Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Periph: add debug option for hold in bootloader after 15s

Browse Source
This commit is contained in:
bugobliterator 2022-03-08 14:21:27 +05:30 committed by Andrew Tridgell
parent e94f28c81d
commit 068208e4d7
3 changed files with 18 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
Tools/AP_Periph/AP_Periph.cpp
View File

@ -384,12 +384,21 @@ void AP_Periph_FW::update()
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && CH_DBG_ENABLE_STACK_CHECK == TRUE
static uint32_t last_debug_ms;
if (g.debug==1 && now - last_debug_ms > 5000) {
if ((g.debug&(1<<DEBUG_SHOW_STACK)) && now - last_debug_ms > 5000) {
last_debug_ms = now;
show_stack_free();
}
#endif
if ((g.debug&(1<<DEBUG_AUTOREBOOT)) && AP_HAL::millis() > 15000) {
// attempt reboot with HOLD after 15s
periph.prepare_reboot();
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
set_fast_reboot((rtc_boot_magic)(RTC_BOOT_HOLD));
NVIC_SystemReset();
#endif
}
#ifdef HAL_PERIPH_ENABLE_BATTERY
if (now - battery.last_read_ms >= 100) {
// update battery at 10Hz

5
Tools/AP_Periph/AP_Periph.h
View File

@ -247,6 +247,11 @@ public:
static AP_Periph_FW *_singleton;
enum {
DEBUG_SHOW_STACK,
DEBUG_AUTOREBOOT
};
// show stack as DEBUG msgs
void show_stack_free();

3
Tools/AP_Periph/Parameters.cpp
View File

@ -136,10 +136,11 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @Param: DEBUG
// @DisplayName: Debug
// @Description: Debug
// @Values: 0:Disabled, 1:Show free stack space
// @Bitmask: 0:Disabled, 1:Show free stack space, 2:Auto Reboot after 15sec
// @User: Advanced
GSCALAR(debug, "DEBUG", 0),
// @Param: BRD_SERIAL_NUM
// @DisplayName: Serial number of device
// @Description: Non-zero positive values will be shown on the CAN App Name string