From a9ea7ca3dca81085ca2f998b11aba109cd1a4b0c Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Mon, 16 Mar 2020 18:22:18 +1100
Subject: [PATCH] AP_HAL_ChibiOS: implement standard realloc method

---
 libraries/AP_HAL_ChibiOS/Util.cpp | 20 ++++++++++++++++++++
 libraries/AP_HAL_ChibiOS/Util.h   |  1 +
 2 files changed, 21 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index e839b41463..d49a96a964 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -86,6 +86,26 @@ void *Util::allocate_heap_memory(size_t size)
     return heap;
 }
 
+/*
+  realloc implementation thanks to wolfssl, used by AP_Scripting
+ */
+void *Util::std_realloc(void *addr, size_t size)
+{
+    if (size == 0) {
+       free(addr);
+       return nullptr;
+    }
+    if (addr == nullptr) {
+        return malloc(size);
+    }
+    void *new_mem = malloc(size);
+    if (new_mem != nullptr) {
+        memcpy(new_mem, addr, chHeapGetSize(addr) > size ? size : chHeapGetSize(addr));
+        free(addr);
+    }
+    return new_mem;
+}
+
 void *Util::heap_realloc(void *heap, void *ptr, size_t new_size)
 {
     if (heap == nullptr) {
diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index 9222057d52..e284931e92 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -38,6 +38,7 @@ public:
     // heap functions, note that a heap once alloc'd cannot be dealloc'd
     virtual void *allocate_heap_memory(size_t size) override;
     virtual void *heap_realloc(void *heap, void *ptr, size_t new_size) override;
+    virtual void *std_realloc(void *ptr, size_t new_size) override;
 #endif // ENABLE_HEAP
 
     /*