From cf0c6d32474e346c6fc0733029b455edc1329da3 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Tue, 17 Mar 2020 14:17:38 +0530
Subject: [PATCH] AP_HAL: ensure libc realloc is available for all platforms
 except ChibiOS

---
 libraries/AP_HAL/AP_HAL_Boards.h | 4 ++++
 libraries/AP_HAL/Util.h          | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 71bdf2019c..374186d54b 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -232,3 +232,7 @@
 #else
 #define AP_UAVCAN_SLCAN_ENABLED 0
 #endif
+
+#ifndef USE_LIBC_REALLOC
+#define USE_LIBC_REALLOC 1
+#endif
diff --git a/libraries/AP_HAL/Util.h b/libraries/AP_HAL/Util.h
index b85c9f8cc8..142a6a4c89 100644
--- a/libraries/AP_HAL/Util.h
+++ b/libraries/AP_HAL/Util.h
@@ -151,7 +151,11 @@ public:
     // heap functions, note that a heap once alloc'd cannot be dealloc'd
     virtual void *allocate_heap_memory(size_t size) = 0;
     virtual void *heap_realloc(void *heap, void *ptr, size_t new_size) = 0;
+#if USE_LIBC_REALLOC
     virtual void *std_realloc(void *ptr, size_t new_size) { return realloc(ptr, new_size); }
+#else
+    virtual void *std_realloc(void *ptr, size_t new_size) = 0;
+#endif // USE_LIBC_REALLOC
 #endif // ENABLE_HEAP