mirror of https://github.com/ArduPilot/ardupilot
145 lines
4.8 KiB
C++
145 lines
4.8 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(HAL_BUILD_AP_PERIPH) && (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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bool toneAlarm_init(uint8_t types) override;
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void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
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static uint8_t _toneAlarm_types;
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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 CH_CFG_USE_HEAP == TRUE
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void mem_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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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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// save/load key persistent parameters in bootloader sector
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bool load_persistent_params(ExpandingString &str) const override;
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#endif
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// request information on uart I/O
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virtual void uart_info(ExpandingString &str) override;
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// returns random values
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bool get_random_vals(uint8_t* data, size_t size) override;
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// returns true random values
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bool get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us) override;
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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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#endif
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// log info on stack usage
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void log_stack_info(void) override;
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#if defined(HAL_CRASH_DUMP_FLASHPAGE) && !defined(HAL_BOOTLOADER_BUILD)
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// get last crash dump
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void last_crash_dump(ExpandingString &str) const override;
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#endif
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};
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