Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: fix build with boards without HAL_CRASH_SERIAL_PORT

Browse Source
This commit is contained in:
bugobliterator 2021-10-23 14:53:12 +05:30 committed by Andrew Tridgell
parent a6b2018cbf
commit 909f59f0e0
2 changed files with 42 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk
View File

@ -119,7 +119,11 @@ MCFLAGS := -mcpu=$(MCU)
ODFLAGS = -x --syms
ASFLAGS = $(MCFLAGS) $(ADEFS)
ASXFLAGS = $(MCFLAGS) $(ADEFS)
LIBCC_ASXFLAGS = $(ASXFLAGS) $(USE_FPU_OPT)
ifneq ($(USE_FPU),no)
LIBCC_ASXFLAGS = $(ASXFLAGS) $(USE_FPU_OPT)
else
LIBCC_ASXFLAGS = $(ASXFLAGS)
endif
CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) $(DEFS)
LIBCC_CFLAGS = $(CFLAGS)
CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) $(DEFS)

59
libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c
View File

@ -23,31 +23,32 @@
#include "stm32_util.h"
#include "flash.h"
static bool initialised = false;
#if defined(HAL_CRASH_DUMP_FLASHPAGE) || defined(HAL_CRASH_SERIAL_PORT)
CRASH_CATCHER_TEST_WRITEABLE CrashCatcherReturnCodes g_crashCatcherDumpEndReturn = CRASH_CATCHER_TRY_AGAIN;
static CrashCatcherInfo g_info;
#endif
#if defined(HAL_CRASH_DUMP_FLASHPAGE)
static bool do_flash_crash_dump = true;
static void* dump_start_address;
static void* dump_end_address;
#endif
static bool do_serial_crash_dump = false;
#ifndef HAL_CRASH_SERIAL_PORT_BAUD
#define HAL_CRASH_SERIAL_PORT_BAUD 921600
#endif
#if !defined(USART_ISR_RXNE)
#define USART_ISR_RXNE USART_ISR_RXNE_RXFNE
#endif
CRASH_CATCHER_TEST_WRITEABLE CrashCatcherReturnCodes g_crashCatcherDumpEndReturn = CRASH_CATCHER_TRY_AGAIN;
static CrashCatcherInfo g_info;
#if defined(HAL_CRASH_DUMP_FLASHPAGE)
static void CrashCatcher_DumpStartFlash(const CrashCatcherInfo* pInfo);
static CrashCatcherReturnCodes CrashCatcher_DumpEndFlash(void);
static void CrashCatcher_DumpMemoryFlash(const void* pvMemory, CrashCatcherElementSizes elementSize, size_t elementCount);
#endif // HAL_CRASH_DUMP_FLASHPAGE
#if defined(HAL_CRASH_SERIAL_PORT)
static bool uart_initialised = false;
static bool do_serial_crash_dump = false;
#ifndef HAL_CRASH_SERIAL_PORT_BAUD
#define HAL_CRASH_SERIAL_PORT_BAUD 921600
#endif // HAL_CRASH_SERIAL_PORT_BAUD
#if !defined(USART_ISR_RXNE)
#define USART_ISR_RXNE USART_ISR_RXNE_RXFNE
#endif
static void printString(const char* pString);
static void waitForUserInput(void);
static void dumpBytes(const uint8_t* pMemory, size_t elementCount);
@ -58,6 +59,7 @@ static void dumpWords(const uint32_t* pMemory, size_t elementCount);
static void CrashCatcher_DumpStartHex(const CrashCatcherInfo* pInfo);
static CrashCatcherReturnCodes CrashCatcher_DumpEndHex(void);
static void CrashCatcher_DumpMemoryHex(const void* pvMemory, CrashCatcherElementSizes elementSize, size_t elementCount);
#endif // HAL_CRASH_SERIAL_PORT
uint32_t stm32_crash_dump_size(void)
{
@ -91,11 +93,16 @@ const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void)
void CrashCatcher_DumpMemory(const void* pvMemory, CrashCatcherElementSizes elementSize, size_t elementCount)
{
(void)pvMemory;
(void)elementSize;
(void)elementCount;
#if defined(HAL_CRASH_SERIAL_PORT)
if (do_serial_crash_dump) {
CrashCatcher_DumpMemoryHex(pvMemory, elementSize, elementCount);
}
#endif
#if defined(HAL_CRASH_DUMP_FLASHPAGE)
else if (do_flash_crash_dump) {
if (do_flash_crash_dump) {
CrashCatcher_DumpMemoryFlash(pvMemory, elementSize, elementCount);
}
#endif
@ -108,12 +115,13 @@ void CrashCatcher_DumpStart(const CrashCatcherInfo* pInfo)
struct port_extctx* ctx = (struct port_extctx*)pInfo->sp;
FaultType faultType = (FaultType)__get_IPSR();
save_fault_watchdog(__LINE__, faultType, pInfo->sp, ctx->lr_thd);
#if defined(HAL_CRASH_SERIAL_PORT)
if (do_serial_crash_dump) {
CrashCatcher_DumpStartHex(pInfo);
}
#endif
#if defined(HAL_CRASH_DUMP_FLASHPAGE)
else if (do_flash_crash_dump) {
if (do_flash_crash_dump) {
CrashCatcher_DumpStartFlash(pInfo);
}
#endif
@ -121,16 +129,20 @@ void CrashCatcher_DumpStart(const CrashCatcherInfo* pInfo)
CrashCatcherReturnCodes CrashCatcher_DumpEnd(void)
{
#if defined(HAL_CRASH_SERIAL_PORT)
if (do_serial_crash_dump) {
return CrashCatcher_DumpEndHex();
}
#endif
#if defined(HAL_CRASH_DUMP_FLASHPAGE)
else if (do_flash_crash_dump) {
if (do_flash_crash_dump) {
return CrashCatcher_DumpEndFlash();
}
do_flash_crash_dump = false;
#endif
#if defined(HAL_CRASH_SERIAL_PORT)
do_serial_crash_dump = true;
#endif
return CRASH_CATCHER_TRY_AGAIN;
}
@ -286,6 +298,8 @@ static CrashCatcherReturnCodes CrashCatcher_DumpEndFlash(void)
See the License for the specific language governing permissions and
limitations under the License.
*/
#if defined(HAL_CRASH_SERIAL_PORT)
static void CrashCatcher_DumpStartHex(const CrashCatcherInfo* pInfo)
{
g_info = *pInfo;
@ -429,13 +443,13 @@ static void init_uarts(void)
u->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
initialised = true;
uart_initialised = true;
}
int CrashCatcher_getc(void);
int CrashCatcher_getc(void)
{
if (!initialised) {
if (!uart_initialised) {
init_uarts();
}
USART_TypeDef *u = HAL_CRASH_SERIAL_PORT;
@ -465,7 +479,7 @@ int CrashCatcher_getc(void)
void CrashCatcher_putc(int c);
void CrashCatcher_putc(int c)
{
if (!initialised) {
if (!uart_initialised) {
init_uarts();
}
USART_TypeDef *u = HAL_CRASH_SERIAL_PORT;
@ -483,3 +497,4 @@ void CrashCatcher_putc(int c)
stm32_watchdog_pat();
}
}
#endif // #if defined(HAL_CRASH_SERIAL_PORT)