mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: support external watchdog gpio
Co-authored-by: Randy Mackay <rmackay9@yahoo.com> optional support to toggle GPIO pin at 10hz
This commit is contained in:
parent
cce16c9ada
commit
7b60ac7afa
|
@ -764,8 +764,23 @@ void Scheduler::watchdog_pat(void)
|
|||
{
|
||||
stm32_watchdog_pat();
|
||||
last_watchdog_pat_ms = AP_HAL::millis();
|
||||
#if defined(HAL_GPIO_PIN_EXT_WDOG)
|
||||
ext_watchdog_pat(last_watchdog_pat_ms);
|
||||
#endif
|
||||
}
|
||||
|
||||
#if defined(HAL_GPIO_PIN_EXT_WDOG)
|
||||
// toggle the external watchdog gpio pin
|
||||
void Scheduler::ext_watchdog_pat(uint32_t now_ms)
|
||||
{
|
||||
// toggle watchdog GPIO every WDI_OUT_INTERVAL_TIME_MS
|
||||
if ((now_ms - last_ext_watchdog_ms) >= EXT_WDOG_INTERVAL_MS) {
|
||||
palToggleLine(HAL_GPIO_PIN_EXT_WDOG);
|
||||
last_ext_watchdog_ms = now_ms;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
|
||||
/*
|
||||
check we have enough stack free on all threads and the ISR stack
|
||||
|
|
|
@ -193,5 +193,11 @@ private:
|
|||
|
||||
// check for free stack space
|
||||
void check_stack_free(void);
|
||||
|
||||
#if defined(HAL_GPIO_PIN_EXT_WDOG)
|
||||
// external watchdog GPIO support
|
||||
void ext_watchdog_pat(uint32_t now_ms);
|
||||
uint32_t last_ext_watchdog_ms;
|
||||
#endif
|
||||
};
|
||||
#endif
|
||||
|
|
Loading…
Reference in New Issue