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AP_HAL_ChibiOS: remove calls to save_fault_watchdog if on bootloader

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This commit is contained in:
Peter Barker 2023-02-17 15:00:27 +11:00 committed by Peter Barker
parent dc803a5691
commit 21836d792a
3 changed files with 23 additions and 3 deletions
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7
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
View File

@ -16,6 +16,10 @@
#include "hal.h" #include "hal.h"
#ifndef AP_WATCHDOG_SAVE_FAULT_ENABLED
#define AP_WATCHDOG_SAVE_FAULT_ENABLED 1
#endif
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
@ -156,7 +160,10 @@ typedef enum {
} FaultType; } FaultType;
// Record information about a fault // Record information about a fault
#if AP_WATCHDOG_SAVE_FAULT_ENABLED
void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr); void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr);
#endif
/** /**
* Generates a block of random values, returns total values generated * Generates a block of random values, returns total values generated
* if nonblocking, for blocking returns if successful or not * if nonblocking, for blocking returns if successful or not

4
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -3066,6 +3066,10 @@ def add_bootloader_defaults(f):
#define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 0 #define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 0
#endif #endif
#ifndef AP_WATCHDOG_SAVE_FAULT_ENABLED
#define AP_WATCHDOG_SAVE_FAULT_ENABLED 0
#endif
// end AP_Bootloader defaults // end AP_Bootloader defaults
''') ''')

15
libraries/AP_HAL_ChibiOS/system.cpp
View File

@ -92,7 +92,9 @@ void HardFault_Handler(void) {
(void)isFaultAddressValid; (void)isFaultAddressValid;
#endif // #if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED #endif // #if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#if AP_WATCHDOG_SAVE_FAULT_ENABLED
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd); save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
#endif
#ifdef HAL_GPIO_PIN_FAULT #ifdef HAL_GPIO_PIN_FAULT
while (true) { while (true) {
@ -140,6 +142,7 @@ void UsageFault_Handler(void) {
FaultType faultType = (FaultType)__get_IPSR(); FaultType faultType = (FaultType)__get_IPSR();
(void)faultType; (void)faultType;
uint32_t faultAddress = SCB->BFAR; uint32_t faultAddress = SCB->BFAR;
(void)faultAddress;
#if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED #if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
//Flags about hardfault / busfault //Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference //See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
@ -157,7 +160,9 @@ void UsageFault_Handler(void) {
(void)isDivideByZeroFault; (void)isDivideByZeroFault;
#endif // AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED #endif // AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#if AP_WATCHDOG_SAVE_FAULT_ENABLED
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd); save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
#endif
//Cause debugger to stop. Ignored if no debugger is attached //Cause debugger to stop. Ignored if no debugger is attached
while(1) {} while(1) {}
@ -175,8 +180,8 @@ void MemManage_Handler(void) {
(void)faultType; (void)faultType;
//For HardFault/BusFault this is the address that was accessed causing the error //For HardFault/BusFault this is the address that was accessed causing the error
uint32_t faultAddress = SCB->MMFAR; uint32_t faultAddress = SCB->MMFAR;
#if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
(void)faultAddress; (void)faultAddress;
#if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
//Flags about hardfault / busfault //Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference //See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
bool isInstructionAccessViolation = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 0) ? true : false); bool isInstructionAccessViolation = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 0) ? true : false);
@ -191,7 +196,9 @@ void MemManage_Handler(void) {
(void)isFaultAddressValid; (void)isFaultAddressValid;
#endif // AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED #endif // AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#if AP_WATCHDOG_SAVE_FAULT_ENABLED
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd); save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
#endif
while(1) {} while(1) {}
} }
@ -214,12 +221,14 @@ void MemManage_Handler(void) {
HardFault_Handler(); HardFault_Handler();
} }
#endif #endif
#if AP_WATCHDOG_SAVE_FAULT_ENABLED
/* /*
save watchdog data for a hard fault save watchdog data for a hard fault
*/ */
void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr) 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(); bool using_watchdog = AP_BoardConfig::watchdog_enabled();
if (using_watchdog) { if (using_watchdog) {
AP_HAL::Util::PersistentData &pd = hal.util->persistent_data; AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
@ -241,8 +250,8 @@ void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_add
} }
stm32_watchdog_save((uint32_t *)&hal.util->persistent_data, (sizeof(hal.util->persistent_data)+3)/4); stm32_watchdog_save((uint32_t *)&hal.util->persistent_data, (sizeof(hal.util->persistent_data)+3)/4);
} }
#endif
} }
#endif // AP_WATCHDOG_SAVE_FAULT_ENABLED
void *__dso_handle; void *__dso_handle;