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HAL_ChibiOS: disable fatal exceptions for DMA errors 

this zeros-watchdog was caused by a SPI DMA error on STM32F405:

  https://discuss.ardupilot.org/t/crash-with-4-2-0-beta-and-4-3-0-daily-bdshot/83297

we had incorrectly left these internal errors enabled when asserts
were not enabled. That led to a osalSysHalt()

without these we get an spi_fail internal error, caught by the
SPIDevice code
This commit is contained in:
Andrew Tridgell 2022-04-19 19:33:23 +10:00 committed by Randy Mackay
parent d44ad0a2a7
commit d75e0c7a1c
7 changed files with 25 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
View File

@ -37,6 +37,12 @@
// include generated config // include generated config
#include "hwdef.h" #include "hwdef.h"
#ifdef HAL_CHIBIOS_ENABLE_ASSERTS
#define STM32_DMA_ERROR_HOOK(devp) osalSysHalt("DMA failure")
#else
#define STM32_DMA_ERROR_HOOK(devp) do {} while(0)
#endif
#if defined(STM32F1) #if defined(STM32F1)
#include "stm32f1_mcuconf.h" #include "stm32f1_mcuconf.h"
#elif defined(STM32F3) #elif defined(STM32F3)

6
libraries/AP_HAL_ChibiOS/hwdef/common/stm32f1_mcuconf.h
View File

@ -113,7 +113,7 @@
#define STM32_I2C_I2C2_IRQ_PRIORITY 5 #define STM32_I2C_I2C2_IRQ_PRIORITY 5
#define STM32_I2C_I2C1_DMA_PRIORITY 3 #define STM32_I2C_I2C1_DMA_PRIORITY 3
#define STM32_I2C_I2C2_DMA_PRIORITY 3 #define STM32_I2C_I2C2_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") #define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
/* /*
* ICU driver system settings. * ICU driver system settings.
@ -154,7 +154,7 @@
#define STM32_SPI_SPI2_DMA_PRIORITY 1 #define STM32_SPI_SPI2_DMA_PRIORITY 1
#define STM32_SPI_SPI1_IRQ_PRIORITY 10 #define STM32_SPI_SPI1_IRQ_PRIORITY 10
#define STM32_SPI_SPI2_IRQ_PRIORITY 10 #define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure") #define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
/* /*
* ST driver system settings. * ST driver system settings.
@ -172,7 +172,7 @@
#define STM32_UART_USART1_DMA_PRIORITY 0 #define STM32_UART_USART1_DMA_PRIORITY 0
#define STM32_UART_USART2_DMA_PRIORITY 0 #define STM32_UART_USART2_DMA_PRIORITY 0
#define STM32_UART_USART3_DMA_PRIORITY 0 #define STM32_UART_USART3_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure") #define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
/* /*
* WDG driver system settings. * WDG driver system settings.

6
libraries/AP_HAL_ChibiOS/hwdef/common/stm32f3_mcuconf.h
View File

@ -127,7 +127,7 @@
#define STM32_I2C_I2C2_IRQ_PRIORITY 5 #define STM32_I2C_I2C2_IRQ_PRIORITY 5
#define STM32_I2C_I2C1_DMA_PRIORITY 3 #define STM32_I2C_I2C1_DMA_PRIORITY 3
#define STM32_I2C_I2C2_DMA_PRIORITY 3 #define STM32_I2C_I2C2_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") #define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
/* /*
* ICU driver system settings. * ICU driver system settings.
@ -168,7 +168,7 @@
#define STM32_SPI_SPI2_DMA_PRIORITY 1 #define STM32_SPI_SPI2_DMA_PRIORITY 1
#define STM32_SPI_SPI1_IRQ_PRIORITY 10 #define STM32_SPI_SPI1_IRQ_PRIORITY 10
#define STM32_SPI_SPI2_IRQ_PRIORITY 10 #define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure") #define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
/* /*
* ST driver system settings. * ST driver system settings.
@ -186,7 +186,7 @@
#define STM32_UART_USART1_DMA_PRIORITY 0 #define STM32_UART_USART1_DMA_PRIORITY 0
#define STM32_UART_USART2_DMA_PRIORITY 0 #define STM32_UART_USART2_DMA_PRIORITY 0
#define STM32_UART_USART3_DMA_PRIORITY 0 #define STM32_UART_USART3_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure") #define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
/* /*
* WDG driver system settings. * WDG driver system settings.

