Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: use BRD_OPTIONS to enable watchdog

This commit is contained in:
Andrew Tridgell 2019-04-11 18:25:51 +10:00
parent 288569e156
commit 272c277056
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -27,6 +27,7 @@
#include "hwdef/common/usbcfg.h"
#include "hwdef/common/stm32_util.h"
#include "hwdef/common/watchdog.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <hwdef.h>
@ -203,7 +204,10 @@ static void main_loop()
chThdSetPriority(APM_MAIN_PRIORITY);
// setup watchdog to reset if main loop stops
stm32_watchdog_init();
bool using_watchdog = AP_BoardConfig::watchdog_enabled();
if (using_watchdog) {
stm32_watchdog_init();
}
while (true) {
g_callbacks->loop();
@ -221,7 +225,9 @@ static void main_loop()
hal.scheduler->delay_microseconds(50);
}
#endif
stm32_watchdog_pat();
if (using_watchdog) {
stm32_watchdog_pat();
}
}
thread_running = false;
}