HAL_ChibiOS: added ability to restore safety state on watchdog reset

# Conflicts:
#	libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
This commit is contained in:
Andrew Tridgell 2019-04-20 13:59:39 +10:00 committed by Randy Mackay
parent 92f12deb51
commit 4edd270bd9
6 changed files with 92 additions and 1 deletions

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@ -20,6 +20,7 @@
#include <AP_HAL/utility/RingBuffer.h>
#include "GPIO.h"
#include "hwdef/common/stm32_util.h"
#include "hwdef/common/watchdog.h"
#if HAL_USE_PWM == TRUE
@ -1330,9 +1331,14 @@ AP_HAL::Util::safety_state RCOutput::_safety_switch_state(void)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
return iomcu.get_safety_switch_state();
safety_state = iomcu.get_safety_switch_state();
}
#endif
if (safety_state == AP_HAL::Util::SAFETY_ARMED) {
stm32_set_backup_safety_state(false);
} else if (safety_state == AP_HAL::Util::SAFETY_DISARMED) {
stm32_set_backup_safety_state(true);
}
return safety_state;
}

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@ -64,6 +64,11 @@ public:
// return true if the reason for the reboot was a watchdog reset
bool was_watchdog_reset() const override { return stm32_was_watchdog_reset(); }
// return true if safety was off and this was a watchdog reset
bool was_watchdog_safety_off() const override {
return stm32_was_watchdog_reset() && stm32_get_boot_backup_safety_state() == false;
}
private:
#ifdef HAL_PWM_ALARM
struct ToneAlarmPwmGroup {

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@ -252,6 +252,29 @@ void set_fast_reboot(enum rtc_boot_magic v)
set_rtc_backup0(v);
}
// get RTC backup register 1
uint32_t get_rtc_backup1(void)
{
return RTC->BKP1R;
}
// set RTC backup register 1
void set_rtc_backup1(uint32_t v)
{
if ((RCC->BDCR & RCC_BDCR_RTCEN) == 0) {
RCC->BDCR |= STM32_RTCSEL;
RCC->BDCR |= RCC_BDCR_RTCEN;
}
#ifdef PWR_CR_DBP
PWR->CR |= PWR_CR_DBP;
#else
PWR->CR1 |= PWR_CR1_DBP;
#endif
RTC->BKP1R = v;
}
#endif //NO_FASTBOOT
/*
enable peripheral power if needed This is done late to prevent
problems with CTS causing SiK radios to stay in the bootloader. A

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@ -79,6 +79,12 @@ void malloc_init(void);
iomode_t palReadLineMode(ioline_t line);
#endif
// get RTC backup register 1
uint32_t get_rtc_backup1(void);
// set RTC backup register 1
void set_rtc_backup1(uint32_t v);
#ifdef __cplusplus
}
#endif

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@ -4,6 +4,7 @@
#include "hal.h"
#include "watchdog.h"
#include "stm32_util.h"
#ifndef IWDG_BASE
#if defined(STM32H7)
@ -53,6 +54,7 @@ typedef struct
static bool was_watchdog_reset;
static bool watchdog_enabled;
static bool boot_safety_state;
/*
setup the watchdog
@ -85,6 +87,7 @@ void stm32_watchdog_save_reason(void)
{
if (WDG_RESET_STATUS & WDG_RESET_IS_IWDG) {
was_watchdog_reset = true;
boot_safety_state = stm32_get_backup_safety_state();
}
}
@ -104,3 +107,35 @@ bool stm32_was_watchdog_reset(void)
return was_watchdog_reset;
}
/*
set the safety state in backup register
This is stored so that the safety state can be restored after a
watchdog reset
*/
void stm32_set_backup_safety_state(bool safety_on)
{
uint32_t v = get_rtc_backup1();
uint32_t v2 = safety_on?(v|1):(v&~1);
if (v != v2) {
set_rtc_backup1(v2);
}
}
/*
get the safety state in backup register
return true if safety is marked as safety on
*/
bool stm32_get_backup_safety_state(void)
{
uint32_t v = get_rtc_backup1();
return (v&1) != 0;
}
/*
get the safety state in backup register from initial boot
*/
bool stm32_get_boot_backup_safety_state(void)
{
return boot_safety_state;
}

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@ -29,6 +29,22 @@ void stm32_watchdog_save_reason(void);
*/
void stm32_watchdog_clear_reason(void);
/*
set the safety state in backup register
*/
void stm32_set_backup_safety_state(bool safety_on);
/*
get the safety state in backup register
return true if safety is marked as safety on
*/
bool stm32_get_backup_safety_state(void);
/*
get the safety state in backup register from initial boot
*/
bool stm32_get_boot_backup_safety_state(void);
#ifdef __cplusplus
}
#endif