size_t size) override;
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virtual void *heap_realloc(void *heap, void *ptr, size_t new_size) override;
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virtual void *std_realloc(void *ptr, size_t new_size) override;
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#endif // ENABLE_HEAP
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/*
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return state of safety switch, if applicable
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*/
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enum safety_state safety_switch_state(void) override;
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// get system ID as a string
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bool get_system_id(char buf[40]) override;
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bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
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#ifdef HAL_PWM_ALARM
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bool toneAlarm_init() override;
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void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
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#endif
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// return true if the reason for the reboot was a watchdog reset
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bool was_watchdog_reset() const override;
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#if CH_DBG_ENABLE_STACK_CHECK == TRUE
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// request information on running threads
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void thread_info(ExpandingString &str) override;
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#endif
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#if CH_CFG_USE_SEMAPHORES
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// request information on dma contention
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void dma_info(ExpandingString &str) override;
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#endif
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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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// apply persistent parameters to current parameters
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void apply_persistent_params(void) const;
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#endif
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private:
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#ifdef HAL_PWM_ALARM
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struct ToneAlarmPwmGroup {
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pwmchannel_t chan;
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PWMConfig pwm_cfg;
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PWMDriver* pwm_drv;
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};
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static ToneAlarmPwmGroup _toneAlarm_pwm_group;
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#endif
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/*
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set HW RTC in UTC microseconds
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*/
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void set_hw_rtc(uint64_t time_utc_usec) override;
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/*
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get system clock in UTC microseconds
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*/
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uint64_t get_hw_rtc() const override;
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#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
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FlashBootloader flash_bootloader() override;
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#endif
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#ifdef ENABLE_HEAP
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static memory_heap_t scripting_heap;
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#endif // ENABLE_HEAP
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// stm32F4 and F7 have 20 total RTC backup registers. We use the first one for boot type
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// flags, so 19 available for persistent data
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static_assert(sizeof(persistent_data) <= 19*4, "watchdog persistent data too large");
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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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// save/load key persistent parameters in bootloader sector
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bool get_persistent_params(ExpandingString &str) const;
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bool load_persistent_params(ExpandingString &str) const;
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#endif
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};
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