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AP_HAL: move methods for stack overflow and memguard to AP_HAL/Util

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also add reboot on memory errors for iomcu
This commit is contained in:
bugobliterator 2025-02-27 11:07:11 +11:00 committed by Peter Barker
parent 6b668d0113
commit 679fa817e6
4 changed files with 53 additions and 0 deletions
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4
libraries/AP_HAL/AP_HAL_Boards.h
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@ -417,3 +417,7 @@
#endif
#define HAL_GPIO_LED_OFF (!HAL_GPIO_LED_ON)
#ifndef HAL_REBOOT_ON_MEMORY_ERRORS
#define HAL_REBOOT_ON_MEMORY_ERRORS defined(IOMCU_FW)
#endif

39
libraries/AP_HAL/Util.cpp
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@ -80,3 +80,42 @@ void AP_HAL::Util::set_soft_armed(const bool b)
}
}
}
extern const AP_HAL::HAL& hal;
#include <stdio.h>
// stack overflow hook for low level RTOS code, C binding
void AP_stack_overflow(const char *thread_name)
{
#if HAL_REBOOT_ON_MEMORY_ERRORS
(void)thread_name;
hal.scheduler->reboot(false);
#else
static bool done_stack_overflow;
INTERNAL_ERROR(AP_InternalError::error_t::stack_overflow);
if (!done_stack_overflow) {
// we don't want to record the thread name more than once, as
// first overflow can trigger a 2nd
strncpy_noterm(hal.util->persistent_data.thread_name4, thread_name, 4);
done_stack_overflow = true;
}
hal.util->persistent_data.fault_type = 42; // magic value
if (!hal.util->get_soft_armed()) {
AP_HAL::panic("stack overflow %s", thread_name);
}
#endif
}
// hook for memory guard errors with --enable-memory-guard
void AP_memory_guard_error(uint32_t size)
{
#if HAL_REBOOT_ON_MEMORY_ERRORS
(void)size;
hal.scheduler->reboot(false);
#else
INTERNAL_ERROR(AP_InternalError::error_t::mem_guard);
if (!hal.util->get_soft_armed()) {
::printf("memory guard error size=%u\n", unsigned(size));
AP_HAL::panic("memory guard size=%u", unsigned(size));
}
#endif
}

5
libraries/AP_HAL/Util.h
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@ -219,3 +219,8 @@ protected:
bool soft_armed = false;
uint32_t last_armed_change_ms;
};
extern "C" {
void AP_stack_overflow(const char *thread_name);
void AP_memory_guard_error(uint32_t size);
}

5
libraries/AP_HAL/system.cpp
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@ -1,4 +1,9 @@
#include "system.h"
#include "AP_HAL.h"
#include <AP_InternalError/AP_InternalError.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
uint16_t WEAK AP_HAL::millis16()
{