HAL_ChibiOS: implement stack overflow hook

this needs C bindings to allow call from low level RTOS thread
switching code
This commit is contained in:
Andrew Tridgell 2020-04-28 16:34:52 +10:00
parent 77b8f88289
commit 18e88e0ea3
4 changed files with 35 additions and 3 deletions

View File

@ -730,6 +730,15 @@
} while(0)
#endif
/**
* @brief stack overflow event hook.
* @details This hook is invoked when we have a stack overflow on task switch
*/
#define CH_CFG_STACK_OVERFLOW_HOOK(tp) { \
extern void stack_overflow_hook(thread_t *tp); \
stack_overflow(tp); \
}
/**
* @brief Trace hook.
* @details This hook is invoked each time a new record is written in the

View File

@ -435,3 +435,13 @@ void system_halt_hook(void)
#endif
}
// hook for stack overflow
void stack_overflow(thread_t *tp)
{
extern void AP_stack_overflow(const char *thread_name);
AP_stack_overflow(tp->name);
// if we get here then we are armed and got a stack overflow. We
// will report an internal error and keep trying to fly. We are
// quite likely to crash anyway due to memory corruption. The
// watchdog data should record the thread name and fault type
}

View File

@ -107,6 +107,9 @@ void fault_printf(const char *fmt, ...);
// halt hook for printing panic message
void system_halt_hook(void);
// hook for stack overflow
void stack_overflow(thread_t *tp);
#ifdef __cplusplus
}
#endif

View File

@ -56,16 +56,26 @@ void NMI_Handler(void) { while (1); }
/*
save watchdog data for a hard fault
*/
static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr)
static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr)
{
#ifndef HAL_BOOTLOADER_BUILD
bool using_watchdog = AP_BoardConfig::watchdog_enabled();
if (using_watchdog) {
AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
pd.fault_line = line;
if (pd.fault_type == 0) {
// don't overwrite earlier fault
pd.fault_type = fault_type;
}
pd.fault_addr = fault_addr;
pd.fault_thd_prio = chThdGetPriorityX();
thread_t *tp = chThdGetSelfX();
if (tp) {
pd.fault_thd_prio = tp->prio;
// get first 4 bytes of the name, but only of first fault
if (tp->name && pd.thread_name4[0] == 0) {
strncpy(pd.thread_name4, tp->name, 4);
}
}
pd.fault_icsr = SCB->ICSR;
pd.fault_lr = lr;
stm32_watchdog_save((uint32_t *)&hal.util->persistent_data, (sizeof(hal.util->persistent_data)+3)/4);