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ardupilot/libraries/AP_HAL_ChibiOS/Util.cpp
T
Andrew Tridgell cf57b7c86a AP_HAL_ChibiOS: add early USB microSD service 
Add an early boot service that exports the microSD block device over
USB mass storage before the filesystem and normal flight application
start. The service retains exclusive ownership until a power cycle and
continues servicing the watchdog.

Enable the service on supported boards, provide explicit build control,
increase the MSD worker stacks for the SD wait path, scope the ChibiOS
fixed-width serial warning suppression to the MSD object, and reject
explicit enable requests on unsupported boards.
2026-08-28 17:18:39 +10:00

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <hal.h>
#include "Util.h"
#include <ch.h>
#include <sysperf.h>
#include "RCOutput.h"
#include "UARTDriver.h"
#include "hwdef/common/stm32_util.h"
#include "hwdef/common/watchdog.h"
#include "hwdef/common/flash.h"
#if AP_CRASHDUMP_FATFS_ENABLED
#include "CrashDump.h"
#endif
#include <AP_ROMFS/AP_ROMFS.h>
#include <AP_Common/ExpandingString.h>
#include <AP_InternalError/AP_InternalError.h>
#include "sdcard.h"
#include "shared_dma.h"
#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM_ENABLED || HAL_CANMANAGER_ENABLED || HAL_USE_PWM == TRUE
#include <AP_Notify/AP_Notify.h>
#endif
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#endif
#include <AP_Logger/AP_Logger_config.h>
#if HAL_LOGGING_ENABLED
#include <AP_Logger/AP_Logger.h>
#endif
#include <AP_BoardConfig/AP_BoardConfig.h>
#if HAL_WITH_IO_MCU
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
#if AP_SIGNED_FIRMWARE && !defined(HAL_BOOTLOADER_BUILD)
#include <AP_CheckFirmware/AP_CheckFirmware.h>
#endif
extern const AP_HAL::HAL& hal;
using namespace ChibiOS;
#if AP_REBOOT_MASS_STORAGE_ENABLED && HAL_USB_MSD_BOOT_ENABLED
bool Util::request_usb_msd()
{
usb_msd_set_boot_request();
return true;
}
#endif
#if CH_CFG_USE_HEAP == TRUE
/**
how much free memory do we have in bytes.
*/
uint32_t Util::available_memory(void)
{
// from malloc.c in hwdef
return mem_available();
}
/*
Special Allocation Routines
*/
void* Util::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
{
if (mem_type == AP_HAL::Util::MEM_DMA_SAFE) {
return malloc_dma(size);
} else if (mem_type == AP_HAL::Util::MEM_FAST) {
return malloc_fastmem(size);
} else if (mem_type == AP_HAL::Util::MEM_FILESYSTEM) {
#if defined(STM32H7)
return malloc_axi_sram(size);
#else
return malloc_dma(size);
#endif
} else {
return calloc(1, size);
}
}
void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
{
if (ptr != NULL) {
free(ptr);
}
}
#endif // CH_CFG_USE_HEAP
/*
get safety switch state
*/
Util::safety_state Util::safety_switch_state(void)
{
#if HAL_USE_PWM == TRUE
return ((RCOutput *)hal.rcout)->_safety_switch_state();
#else
return SAFETY_NONE;
#endif
}
#ifdef HAL_PWM_ALARM
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = HAL_PWM_ALARM;
#elif HAL_USE_PWM == TRUE
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = {};
#endif
uint8_t Util::_toneAlarm_types = 0;
bool Util::toneAlarm_init(uint8_t types)
{
#ifdef HAL_PWM_ALARM
_toneAlarm_pwm_group.pwm_cfg.period = 1000;
pwmStart(_toneAlarm_pwm_group.pwm_drv, &_toneAlarm_pwm_group.pwm_cfg);
#endif
_toneAlarm_types = types;
#if HAL_USE_PWM != TRUE && !HAL_DSHOT_ALARM_ENABLED && !HAL_CANMANAGER_ENABLED
// Nothing to do
return false;
#else
