mirror of https://github.com/ArduPilot/ardupilot
522 lines
16 KiB
C++
522 lines
16 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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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include "Util.h"
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#include <ch.h>
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#include "RCOutput.h"
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#include "UARTDriver.h"
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#include "hwdef/common/stm32_util.h"
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#include "hwdef/common/watchdog.h"
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#include "hwdef/common/flash.h"
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#include <AP_ROMFS/AP_ROMFS.h>
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#include <AP_Common/ExpandingString.h>
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#include "sdcard.h"
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#include "shared_dma.h"
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#include <AP_Common/ExpandingString.h>
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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#endif
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#if HAL_WITH_IO_MCU
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_IOMCU/AP_IOMCU.h>
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extern AP_IOMCU iomcu;
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#endif
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extern const AP_HAL::HAL& hal;
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using namespace ChibiOS;
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#if CH_CFG_USE_HEAP == TRUE
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/**
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how much free memory do we have in bytes.
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*/
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uint32_t Util::available_memory(void)
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{
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// from malloc.c in hwdef
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return mem_available();
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}
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/*
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Special Allocation Routines
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*/
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void* Util::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
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{
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if (mem_type == AP_HAL::Util::MEM_DMA_SAFE) {
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return malloc_dma(size);
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} else if (mem_type == AP_HAL::Util::MEM_FAST) {
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return malloc_fastmem(size);
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} else {
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return calloc(1, size);
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}
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}
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void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
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{
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if (ptr != NULL) {
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free(ptr);
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}
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}
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#ifdef ENABLE_HEAP
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void *Util::allocate_heap_memory(size_t size)
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{
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void *buf = malloc(size);
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if (buf == nullptr) {
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return nullptr;
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}
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memory_heap_t *heap = (memory_heap_t *)malloc(sizeof(memory_heap_t));
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if (heap != nullptr) {
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chHeapObjectInit(heap, buf, size);
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}
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return heap;
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}
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/*
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realloc implementation thanks to wolfssl, used by AP_Scripting
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*/
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void *Util::std_realloc(void *addr, size_t size)
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{
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if (size == 0) {
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free(addr);
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return nullptr;
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}
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if (addr == nullptr) {
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return malloc(size);
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}
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void *new_mem = malloc(size);
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if (new_mem != nullptr) {
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memcpy(new_mem, addr, chHeapGetSize(addr) > size ? size : chHeapGetSize(addr));
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free(addr);
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}
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return new_mem;
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}
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void *Util::heap_realloc(void *heap, void *ptr, size_t new_size)
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{
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if (heap == nullptr) {
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return nullptr;
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}
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if (new_size == 0) {
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if (ptr != nullptr) {
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chHeapFree(ptr);
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}
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return nullptr;
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}
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if (ptr == nullptr) {
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return chHeapAlloc((memory_heap_t *)heap, new_size);
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}
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void *new_mem = chHeapAlloc((memory_heap_t *)heap, new_size);
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if (new_mem != nullptr) {
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memcpy(new_mem, ptr, chHeapGetSize(ptr) > new_size ? new_size : chHeapGetSize(ptr));
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chHeapFree(ptr);
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}
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return new_mem;
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}
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#endif // ENABLE_HEAP
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#endif // CH_CFG_USE_HEAP
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/*
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get safety switch state
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*/
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Util::safety_state Util::safety_switch_state(void)
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{
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#if HAL_USE_PWM == TRUE
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return ((RCOutput *)hal.rcout)->_safety_switch_state();
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#else
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return SAFETY_NONE;
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#endif
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}
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#ifdef HAL_PWM_ALARM
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struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = HAL_PWM_ALARM;
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bool Util::toneAlarm_init()
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{
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_toneAlarm_pwm_group.pwm_cfg.period = 1000;
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pwmStart(_toneAlarm_pwm_group.pwm_drv, &_toneAlarm_pwm_group.pwm_cfg);
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return true;
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}
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void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
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{
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if (is_zero(frequency) || is_zero(volume)) {
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pwmDisableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan);
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} else {
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pwmChangePeriod(_toneAlarm_pwm_group.pwm_drv,
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roundf(_toneAlarm_pwm_group.pwm_cfg.frequency/frequency));
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pwmEnableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan, roundf(volume*_toneAlarm_pwm_group.pwm_cfg.frequency/frequency)/2);
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}
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}
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#endif // HAL_PWM_ALARM
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/*
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set HW RTC in UTC microseconds
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*/
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void Util::set_hw_rtc(uint64_t time_utc_usec)
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{
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stm32_set_utc_usec(time_utc_usec);
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}
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/*
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get system clock in UTC microseconds
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*/
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uint64_t Util::get_hw_rtc() const
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{
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return stm32_get_utc_usec();
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}
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#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
