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HAL_ChibiOS: fixed panic to output error every 500ms

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This commit is contained in:
Andrew Tridgell 2019-12-27 11:45:03 +11:00
parent a733690f80
commit 58e915155d
2 changed files with 10 additions and 2 deletions
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7
libraries/AP_HAL_ChibiOS/stdio.cpp
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@ -29,6 +29,9 @@
#include <ctype.h> #include <ctype.h>
#include "hwdef/common/stdio.h" #include "hwdef/common/stdio.h"
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if HAL_USE_SERIAL_USB == TRUE
#include <AP_HAL_ChibiOS/hwdef/common/usbcfg.h>
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -80,7 +83,9 @@ int __wrap_asprintf(char **strp, const char *fmt, ...)
int __wrap_vprintf(const char *fmt, va_list arg) int __wrap_vprintf(const char *fmt, va_list arg)
{ {
#ifdef HAL_STDOUT_SERIAL #ifdef HAL_STDOUT_SERIAL
return chvprintf ((BaseSequentialStream*)&HAL_STDOUT_SERIAL, fmt, arg); return chvprintf((BaseSequentialStream*)&HAL_STDOUT_SERIAL, fmt, arg);
#elif HAL_USE_SERIAL_USB == TRUE
return chvprintf((BaseSequentialStream*)&SDU1, fmt, arg);
#else #else
(void)arg; (void)arg;
return strlen(fmt); return strlen(fmt);

5
libraries/AP_HAL_ChibiOS/system.cpp
View File

@ -203,7 +203,10 @@ void panic(const char *errormsg, ...)
va_end(ap); va_end(ap);
hal.scheduler->delay_microseconds(10000); hal.scheduler->delay_microseconds(10000);
while(1) {} while (1) {
vprintf(errormsg, ap);
hal.scheduler->delay(500);
}
} }
uint32_t micros() uint32_t micros()