return true;
#endif
}
#if HAL_USE_PWM == TRUE
bool Util::toneAlarm_init(const PWMConfig& pwm_cfg, PWMDriver* pwm_drv, pwmchannel_t chan, bool active_high)
{
#ifdef HAL_PWM_ALARM
pwmStop(_toneAlarm_pwm_group.pwm_drv);
#endif
_toneAlarm_pwm_group.pwm_cfg = pwm_cfg;
_toneAlarm_pwm_group.pwm_drv = pwm_drv;
_toneAlarm_pwm_group.pwm_cfg.period = 1000;
_toneAlarm_pwm_group.pwm_cfg.channels[chan].mode = active_high ? PWM_OUTPUT_ACTIVE_HIGH : PWM_OUTPUT_ACTIVE_LOW;
_toneAlarm_pwm_group.chan = chan;
pwmStart(_toneAlarm_pwm_group.pwm_drv, &_toneAlarm_pwm_group.pwm_cfg);
return true;
}
#endif
void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
{
#if HAL_USE_PWM == TRUE
if (_toneAlarm_pwm_group.pwm_drv != nullptr) {
if (is_zero(frequency) || is_zero(volume)) {
pwmDisableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan);
} else {
pwmChangePeriod(_toneAlarm_pwm_group.pwm_drv,
roundf(_toneAlarm_pwm_group.pwm_cfg.frequency/frequency));
pwmEnableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan, roundf(volume*_toneAlarm_pwm_group.pwm_cfg.frequency/frequency)/2);
}
}
#endif // HAL_USE_PWM
#if HAL_DSHOT_ALARM_ENABLED
// don't play the motors while flying
if (!(_toneAlarm_types & uint8_t(AP_Notify::BuzzerType::DSHOT)) || get_soft_armed() || hal.rcout->get_dshot_esc_type() == RCOutput::DSHOT_ESC_NONE) {
return;
}
if (is_zero(frequency)) { // silence
hal.rcout->send_dshot_command(RCOutput::DSHOT_RESET, RCOutput::ALL_CHANNELS, duration_ms);
} else if (frequency < 1047) { // C
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP1, RCOutput::ALL_CHANNELS, duration_ms);
} else if (frequency < 1175) { // D
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP2, RCOutput::ALL_CHANNELS, duration_ms);
} else if (frequency < 1319) { // E
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP3, RCOutput::ALL_CHANNELS, duration_ms);
} else if (frequency < 1397) { // F
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP4, RCOutput::ALL_CHANNELS, duration_ms);
} else { // G+
hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP5, RCOutput::ALL_CHANNELS, duration_ms);
}
#endif // HAL_DSHOT_ALARM_ENABLED
}
/*
set HW RTC in UTC microseconds
*/
void Util::set_hw_rtc(uint64_t time_utc_usec)
{
stm32_set_utc_usec(time_utc_usec);
}
/*
get system clock in UTC microseconds
*/
uint64_t Util::get_hw_rtc() const
{
return stm32_get_utc_usec();
}
#include <GCS_MAVLink/GCS.h>
#if AP_BOOTLOADER_FLASHING_ENABLED
#if HAL_GCS_ENABLED
#include <GCS_MAVLink/GCS.h>
#define Debug(fmt, args ...) do { GCS_SEND_TEXT(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
#endif // HAL_GCS_ENABLED
#ifndef Debug
#define Debug(fmt, args ...) do { hal.console->printf(fmt, ## args); } while (0)
#endif
#ifdef HAL_NO_FLASH_SUPPORT
#error "Bootloader-flashing enabled but no flashing support"
#endif
Util::FlashBootloader Util::flash_bootloader()
{
uint32_t fw_size;
const char *fw_name = "bootloader.bin";
EXPECT_DELAY_MS(11000);
const uint8_t *fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) {
Debug("failed to find %s\n", fw_name);
return FlashBootloader::NOT_AVAILABLE;
}
#if AP_SIGNED_FIRMWARE
if (!AP_CheckFirmware::check_signed_bootloader(fw, fw_size)) {
// don't allow flashing of an unsigned bootloader in a secure
// setup. This prevents the easy mistake of leaving an
// unsigned bootloader in ROMFS, which would give a trivail
// way to bypass signing
AP_ROMFS::free(fw);
return FlashBootloader::NOT_SIGNED;