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#if defined(HAL_NO_GCS) || defined(HAL_BOOTLOADER_BUILD)
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#define Debug(fmt, args ...) do { hal.console->printf(fmt, ## args); } while (0)
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#else
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#include <GCS_MAVLink/GCS.h>
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#define Debug(fmt, args ...) do { gcs().send_text(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
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#endif
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Util::FlashBootloader Util::flash_bootloader()
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{
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uint32_t fw_size;
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const char *fw_name = "bootloader.bin";
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EXPECT_DELAY_MS(11000);
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const uint8_t *fw = AP_ROMFS::find_decompress(fw_name, fw_size);
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if (!fw) {
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Debug("failed to find %s\n", fw_name);
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return FlashBootloader::NOT_AVAILABLE;
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}
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// make sure size is multiple of 32
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fw_size = (fw_size + 31U) & ~31U;
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bool uptodate = true;
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const uint32_t addr = hal.flash->getpageaddr(0);
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if (memcmp(fw, (const void*)addr, fw_size) != 0) {
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uptodate = false;
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}
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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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// see if we should store persistent parameters along with the
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// bootloader. We only do this on boards using a single sector for
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// the bootloader. The persistent parameters are stored as text at
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// the end of the sector
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const int32_t space_available = hal.flash->getpagesize(0) - int32_t(fw_size);
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ExpandingString persistent_params {}, old_persistent_params {};
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if (get_persistent_params(persistent_params) &&
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space_available >= persistent_params.get_length() &&
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(!load_persistent_params(old_persistent_params) ||
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strcmp(persistent_params.get_string(),
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old_persistent_params.get_string()) != 0)) {
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// persistent parameters have changed, we will update
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// bootloader to allow storage of the params
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uptodate = false;
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}
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#endif
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if (uptodate) {
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Debug("Bootloader up-to-date\n");
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AP_ROMFS::free(fw);
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return FlashBootloader::NO_CHANGE;
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}
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Debug("Erasing\n");
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uint32_t erased_size = 0;
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uint8_t erase_page = 0;
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while (erased_size < fw_size) {
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uint32_t page_size = hal.flash->getpagesize(erase_page);
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if (page_size == 0) {
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AP_ROMFS::free(fw);
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return FlashBootloader::FAIL;
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}
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hal.scheduler->expect_delay_ms(1000);
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if (!hal.flash->erasepage(erase_page)) {
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Debug("Erase %u failed\n", erase_page);
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AP_ROMFS::free(fw);
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return FlashBootloader::FAIL;
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}
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erased_size += page_size;
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erase_page++;
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}
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Debug("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
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const uint8_t max_attempts = 10;
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hal.flash->keep_unlocked(true);
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for (uint8_t i=0; i<max_attempts; i++) {
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hal.scheduler->expect_delay_ms(1000);
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bool ok = hal.flash->write(addr, fw, fw_size);
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if (!ok) {
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Debug("Flash failed! (attempt=%u/%u)\n",
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i+1,
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max_attempts);
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hal.scheduler->delay(100);
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continue;
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}
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Debug("Flash OK\n");
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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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if (persistent_params.get_length()) {
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const uint32_t ofs = hal.flash->getpagesize(0) - persistent_params.get_length();
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hal.flash->write(addr+ofs, persistent_params.get_string(), persistent_params.get_length());
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}
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#endif
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hal.flash->keep_unlocked(false);
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AP_ROMFS::free(fw);
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return FlashBootloader::OK;
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}
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hal.flash->keep_unlocked(false);
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Debug("Flash failed after %u attempts\n", max_attempts);
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AP_ROMFS::free(fw);
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return FlashBootloader::FAIL;
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}
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#endif // !HAL_NO_FLASH_SUPPORT && !HAL_NO_ROMFS_SUPPORT
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/*
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display system identifer - board type and serial number
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*/
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bool Util::get_system_id(char buf[40])
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{
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uint8_t serialid[12];
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char board_name[14];
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memcpy(serialid, (const void *)UDID_START, 12);
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strncpy(board_name, CHIBIOS_SHORT_BOARD_NAME, 13);
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board_name[13] = 0;
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// this format is chosen to match the format used by HAL_PX4
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snprintf(buf, 40, "%s %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
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board_name,
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(unsigned)serialid[3], (unsigned)serialid[2], (unsigned)serialid[1], (unsigned)serialid[0],
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(unsigned)serialid[7], (unsigned)serialid[6], (unsigned)serialid[5], (unsigned)serialid[4],
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(unsigned)serialid[11], (unsigned)serialid[10], (unsigned)serialid[9],(unsigned)serialid[8]);
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buf[39] = 0;
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return true;
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}
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bool Util::get_system_id_unformatted(uint8_t buf[], uint8_t &len)
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{
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len = MIN(12, len);
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memcpy(buf, (const void *)UDID_START, len);
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return true;
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}
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// return true if the reason for the reboot was a watchdog reset
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bool Util::was_watchdog_reset() const
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{
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return stm32_was_watchdog_reset();
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}
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#if CH_DBG_ENABLE_STACK_CHECK == TRUE
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/*
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display stack usage as text buffer for @SYS/threads.txt
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*/
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void Util::thread_info(ExpandingString &str)
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{
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// a header to allow for machine parsers to determine format
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const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
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str.printf("ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u\n",
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&__main_stack_base__,
