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AP_HAL_ChibiOS: remove convenience debug code based on new define 

bootloaders (at least the ones that need to fit into 16kB pages) don't really have the space for this sort of debug.

I figure if you're debugging a bootloader fault you probably have the know-how to get his information yourself based on the code now being excluded, or add it back in.
This commit is contained in:
Peter Barker 2023-02-25 16:03:27 +11:00 committed by Peter Barker
parent b287476cc6
commit d72d02ca47
2 changed files with 22 additions and 0 deletions
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10
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -3038,6 +3038,11 @@ def add_bootloader_defaults(f):
#ifndef HAL_GCS_ENABLED
#define HAL_GCS_ENABLED 0
#endif
// make diagnosing Faults (e.g. HardFault) harder, but save bytes:
#ifndef AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 0
#endif
''')
def add_iomcu_firmware_defaults(f):
@ -3065,6 +3070,11 @@ def add_iomcu_firmware_defaults(f):
#ifndef AP_VIDEOTX_ENABLED
#define AP_VIDEOTX_ENABLED 0
#endif
// make diagnosing Faults (e.g. HardFault) harder, but save bytes:
#ifndef AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 0
#endif
''')
def add_normal_firmware_defaults(f):

12
libraries/AP_HAL_ChibiOS/system.cpp
View File

@ -47,6 +47,12 @@ static_assert(HAL_EXPECTED_SYSCLOCK == STM32_HCLK, "unexpected STM32_HCLK value"
#endif
#endif
// debug variables chew up flash, but are handy if you've got a Fault and need
// easy access to the fault data iun the debugger:
#ifndef AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 1
#endif
extern const AP_HAL::HAL& hal;
extern "C"
{
@ -67,6 +73,7 @@ void HardFault_Handler(void) {
//For HardFault/BusFault this is the address that was accessed causing the error
uint32_t faultAddress = SCB->BFAR;
(void)faultAddress;
#if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
bool forced = SCB->HFSR & SCB_HFSR_FORCED_Msk;
(void)forced;
uint32_t cfsr = SCB->CFSR;
@ -83,6 +90,7 @@ void HardFault_Handler(void) {
(void)isFaultOnUnstacking;
(void)isFaultOnStacking;
(void)isFaultAddressValid;
#endif // #if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
@ -132,6 +140,7 @@ void UsageFault_Handler(void) {
FaultType faultType = (FaultType)__get_IPSR();
(void)faultType;
uint32_t faultAddress = SCB->BFAR;
#if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
//Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
bool isUndefinedInstructionFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 0) ? true : false);
@ -146,6 +155,7 @@ void UsageFault_Handler(void) {
(void)isNoCoprocessorFault;
(void)isUnalignedAccessFault;
(void)isDivideByZeroFault;
#endif // AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
@ -165,6 +175,7 @@ void MemManage_Handler(void) {
(void)faultType;
//For HardFault/BusFault this is the address that was accessed causing the error
uint32_t faultAddress = SCB->MMFAR;
#if AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
(void)faultAddress;
//Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
@ -178,6 +189,7 @@ void MemManage_Handler(void) {
(void)isExceptionUnstackingFault;
(void)isExceptionStackingFault;
(void)isFaultAddressValid;
#endif // AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);