}
#endif
// make sure size is multiple of 32
fw_size = (fw_size + 31U) & ~31U;
bool uptodate = true;
const uint32_t addr = hal.flash->getpageaddr(0);
if (memcmp(fw, (const void*)addr, fw_size) != 0) {
uptodate = false;
}
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
// see if we should store persistent parameters along with the
// bootloader. We only do this on boards using a single sector for
// the bootloader. The persistent parameters are stored as text at
// the end of the sector
const int32_t space_available = hal.flash->getpagesize(0) - int32_t(fw_size);
ExpandingString persistent_params {}, old_persistent_params {};
if (get_persistent_params(persistent_params) &&
space_available >= persistent_params.get_length() &&
(!load_persistent_params(old_persistent_params) ||
strcmp(persistent_params.get_string(),
old_persistent_params.get_string()) != 0)) {
// persistent parameters have changed, we will update
// bootloader to allow storage of the params
uptodate = false;
}
#endif
if (uptodate) {
Debug("Bootloader up-to-date\n");
AP_ROMFS::free(fw);
return FlashBootloader::NO_CHANGE;
}
Debug("Erasing\n");
uint32_t erased_size = 0;
uint8_t erase_page = 0;
while (erased_size < fw_size) {
uint32_t page_size = hal.flash->getpagesize(erase_page);
if (page_size == 0) {
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
hal.scheduler->expect_delay_ms(1000);
if (!hal.flash->erasepage(erase_page)) {
Debug("Erase %u failed\n", erase_page);
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
erased_size += page_size;
erase_page++;
}
Debug("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
const uint8_t max_attempts = 10;
hal.flash->keep_unlocked(true);
for (uint8_t i=0; i<max_attempts; i++) {
hal.scheduler->expect_delay_ms(1000);
bool ok = hal.flash->write(addr, fw, fw_size);
if (!ok) {
Debug("Flash failed! (attempt=%u/%u)\n",
i+1,
max_attempts);
hal.scheduler->delay(100);
continue;
}
Debug("Flash OK\n");
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
if (persistent_params.get_length()) {
const uint32_t ofs = hal.flash->getpagesize(0) - persistent_params.get_length();
hal.flash->write(addr+ofs, persistent_params.get_string(), persistent_params.get_length());
}
#endif
hal.flash->keep_unlocked(false);
AP_ROMFS::free(fw);
return FlashBootloader::OK;
}
hal.flash->keep_unlocked(false);
Debug("Flash failed after %u attempts\n", max_attempts);
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
#endif // AP_BOOTLOADER_FLASHING_ENABLED
/*
display system identifer - board type and serial number
*/
bool Util::get_system_id(char buf[50])
{
uint8_t serialid[12];
char board_name[24];
memcpy(serialid, (const void *)UDID_START, 12);
// avoid board names greater than 23 chars (sizeof includes null char, so allow 24 bytes total)
static_assert(sizeof(CHIBIOS_SHORT_BOARD_NAME) <= 24, "CHIBIOS_SHORT_BOARD_NAME must be 23 characters or less");
strncpy(board_name, CHIBIOS_SHORT_BOARD_NAME, 23);
board_name[23] = 0;
// this format is chosen to match the format used by HAL_PX4
snprintf(buf, 50, "%s %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
board_name,
(unsigned)serialid[3], (unsigned)serialid[2], (unsigned)serialid[1], (unsigned)serialid[0],
(unsigned)serialid[7], (unsigned)serialid[6], (unsigned)serialid[5], (unsigned)serialid[4],
(unsigned)serialid[11], (unsigned)serialid[10], (unsigned)serialid[9],(unsigned)serialid[8]);
buf[49] = 0;