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unsigned(stack_free(&__main_stack_base__)),
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unsigned(isr_stack_size));
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for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
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uint32_t total_stack;
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if (tp->wabase == (void*)&__main_thread_stack_base__) {
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// main thread has its stack separated from the thread context
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total_stack = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
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} else {
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// all other threads have their thread context pointer
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// above the stack top
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total_stack = uint32_t(tp) - uint32_t(tp->wabase);
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}
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#if HAL_ENABLE_THREAD_STATISTICS
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str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u MIN=%4u AVG=%4u MAX=%4u\n",
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tp->name, unsigned(tp->prio), tp->wabase,
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unsigned(stack_free(tp->wabase)), unsigned(total_stack), unsigned(RTC2US(STM32_HSECLK, tp->stats.best)),
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unsigned(RTC2US(STM32_HSECLK, uint32_t(tp->stats.cumulative / uint64_t(tp->stats.n)))),
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unsigned(RTC2US(STM32_HSECLK, tp->stats.worst)));
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chTMObjectInit(&tp->stats); // reset counters to zero
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#else
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str.printf("%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
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tp->name, unsigned(tp->prio), tp->wabase,
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unsigned(stack_free(tp->wabase)), unsigned(total_stack));
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#endif
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}
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}
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#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
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#if CH_CFG_USE_SEMAPHORES
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// request information on dma contention
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void Util::dma_info(ExpandingString &str)
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{
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#ifndef HAL_NO_SHARED_DMA
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ChibiOS::Shared_DMA::dma_info(str);
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#endif
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}
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#endif
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#if CH_CFG_USE_HEAP == TRUE
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/*
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return information on heap usage
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*/
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void Util::mem_info(ExpandingString &str)
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{
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memory_heap_t *heaps;
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const struct memory_region *regions;
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uint8_t num_heaps = malloc_get_heaps(&heaps, ®ions);
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str.printf("MemInfoV1\n");
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for (uint8_t i=0; i<num_heaps; i++) {
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size_t totalp=0, largest=0;
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// get memory available on main heap
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chHeapStatus(i == 0 ? nullptr : &heaps[i], &totalp, &largest);
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str.printf("START=0x%08x LEN=%3uk FREE=%6u LRG=%6u TYPE=%1u\n",
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unsigned(regions[i].address), unsigned(regions[i].size/1024),
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unsigned(totalp), unsigned(largest), unsigned(regions[i].flags));
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}
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}
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#endif
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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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static const char *persistent_header = "{{PERSISTENT_START_V1}}\n";
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/*
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create a set of persistent parameters in string form
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*/
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bool Util::get_persistent_params(ExpandingString &str) const
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{
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str.printf("%s", persistent_header);
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#if HAL_INS_TEMPERATURE_CAL_ENABLE
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const auto *ins = AP_InertialSensor::get_singleton();
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if (ins) {
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ins->get_persistent_params(str);
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}
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#endif
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if (str.has_failed_allocation() || str.get_length() <= strlen(persistent_header)) {
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// no data
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return false;
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}
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// ensure that the length is a multiple of 32 to meet flash alignment requirements
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while (!str.has_failed_allocation() && str.get_length() % 32 != 0) {
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str.append(" ", 1);
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}
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return !str.has_failed_allocation();
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}
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/*
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load a set of persistent parameters in string form from the bootloader sector
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*/
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bool Util::load_persistent_params(ExpandingString &str) const
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{
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const uint32_t addr = hal.flash->getpageaddr(0);
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const uint32_t size = hal.flash->getpagesize(0);
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const char *s = (const char *)memmem((void*)addr, size,
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persistent_header,
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strlen(persistent_header));
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if (s) {
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str.append(s, (addr+size) - uint32_t(s));
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return !str.has_failed_allocation();
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}
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return false;
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}
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/*
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apply persistent parameters from the bootloader sector to AP_Param
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*/
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void Util::apply_persistent_params(void) const
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{
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ExpandingString str {};
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if (!load_persistent_params(str)) {
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return;
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}
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char *s = str.get_writeable_string();
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char *saveptr;
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s += strlen(persistent_header);
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uint32_t count = 0;
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uint32_t errors = 0;
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for (char *p = strtok_r(s, "\n", &saveptr);
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p; p = strtok_r(nullptr, "\n", &saveptr)) {
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char *eq = strchr(p, int('='));
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if (eq) {
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*eq = 0;
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const char *pname = p;
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const float value = atof(eq+1);
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if (AP_Param::set_default_by_name(pname, value)) {
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count++;
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/*
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we now have a special case for INS_ACC*_ID. To
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support factory accelerometer calibration we need to
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do a save() on the ID parameters if they are not
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already in storage. This is needed as
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AP_InertialSensor determines if a calibration has
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been done by whether the IDs are configured in
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storage
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*/
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if (strncmp(pname, "INS_ACC", 7) == 0 &&
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strcmp(pname+strlen(pname)-3, "_ID") == 0) {
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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_in_storage()) {
|
|
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
|
|
|
|
// request information on uart I/O
|
|
void Util::uart_info(ExpandingString &str)
|
|
{
|
|
#if !defined(HAL_NO_UARTDRIVER)
|
|
ChibiOS::UARTDriver::uart_info(str);
|
|
#endif
|
|
}
|