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HAL_ChibiOS: fixed SemLine data in WDOG msg 

semline was being overwritten in the setup() call
This commit is contained in:
Andrew Tridgell 2019-07-14 19:09:16 +10:00
parent da3602b90d
commit 2d5e4dcfa2
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
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@ -159,6 +159,8 @@ thread_t* get_main_thread()
static AP_HAL::HAL::Callbacks* g_callbacks; static AP_HAL::HAL::Callbacks* g_callbacks;
static AP_HAL::Util::PersistentData last_persistent_data;
static void main_loop() static void main_loop()
{ {
daemon_task = chThdGetSelfX(); daemon_task = chThdGetSelfX();
@ -200,6 +202,7 @@ static void main_loop()
if (stm32_was_watchdog_reset()) { if (stm32_was_watchdog_reset()) {
// load saved watchdog data // load saved watchdog data
stm32_watchdog_load((uint32_t *)&utilInstance.persistent_data, (sizeof(utilInstance.persistent_data)+3)/4); stm32_watchdog_load((uint32_t *)&utilInstance.persistent_data, (sizeof(utilInstance.persistent_data)+3)/4);
last_persistent_data = utilInstance.persistent_data;
} }
schedulerInstance.hal_initialized(); schedulerInstance.hal_initialized();
@ -216,7 +219,7 @@ static void main_loop()
if (hal.util->was_watchdog_reset()) { if (hal.util->was_watchdog_reset()) {
AP::internalerror().error(AP_InternalError::error_t::watchdog_reset); AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data; const AP_HAL::Util::PersistentData &pd = last_persistent_data;
AP::logger().WriteCritical("WDOG", "TimeUS,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine", "QbIIHHH", AP::logger().WriteCritical("WDOG", "TimeUS,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine", "QbIIHHH",
AP_HAL::micros64(), AP_HAL::micros64(),
pd.scheduler_task, pd.scheduler_task,