return true;
}
bool Util::get_system_id_unformatted(uint8_t buf[], uint8_t &len)
{
len = MIN(12, len);
memcpy(buf, (const void *)UDID_START, len);
return true;
}
// return true if the reason for the reboot was a watchdog reset
bool Util::was_watchdog_reset() const
{
return stm32_was_watchdog_reset();
}
#if CH_DBG_ENABLE_STACK_CHECK == TRUE && !defined(HAL_BOOTLOADER_BUILD)
/*
display stack usage as text buffer for @SYS/threads.txt
*/
__RAMFUNC__ void Util::thread_info(ExpandingString &str)
{
#if HAL_ENABLE_THREAD_STATISTICS
uint64_t cumulative_cycles = currcore->kernel_stats.m_crit_isr.cumulative;
for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
if (tp->stats.best > 0) { // not run
cumulative_cycles += (uint64_t)tp->stats.cumulative;
}
}
#endif
// a header to allow for machine parsers to determine format
const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
#if AP_CPU_IDLE_STATS_ENABLED && HAL_USE_LOAD_MEASURE
if (AP_BoardConfig::use_idle_stats()) {
str.printf("%-13.13s LOAD=%4.1f%% PEAK=%4.1f%%\n", "ThreadsV3", (sysGetCPUAverageLoad() / 100.0f), (sysGetCPUPeakLoad() / 100.0f));
} else
#endif
str.printf("ThreadsV2\n");
#if HAL_ENABLE_THREAD_STATISTICS
str.printf("ISR PRI=255 sp=%p STACK=%u/%u LOAD=%4.1f%%\n",
&__main_stack_base__,
unsigned(stack_free(&__main_stack_base__)),
unsigned(isr_stack_size), 100.0f * float(currcore->kernel_stats.m_crit_isr.cumulative) / float(cumulative_cycles));
currcore->kernel_stats.m_crit_isr.cumulative = 0U;
#else
str.printf("ISR PRI=255 sp=%p STACK=%u/%u\n",
&__main_stack_base__,
unsigned(stack_free(&__main_stack_base__)),
unsigned(isr_stack_size));
#endif
for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
uint32_t total_stack;
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
total_stack = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
total_stack = uint32_t(tp) - uint32_t(tp->wabase);
}
#if HAL_ENABLE_THREAD_STATISTICS
time_measurement_t stats = tp->stats;
if (tp->stats.best > 0) { // not run
str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u LOAD=%4.1f%%%s\n",
tp->name, unsigned(tp->realprio), tp->wabase,
unsigned(stack_free(tp->wabase)), unsigned(total_stack),
100.0f * float(stats.cumulative) / float(cumulative_cycles),
// more than a loop slice is bad for everyone else, warn on
// more than a 200Hz slice so that only the worst offenders are identified
// also don't do this for the main or idle threads
tp != chThdGetSelfX() && unsigned(RTC2US(STM32_HSECLK, stats.worst)) > 5000
&& tp != get_main_thread() && tp->realprio != 1 ? "*" : "");
} else {
str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u\n",
tp->name, unsigned(tp->realprio), tp->wabase, unsigned(stack_free(tp->wabase)), unsigned(total_stack));
}
// Giovanni thinks this is dangerous, but we can't get useable data without it
if (tp != chThdGetSelfX()) {
chTMObjectInit(&tp->stats); // reset counters to zero
} else {
tp->stats.cumulative = 0U;
}
#else
str.printf("%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
tp->name, unsigned(tp->realprio), tp->wabase,
unsigned(stack_free(tp->wabase)), unsigned(total_stack));
#endif
}
#if AP_CPU_IDLE_STATS_ENABLED && HAL_USE_LOAD_MEASURE
if (AP_BoardConfig::use_idle_stats()) {
sysStopLoadMeasure();
sysStartLoadMeasure();
}
#endif
}
#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
// get the system load
bool Util::get_system_load(float& avg_load, float& peak_load) const
