mirror of https://github.com/ArduPilot/ardupilot
228 lines
7.5 KiB
C++
228 lines
7.5 KiB
C++
#pragma once
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#include <stdarg.h>
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#include <AP_Common/AP_Common.h> // for FMT_PRINTF
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#include "AP_HAL_Namespace.h"
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#include <AP_Logger/AP_Logger_config.h>
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#ifndef ENABLE_HEAP
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#define ENABLE_HEAP 0
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#endif
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class ExpandingString;
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class AP_HAL::Util {
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public:
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int snprintf(char* str, size_t size,
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const char *format, ...) FMT_PRINTF(4, 5);
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int vsnprintf(char* str, size_t size,
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const char *format, va_list ap);
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virtual void set_soft_armed(const bool b);
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bool get_soft_armed() const { return soft_armed; }
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// return the time that the armed state last changed
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uint32_t get_last_armed_change() const { return last_armed_change_ms; };
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// return true if the reason for the reboot was a watchdog reset
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virtual bool was_watchdog_reset() const { return false; }
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// return true if safety was off and this was a watchdog reset
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bool was_watchdog_safety_off() const {
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return was_watchdog_reset() && persistent_data.safety_state == SAFETY_ARMED;
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}
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// return true if this is a watchdog reset boot and we were armed
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bool was_watchdog_armed() const { return was_watchdog_reset() && persistent_data.armed; }
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virtual const char* get_custom_log_directory() const { return nullptr; }
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virtual const char* get_custom_terrain_directory() const { return nullptr; }
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virtual const char *get_custom_storage_directory() const { return nullptr; }
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// get path to custom defaults file for AP_Param
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virtual const char* get_custom_defaults_file() const {
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return HAL_PARAM_DEFAULTS_PATH;
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}
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// set command line parameters to the eeprom on start
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virtual void set_cmdline_parameters() {};
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enum safety_state : uint8_t {
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SAFETY_NONE,
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SAFETY_DISARMED,
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SAFETY_ARMED,
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};
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/*
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persistent data structure. This data is restored on boot if
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there has been a watchdog reset. The data in this structure
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should only be read if was_watchdog_reset() is true
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Note that on STM32 this structure is limited to 76 bytes
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*/
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struct PersistentData {
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float roll_rad, pitch_rad, yaw_rad; // attitude
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int32_t home_lat, home_lon, home_alt_cm; // home position
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uint32_t fault_addr;
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uint32_t fault_icsr;
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uint32_t fault_lr;
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uint32_t internal_errors;
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uint16_t internal_error_count;
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uint16_t internal_error_last_line;
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uint32_t spi_count;
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uint32_t i2c_count;
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uint32_t i2c_isr_count;
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uint16_t waypoint_num;
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uint16_t last_mavlink_msgid;
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uint16_t last_mavlink_cmd;
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uint16_t semaphore_line;
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uint16_t fault_line;
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uint8_t fault_type;
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uint8_t fault_thd_prio;
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char thread_name4[4];
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int8_t scheduler_task;
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bool armed; // true if vehicle was armed
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enum safety_state safety_state;
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bool boot_to_dfu; // true if we should reboot to DFU on boot
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};
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struct PersistentData persistent_data;
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// last_persistent_data is only filled in if we've suffered a watchdog reset
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struct PersistentData last_persistent_data;
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/*
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return state of safety switch, if applicable
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*/
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virtual enum safety_state safety_switch_state(void) { return SAFETY_NONE; }
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/*
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set HW RTC in UTC microseconds
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*/
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virtual void set_hw_rtc(uint64_t time_utc_usec) = 0;
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/*
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get system clock in UTC microseconds
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*/
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virtual uint64_t get_hw_rtc() const = 0;
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enum class FlashBootloader {
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OK=0,
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NO_CHANGE=1,
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FAIL=2,
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NOT_AVAILABLE=3,
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NOT_SIGNED=4,
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};
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// overwrite bootloader (probably with one from ROMFS)
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virtual FlashBootloader flash_bootloader() { return FlashBootloader::NOT_AVAILABLE; }
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/*
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get system identifier (eg. serial number)
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return false if a system identifier is not available
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Buf should be filled with a printable string and must be null
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terminated
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*/
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virtual bool get_system_id(char buf[50]) { return false; }
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virtual bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) { return false; }
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/**
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return commandline arguments, if available
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*/
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virtual void commandline_arguments(uint8_t &argc, char * const *&argv) { argc = 0; }
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virtual bool toneAlarm_init(uint8_t types) { return false;}
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virtual void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) {}
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/*
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return a stream for access to a system shell, if available
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*/
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virtual AP_HAL::BetterStream *get_shell_stream() { return nullptr; }
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/* Support for an imu heating system */
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virtual void set_imu_temp(float current) {}
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/* Support for an imu heating system */
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virtual void set_imu_target_temp(int8_t *target) {}
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// allocate and free DMA-capable memory if possible. Otherwise return normal memory
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enum Memory_Type {
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MEM_DMA_SAFE,
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MEM_FAST,
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MEM_FILESYSTEM
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};
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virtual void *malloc_type(size_t size, Memory_Type mem_type) { return calloc(1, size); }
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virtual void free_type(void *ptr, size_t size, Memory_Type mem_type) { return free(ptr); }
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#if 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) = 0;
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virtual void *heap_realloc(void *heap, void *ptr, size_t old_size, size_t new_size) = 0;
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#if USE_LIBC_REALLOC
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virtual void *std_realloc(void *ptr, size_t new_size) { return realloc(ptr, new_size); }
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#else
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virtual void *std_realloc(void *ptr, size_t new_size) = 0;
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#endif // USE_LIBC_REALLOC
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#endif // ENABLE_HEAP
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/**
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how much free memory do we have in bytes. If unknown return 4096
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*/
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virtual uint32_t available_memory(void) { return 4096; }
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// attempt to trap the processor, presumably to enter an attached debugger
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virtual bool trap() const { return false; }
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// request information on running threads
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virtual void thread_info(ExpandingString &str) {}
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// request information on dma contention
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virtual void dma_info(ExpandingString &str) {}
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// request information on memory allocation
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virtual void mem_info(ExpandingString &str) {}
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// load persistent parameters from bootloader sector
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virtual bool load_persistent_params(ExpandingString &str) const { return false; }
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virtual bool get_persistent_param_by_name(const char *name, char* value, size_t& len) const {
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return false;
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}
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#if HAL_UART_STATS_ENABLED
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// request information on uart I/O
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virtual void uart_info(ExpandingString &str) {}
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#if HAL_LOGGING_ENABLED
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// Log UART message for each serial port
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virtual void uart_log() {};
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#endif
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#endif // HAL_UART_STATS_ENABLED
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// request information on timer frequencies
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virtual void timer_info(ExpandingString &str) {}
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// generate Random values
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virtual bool get_random_vals(uint8_t* data, size_t size) { return false; }
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// generate Random values, will block until enough entropy is available
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virtual bool get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us) { return false; }
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// log info on stack usage
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virtual void log_stack_info(void) {}
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#if AP_CRASHDUMP_ENABLED
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virtual size_t last_crash_dump_size() const { return 0; }
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virtual void* last_crash_dump_ptr() const { return nullptr; }
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#endif
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#if HAL_ENABLE_DFU_BOOT
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virtual void boot_to_dfu(void) {}
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#endif
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protected:
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// we start soft_armed false, so that actuators don't send any
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// values until the vehicle code has fully started
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bool soft_armed = false;
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uint32_t last_armed_change_ms;
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};
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