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AP_IOCMU: improved the safety button reset test code

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this allows testing of either watchdog or hard-fault reset
This commit is contained in:
Andrew Tridgell 2023-02-11 12:39:14 +11:00
parent 65fadfa2fe
commit d921c427b1
1 changed files with 36 additions and 12 deletions
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48
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
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@ -41,8 +41,13 @@ void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
// enable testing of IOMCU watchdog using safety switch /*
#define IOMCU_ENABLE_WATCHDOG_TEST 0 enable testing of IOMCU reset using safety switch
a value of 0 means normal operation
a value of 1 means test with watchdog
a value of 2 means test with reboot
*/
#define IOMCU_ENABLE_RESET_TEST 0
// pending events on the main thread // pending events on the main thread
enum ioevents { enum ioevents {
@ -707,21 +712,40 @@ void AP_IOMCU_FW::safety_update(void)
} }
} }
#if IOMCU_ENABLE_WATCHDOG_TEST #if IOMCU_ENABLE_RESET_TEST
if (safety_button_counter == 50) { {
// deliberate lockup of IOMCU on 5s button press, for testing // deliberate lockup of IOMCU on 5s button press, for testing
// watchdog // watchdog
while (true) { static uint32_t safety_test_counter;
hal.scheduler->delay(50); static bool should_lockup;
palToggleLine(HAL_GPIO_PIN_SAFETY_LED); if (palReadLine(HAL_GPIO_PIN_SAFETY_INPUT)) {
if (palReadLine(HAL_GPIO_PIN_SAFETY_INPUT)) { safety_test_counter++;
// only trigger watchdog on button release, so we } else {
// don't end up stuck in the bootloader safety_test_counter = 0;
stm32_watchdog_pat(); }
if (safety_test_counter == 50) {
should_lockup = true;
}
// wait for lockup for safety to be released so we don't end
// up in the bootloader
if (should_lockup && palReadLine(HAL_GPIO_PIN_SAFETY_INPUT) == 0) {
#if IOMCU_ENABLE_RESET_TEST == 1
// lockup with watchdog
while (true) {
hal.scheduler->delay(50);
palToggleLine(HAL_GPIO_PIN_SAFETY_LED);
} }
#else
// hard fault to simulate power reset or software fault
void *foo = (void*)0xE000ED38;
typedef void (*fptr)();
fptr gptr = (fptr) (void *) foo;
gptr();
while (true) {}
#endif
} }
} }
#endif #endif // IOMCU_ENABLE_RESET_TEST
led_counter = (led_counter+1) % 16; led_counter = (led_counter+1) % 16;
const uint16_t led_pattern = reg_status.flag_safety_off?0xFFFF:0x5500; const uint16_t led_pattern = reg_status.flag_safety_off?0xFFFF:0x5500;