{
#if AP_CPU_IDLE_STATS_ENABLED && HAL_USE_LOAD_MEASURE
if (AP_BoardConfig::use_idle_stats()) {
avg_load = sysGetCPUAverageLoad() / 100.0f;
peak_load = sysGetCPUPeakLoad() / 100.0f;
return true;
}
#endif
return false;
}
#if CH_CFG_USE_SEMAPHORES
// request information on dma contention
void Util::dma_info(ExpandingString &str)
{
#if AP_HAL_SHARED_DMA_ENABLED
ChibiOS::Shared_DMA::dma_info(str);
#endif
}
#endif
#if CH_CFG_USE_HEAP == TRUE
/*
return information on heap usage
*/
void Util::mem_info(ExpandingString &str)
{
memory_heap_t *heaps;
const struct memory_region *regions;
uint8_t num_heaps = malloc_get_heaps(&heaps, &regions);
str.printf("MemInfoV1\n");
for (uint8_t i=0; i<num_heaps; i++) {
size_t totalp=0, largest=0;
// get memory available on main heap
chHeapStatus(i == 0 ? nullptr : &heaps[i], &totalp, &largest);
str.printf("START=0x%08x LEN=%3uk FREE=%6u LRG=%6u TYPE=%1u\n",
unsigned(regions[i].address), unsigned(regions[i].size/1024),
unsigned(totalp), unsigned(largest), unsigned(regions[i].flags));
}
}
#endif
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
static const char *persistent_header = "{{PERSISTENT_START_V1}}\n";
/*
create a set of persistent parameters in string form
*/
bool Util::get_persistent_params(ExpandingString &str) const
{
str.printf("%s", persistent_header);
#if HAL_INS_TEMPERATURE_CAL_ENABLE
const auto *ins = AP_InertialSensor::get_singleton();
if (ins) {
ins->get_persistent_params(str);
}
#endif
#if AP_OPENDRONEID_ENABLED
const auto *odid = AP_OpenDroneID::get_singleton();
if (odid) {
odid->get_persistent_params(str);
}
#endif
if (str.has_failed_allocation() || str.get_length() <= strlen(persistent_header)) {
// no data
return false;
}
// ensure that the length is a multiple of 32 to meet flash alignment requirements
while (!str.has_failed_allocation() && str.get_length() % 32 != 0) {
str.append(" ", 1);
}
return !str.has_failed_allocation();
}
/*
load a set of persistent parameters in string form from the bootloader sector
*/
bool Util::load_persistent_params(ExpandingString &str) const
{
const uint32_t addr = hal.flash->getpageaddr(0);
const uint32_t size = hal.flash->getpagesize(0);
const char *s = (const char *)memmem((void*)addr, size,
persistent_header,
strlen(persistent_header));
if (s) {
str.append(s, (addr+size) - uint32_t(s));
return !str.has_failed_allocation();
}
return false;
}
/*
get a persistent variable by name,
len is the length of the value buffer, and is updated with the length of the value
*/
bool Util::get_persistent_param_by_name(const char *name, char* value, size_t& len) const
{
ExpandingString persistent_params {};
if (!load_persistent_params(persistent_params)) {
return false;
}
char *s = persistent_params.get_writeable_string();
if (s == nullptr) {
return false;
}
char *saveptr;
s += strlen(persistent_header);
for (char *p = strtok_r(s, "\n", &saveptr);
p; p = strtok_r(nullptr, "\n", &saveptr)) {
char *eq = strchr(p, int('='));
if (eq) {
*eq = 0;
if (strcmp(p, name) == 0) {
// also get the length of the value
strncpy(value, eq+1, len);
len = strlen(value);
return true;
}
}
}
return false;
}
/*
apply persistent parameters from the bootloader sector to AP_Param
*/
void Util::apply_persistent_params(void) const
{
ExpandingString str {};
if (!load_persistent_params(str)) {
return;
}
char *s = str.get_writeable_string();
char *saveptr;
s += strlen(persistent_header);
uint32_t count = 0;