8
libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
View File

@ -389,7 +389,7 @@
#define STM32_I2C_I2C1_DMA_PRIORITY 3 #define STM32_I2C_I2C1_DMA_PRIORITY 3
#define STM32_I2C_I2C2_DMA_PRIORITY 3 #define STM32_I2C_I2C2_DMA_PRIORITY 3
#define STM32_I2C_I2C3_DMA_PRIORITY 3 #define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") #define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
/* /*
* I2S driver system settings. * I2S driver system settings.
@ -398,7 +398,7 @@
#define STM32_I2S_SPI3_IRQ_PRIORITY 10 #define STM32_I2S_SPI3_IRQ_PRIORITY 10
#define STM32_I2S_SPI2_DMA_PRIORITY 1 #define STM32_I2S_SPI2_DMA_PRIORITY 1
#define STM32_I2S_SPI3_DMA_PRIORITY 1 #define STM32_I2S_SPI3_DMA_PRIORITY 1
#define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure") #define STM32_I2S_DMA_ERROR_HOOK(i2sp) STM32_DMA_ERROR_HOOK(i2sp)
/* /*
* ICU driver system settings. * ICU driver system settings.
@ -485,7 +485,7 @@
#define STM32_SPI_SPI2_IRQ_PRIORITY 10 #define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_SPI3_IRQ_PRIORITY 10 #define STM32_SPI_SPI3_IRQ_PRIORITY 10
#define STM32_SPI_SPI4_IRQ_PRIORITY 10 #define STM32_SPI_SPI4_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure") #define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
/* /*
* ST driver system settings. * ST driver system settings.
@ -523,7 +523,7 @@
#define STM32_UART_UART4_DMA_PRIORITY 0 #define STM32_UART_UART4_DMA_PRIORITY 0
#define STM32_UART_UART5_DMA_PRIORITY 0 #define STM32_UART_UART5_DMA_PRIORITY 0
#define STM32_UART_USART6_DMA_PRIORITY 0 #define STM32_UART_USART6_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure") #define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
#define STM32_IRQ_UART1_PRIORITY 12 #define STM32_IRQ_UART1_PRIORITY 12
#define STM32_IRQ_UART2_PRIORITY 12 #define STM32_IRQ_UART2_PRIORITY 12

6
libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h
View File

@ -239,7 +239,7 @@
#define STM32_I2C_I2C2_DMA_PRIORITY 3 #define STM32_I2C_I2C2_DMA_PRIORITY 3
#define STM32_I2C_I2C3_DMA_PRIORITY 3 #define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_I2C4_DMA_PRIORITY 3 #define STM32_I2C_I2C4_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") #define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
/* /*
* SPI driver system settings. * SPI driver system settings.
@ -252,7 +252,7 @@
#define STM32_SPI_SPI2_IRQ_PRIORITY 10 #define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_SPI3_IRQ_PRIORITY 10 #define STM32_SPI_SPI3_IRQ_PRIORITY 10
#define STM32_SPI_SPI4_IRQ_PRIORITY 10 #define STM32_SPI_SPI4_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure") #define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
/* /*
* ST driver system settings. * ST driver system settings.
@ -276,7 +276,7 @@
#define STM32_UART_USART3_DMA_PRIORITY 0 #define STM32_UART_USART3_DMA_PRIORITY 0
#define STM32_UART_UART4_DMA_PRIORITY 0 #define STM32_UART_UART4_DMA_PRIORITY 0
#define STM32_UART_UART5_DMA_PRIORITY 0 #define STM32_UART_UART5_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure") #define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
/* /*
* USB driver system settings. * USB driver system settings.

6
libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
View File

@ -420,7 +420,7 @@
#define STM32_I2C_I2C2_DMA_PRIORITY 3 #define STM32_I2C_I2C2_DMA_PRIORITY 3
#define STM32_I2C_I2C3_DMA_PRIORITY 3 #define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_I2C4_DMA_PRIORITY 3 #define STM32_I2C_I2C4_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") #define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
/* /*
* ICU driver system settings. * ICU driver system settings.
@ -527,7 +527,7 @@
#define STM32_SPI_SPI4_IRQ_PRIORITY 10 #define STM32_SPI_SPI4_IRQ_PRIORITY 10
#define STM32_SPI_SPI5_IRQ_PRIORITY 10 #define STM32_SPI_SPI5_IRQ_PRIORITY 10
#define STM32_SPI_SPI6_IRQ_PRIORITY 10 #define STM32_SPI_SPI6_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure") #define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
/* /*
* ST driver system settings. * ST driver system settings.
@ -554,7 +554,7 @@
#define STM32_UART_USART6_DMA_PRIORITY 0 #define STM32_UART_USART6_DMA_PRIORITY 0
#define STM32_UART_UART7_DMA_PRIORITY 0 #define STM32_UART_UART7_DMA_PRIORITY 0
#define STM32_UART_UART8_DMA_PRIORITY 0 #define STM32_UART_UART8_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure") #define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
#define STM32_IRQ_LPUART1_PRIORITY 12 #define STM32_IRQ_LPUART1_PRIORITY 12

6
libraries/AP_HAL_ChibiOS/hwdef/common/stm32l4_mcuconf.h
View File

@ -220,7 +220,7 @@
#define STM32_I2C_I2C2_DMA_PRIORITY 3 #define STM32_I2C_I2C2_DMA_PRIORITY 3
#define STM32_I2C_I2C3_DMA_PRIORITY 3 #define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_I2C4_DMA_PRIORITY 3 #define STM32_I2C_I2C4_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") #define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
/* /*
* PWM driver system settings. * PWM driver system settings.
@ -266,7 +266,7 @@
#define STM32_SPI_SPI1_IRQ_PRIORITY 10 #define STM32_SPI_SPI1_IRQ_PRIORITY 10
#define STM32_SPI_SPI2_IRQ_PRIORITY 10 #define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_SPI3_IRQ_PRIORITY 10 #define STM32_SPI_SPI3_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure") #define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
/* /*
* ST driver system settings. * ST driver system settings.
@ -294,7 +294,7 @@
#define STM32_UART_USART3_DMA_PRIORITY 0 #define STM32_UART_USART3_DMA_PRIORITY 0
#define STM32_UART_UART4_DMA_PRIORITY 0 #define STM32_UART_UART4_DMA_PRIORITY 0
#define STM32_UART_UART5_DMA_PRIORITY 0 #define STM32_UART_UART5_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure") #define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
/* /*
* USB driver system settings. * USB driver system settings.