From 5823a6b963ad963f60600600a590e47fd11fb7d5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Apr 2019 13:54:14 +1000
Subject: [PATCH] HAL_ChibiOS: use BRD_OPTIONS to enable watchdog

# Conflicts:
#	libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
---
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 16068e35de..87996b2e5d 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -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>
 
@@ -189,7 +190,10 @@ static THD_FUNCTION(main_loop,arg)
     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();
@@ -205,7 +209,9 @@ static THD_FUNCTION(main_loop,arg)
         if (!schedulerInstance.check_called_boost()) {
             hal.scheduler->delay_microseconds(250);
         }
-        stm32_watchdog_pat();
+        if (using_watchdog) {
+            stm32_watchdog_pat();
+        }
     }
     thread_running = false;
 }