uint32_t errors = 0;
for (char *p = strtok_r(s, "\n", &saveptr);
p; p = strtok_r(nullptr, "\n", &saveptr)) {
char *eq = strchr(p, int('='));
if (eq) {
*eq = 0;
const char *pname = p;
const float value = strtof(eq+1, NULL);
if (AP_Param::set_default_by_name(pname, value)) {
count++;
/*
we now have a special case for INS_ACC*_ID. To
support factory accelerometer calibration we need to
do a save() on the ID parameters if they are not
already in storage. This is needed as
AP_InertialSensor determines if a calibration has
been done by whether the IDs are configured in
storage
*/
bool legacy_acc_id = strncmp(pname, "INS_ACC", 7) == 0 &&
strcmp(pname+strlen(pname)-3, "_ID") == 0;
bool new_acc_id = strncmp(pname, "INS", 3) == 0 &&
strcmp(pname+strlen(pname)-6, "ACC_ID") == 0;
if (legacy_acc_id || new_acc_id) {
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()) {
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
#if HAL_WITH_IO_MCU
extern ChibiOS::UARTDriver uart_io;
#endif
#if HAL_UART_STATS_ENABLED
// request information on uart I/O
void Util::uart_info(ExpandingString &str)
{
// Calculate time since last call
const uint32_t now_ms = AP_HAL::millis();
const uint32_t dt_ms = now_ms - sys_uart_stats.last_ms;
sys_uart_stats.last_ms = now_ms;
// a header to allow for machine parsers to determine format
str.printf("UARTV1\n");
for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
auto *uart = hal.serial(i);
if (uart) {
#if HAL_WITH_IO_MCU
if (i == HAL_UART_IOMCU_IDX) {
str.printf("IOMCU ");
} else
#endif
{
str.printf("SERIAL%u ", i);
}
uart->uart_info(str, sys_uart_stats.serial[i], dt_ms);
}
}
}
// Log UART message for each serial port
#if HAL_LOGGING_ENABLED
void Util::uart_log()
{
// Calculate time since last call
const uint32_t now_ms = AP_HAL::millis();
const uint32_t dt_ms = now_ms - log_uart_stats.last_ms;
log_uart_stats.last_ms = now_ms;
// Loop over all numbered ports
for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
auto *uart = hal.serial(i);
if (uart) {
uart->log_stats(i, log_uart_stats.serial[i], dt_ms);
}
}
}
#endif // HAL_LOGGING_ENABLED
#endif // HAL_UART_STATS_ENABLED
// request information on uart I/O
#if HAL_USE_PWM == TRUE
void Util::timer_info(ExpandingString &str)
{
hal.rcout->timer_info(str);
}
#endif
/**
* This method will generate random values with set size. It will fall back to AP_Math's get_random16()
* if True RNG fails or enough entropy is not present.
*/
bool Util::get_random_vals(uint8_t* data, size_t size)
{
#if HAL_USE_HW_RNG && defined(RNG)
size_t true_random_vals = stm32_rand_generate_nonblocking(data, size);
if (true_random_vals != size) {
if (!(true_random_vals % 2)) {
data[true_random_vals] = (uint8_t)(get_random16() & 0xFF);
true_random_vals++;
}
while(true_random_vals < size) {
uint16_t val = get_random16();
memcpy(&data[true_random_vals], &val, sizeof(uint16_t));
true_random_vals+=sizeof(uint16_t);
}
}
#else
size_t true_random_vals = 0;
while(true_random_vals < size) {
uint16_t val = get_random16();
memcpy(&data[true_random_vals], &val, sizeof(uint16_t));
true_random_vals+=sizeof(uint16_t);
}
if (size % 2) {
data[size-1] = get_random16() & 0xFF;
}
#endif
return true;
}
/**
* This method will generate true random values with set size. This method will block for set amount
* of true random numbers to be generated, the timeout specifies the maximum amount of time to wait
* for the call to finish.
