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HAL_ChibiOS: fix build and serial crash dump for F4 based boards

This commit is contained in:
bugobliterator 2021-10-23 14:22:22 +05:30 committed by Andrew Tridgell
parent 7d199f3e51
commit a6b2018cbf
1 changed files with 34 additions and 1 deletions
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35
libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c
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@ -400,12 +400,32 @@ static void init_uarts(void)
USART_TypeDef *u = HAL_CRASH_SERIAL_PORT; USART_TypeDef *u = HAL_CRASH_SERIAL_PORT;
IRQ_DISABLE_HAL_CRASH_SERIAL_PORT(); IRQ_DISABLE_HAL_CRASH_SERIAL_PORT();
RCC_RESET_HAL_CRASH_SERIAL_PORT(); RCC_RESET_HAL_CRASH_SERIAL_PORT();
uint32_t fck = (uint32_t)(((HAL_CRASH_SERIAL_PORT_CLOCK + ((HAL_CRASH_SERIAL_PORT_BAUD)/2)) / HAL_CRASH_SERIAL_PORT_BAUD));
/* Baud rate setting.*/
uint32_t fck;
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
fck = (uint32_t)(((HAL_CRASH_SERIAL_PORT_CLOCK + ((HAL_CRASH_SERIAL_PORT_BAUD)/2)) / HAL_CRASH_SERIAL_PORT_BAUD));
#else
#if STM32_HAS_USART6
if ((u == USART1) || (u == USART6))
#else
if (u == USART1)
#endif
fck = (STM32_PCLK2+((HAL_CRASH_SERIAL_PORT_BAUD)/2)) / HAL_CRASH_SERIAL_PORT_BAUD;
else
fck = (STM32_PCLK1+((HAL_CRASH_SERIAL_PORT_BAUD)/2)) / HAL_CRASH_SERIAL_PORT_BAUD;
#endif //defined(STM32F7) || defined(STM32H7) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
u->BRR = fck; u->BRR = fck;
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
/* Resetting eventual pending status flags.*/ /* Resetting eventual pending status flags.*/
u->ICR = 0xFFFFFFFFU; u->ICR = 0xFFFFFFFFU;
#else
u->SR = 0;
(void)u->SR; /* SR reset step 1.*/
(void)u->DR; /* SR reset step 2.*/
#endif
u->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE; u->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
@ -423,8 +443,13 @@ int CrashCatcher_getc(void)
static const char* wait_for_string = "dump_crash_log"; static const char* wait_for_string = "dump_crash_log";
uint8_t curr_off = 0; uint8_t curr_off = 0;
while (true) { while (true) {
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
while (!(USART_ISR_RXNE & u->ISR)) {} while (!(USART_ISR_RXNE & u->ISR)) {}
uint8_t c = u->RDR; uint8_t c = u->RDR;
#else
while (!(USART_SR_RXNE & u->SR)) {}
uint8_t c = u->DR;
#endif
if (c == wait_for_string[curr_off]) { if (c == wait_for_string[curr_off]) {
curr_off++; curr_off++;
if (curr_off == strlen(wait_for_string)) { if (curr_off == strlen(wait_for_string)) {
@ -444,8 +469,16 @@ void CrashCatcher_putc(int c)
init_uarts(); init_uarts();
} }
USART_TypeDef *u = HAL_CRASH_SERIAL_PORT; USART_TypeDef *u = HAL_CRASH_SERIAL_PORT;
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
u->TDR = c & 0xFF; u->TDR = c & 0xFF;
#else
u->DR = c & 0xFF;
#endif
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
while (!(USART_ISR_TC & u->ISR)) { while (!(USART_ISR_TC & u->ISR)) {
#else
while (!(USART_SR_TC & u->SR)) {
#endif
// keep alive while dump is happening // keep alive while dump is happening
stm32_watchdog_pat(); stm32_watchdog_pat();
} }