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AP_HAL_ChibiOS: do not gate AP_CRASHDUMP_ENABLED on bootloader

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Also rename from HAL_CRASHDUMP_ENABLE

Removes code based on define rather than creating empty functions.  Makes it clearer what's going on in the callers.
This commit is contained in:
Peter Barker 2022-08-15 17:22:48 +10:00 committed by Andrew Tridgell
parent 680d158f59
commit 4ca0f35943
4 changed files with 7 additions and 14 deletions
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11
libraries/AP_HAL_ChibiOS/Util.cpp
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@ -722,10 +722,9 @@ void Util::log_stack_info(void)
#endif #endif
} }
#if !defined(HAL_BOOTLOADER_BUILD) #if AP_CRASHDUMP_ENABLED
size_t Util::last_crash_dump_size() const size_t Util::last_crash_dump_size() const
{ {
#if HAL_CRASHDUMP_ENABLE
// get dump size // get dump size
uint32_t size = stm32_crash_dump_size(); uint32_t size = stm32_crash_dump_size();
char* dump_start = (char*)stm32_crash_dump_addr(); char* dump_start = (char*)stm32_crash_dump_addr();
@ -738,22 +737,16 @@ size_t Util::last_crash_dump_size() const
size = stm32_crash_dump_max_size(); size = stm32_crash_dump_max_size();
} }
return size; return size;
#endif
return 0;
} }
void* Util::last_crash_dump_ptr() const void* Util::last_crash_dump_ptr() const
{ {
#if HAL_CRASHDUMP_ENABLE
if (last_crash_dump_size() == 0) { if (last_crash_dump_size() == 0) {
return nullptr; return nullptr;
} }
return (void*)stm32_crash_dump_addr(); return (void*)stm32_crash_dump_addr();
#else
return nullptr;
#endif
} }
#endif // HAL_BOOTLOADER_BUILD #endif // AP_CRASHDUMP_ENABLED
// set armed state // set armed state
void Util::set_soft_armed(const bool b) void Util::set_soft_armed(const bool b)

2
libraries/AP_HAL_ChibiOS/Util.h
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@ -146,7 +146,7 @@ private:
// log info on stack usage // log info on stack usage
void log_stack_info(void) override; void log_stack_info(void) override;
#if !defined(HAL_BOOTLOADER_BUILD) #if AP_CRASHDUMP_ENABLED
// get last crash dump // get last crash dump
size_t last_crash_dump_size() const override; size_t last_crash_dump_size() const override;
void* last_crash_dump_ptr() const override; void* last_crash_dump_ptr() const override;

4
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -972,10 +972,10 @@ def write_mcu_config(f):
if flash_size >= 2048 and not args.bootloader: if flash_size >= 2048 and not args.bootloader:
# lets pick a flash sector for Crash log # lets pick a flash sector for Crash log
f.write('#define HAL_CRASHDUMP_ENABLE 1\n') f.write('#define AP_CRASHDUMP_ENABLED 1\n')
env_vars['ENABLE_CRASHDUMP'] = 1 env_vars['ENABLE_CRASHDUMP'] = 1
else: else:
f.write('#define HAL_CRASHDUMP_ENABLE 0\n') f.write('#define AP_CRASHDUMP_ENABLED 0\n')
env_vars['ENABLE_CRASHDUMP'] = 0 env_vars['ENABLE_CRASHDUMP'] = 0
if args.bootloader: if args.bootloader:

4
libraries/AP_HAL_ChibiOS/system.cpp
View File

@ -23,7 +23,7 @@
#include "hwdef/common/watchdog.h" #include "hwdef/common/watchdog.h"
#include "hwdef/common/stm32_util.h" #include "hwdef/common/stm32_util.h"
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#if HAL_CRASHDUMP_ENABLE #if AP_CRASHDUMP_ENABLED
#include <CrashCatcher.h> #include <CrashCatcher.h>
#endif #endif
#include <ch.h> #include <ch.h>
@ -52,7 +52,7 @@ extern "C"
{ {
#define bkpt() __asm volatile("BKPT #0\n") #define bkpt() __asm volatile("BKPT #0\n")
#if !HAL_CRASHDUMP_ENABLE #if !AP_CRASHDUMP_ENABLED
// do legacy hardfault handling // do legacy hardfault handling
void HardFault_Handler(void); void HardFault_Handler(void);
void HardFault_Handler(void) { void HardFault_Handler(void) {