*/
bool Util::get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us)
{
#if HAL_USE_HW_RNG && defined(RNG)
if (stm32_rand_generate_blocking(data, size, timeout_us)) {
return true;
} else {
return false;
}
#else
return false;
#endif
}
/*
log info on stack usage. Called at 1Hz by logging thread, logs next
thread on each call
*/
void Util::log_stack_info(void)
{
#if HAL_LOGGING_ENABLED
static thread_t *last_tp;
static uint8_t thread_id;
thread_t *tp = last_tp;
if (tp == nullptr) {
tp = chRegFirstThread();
thread_id = 0;
} else {
tp = chRegNextThread(last_tp);
thread_id++;
}
struct log_STAK pkt = {
LOG_PACKET_HEADER_INIT(LOG_STAK_MSG),
time_us : AP_HAL::micros64(),
};
if (tp == nullptr) {
pkt.thread_id = 255;
pkt.priority = 255;
const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
pkt.stack_total = isr_stack_size;
pkt.stack_free = stack_free(&__main_stack_base__);
strncpy_noterm(pkt.name, "ISR", sizeof(pkt.name));
} else {
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
pkt.stack_total = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
pkt.stack_total = uint32_t(tp) - uint32_t(tp->wabase);
}
pkt.thread_id = thread_id;
pkt.priority = tp->realprio,
pkt.stack_free = stack_free(tp->wabase);
strncpy_noterm(pkt.name, tp->name, sizeof(pkt.name));
}
AP::logger().WriteBlock(&pkt, sizeof(pkt));
last_tp = tp;
#endif
}
#if AP_CRASHDUMP_ENABLED
size_t Util::last_crash_dump_size() const
{
#if AP_CRASHDUMP_FATFS_ENABLED
// check SD card first
uint32_t sd_size = crashdump_sd_dump_size();
if (sd_size > 0) {
return sd_size;
}
#endif
#if AP_CRASHDUMP_FLASH_ENABLED
// check flash
uint32_t size = stm32_crash_dump_size();
char* dump_start = (char*)stm32_crash_dump_addr();
if (!(dump_start[0] == 0x63 && dump_start[1] == 0x43)) {
// there's no valid Crash Dump
return 0;
}
if (size == 0xFFFFFFFF) {
size = stm32_crash_dump_max_size();
}
return size;
#else
return 0;
#endif
}
void* Util::last_crash_dump_ptr() const
{
#if AP_CRASHDUMP_FATFS_ENABLED
// SD crash dump can't be memory-mapped, return nullptr
// The dump should be downloaded from APM/CrashDump.DAT via MAVFTP
if (crashdump_sd_dump_size() > 0) {
return nullptr;
}
#endif
#if AP_CRASHDUMP_FLASH_ENABLED
if (last_crash_dump_size() == 0) {
return nullptr;
}
return (void*)stm32_crash_dump_addr();
#else
return nullptr;
#endif
}
#endif // AP_CRASHDUMP_ENABLED
#if HAL_ENABLE_DFU_BOOT && !defined(HAL_BOOTLOADER_BUILD)
void Util::boot_to_dfu()
{
hal.util->persistent_data.boot_to_dfu = true;
stm32_watchdog_save((uint32_t *)&hal.util->persistent_data, (sizeof(hal.util->persistent_data)+3)/4);
hal.scheduler->reboot();
}
#endif
// set armed state
void Util::set_soft_armed(const bool b)
{
AP_HAL::Util::set_soft_armed(b);
#ifdef HAL_GPIO_PIN_nARMED
palWriteLine(HAL_GPIO_PIN_nARMED, !b);
#endif
}
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