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AP_InternalError: resync for 4.0 update

This commit is contained in:
Andrew Tridgell 2020-05-11 15:56:07 +10:00
parent bdd7094d17
commit ebb528905d
2 changed files with 105 additions and 3 deletions
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76
libraries/AP_InternalError/AP_InternalError.cpp
View File

@ -7,7 +7,7 @@ extern const AP_HAL::HAL &hal;
// actually create the instance:
static AP_InternalError instance;
void AP_InternalError::error(const AP_InternalError::error_t e) {
void AP_InternalError::error(const AP_InternalError::error_t e, uint16_t line) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
switch (e) {
case AP_InternalError::error_t::watchdog_reset:
@ -20,11 +20,68 @@ void AP_InternalError::error(const AP_InternalError::error_t e) {
#endif
internal_errors |= uint32_t(e);
total_error_count++;
last_line = line;
hal.util->persistent_data.internal_errors = internal_errors;
hal.util->persistent_data.internal_error_count = total_error_count;
hal.util->persistent_data.internal_error_last_line = line;
}
void AP_InternalError::errors_as_string(uint8_t *buffer, const uint16_t len) const
{
static const char * const error_bit_descriptions[] {
"mapfailure", // logger_mapfailure
"miss_struct", // logger_missing_logstructure
"write_mssfmt", // logger_logwrite_missingfmt
"many_deletes", // logger_too_many_deletions
"bad_getfile", // logger_bad_getfilename
"unused1",
"flush_no_sem", // logger_flushing_without_sem
"bad_curr_blk", // logger_bad_current_block
"blkcnt_bad", // logger_blockcount_mismatch
"dq_failure", // logger_dequeue_failure
"cnstring_nan", // constraining_nan
"watchdog_rst", // watchdog_reset
"iomcu_reset",
"iomcu_fail",
"spi_fail",
"main_loop_stk", // main_loop_stuck
"gcs_bad_link", // gcs_bad_missionprotocol_link
"bitmask_range",
"gcs_offset",
"i2c_isr",
"flow_of_ctrl", // flow_of_control
"sfs_recursion", // switch_full_sector_recursion
"bad_rotation",
"stack_ovrflw", // stack_overflow
};
static_assert((1U<<(ARRAY_SIZE(error_bit_descriptions))) == uint32_t(AP_InternalError::error_t::__LAST__), "too few descriptions for bits");
buffer[0] = 0;
uint32_t buffer_used = 0;
for (uint8_t i=0; i<ARRAY_SIZE(error_bit_descriptions); i++) {
if (buffer_used >= len) {
break;
}
if (internal_errors & (1U<<i)) {
const char *format;
if (i == 0) {
format = "%s";
} else {
format = ",%s";
}
const size_t written = hal.util->snprintf((char*)&buffer[buffer_used],
len-buffer_used,
format,
error_bit_descriptions[i]);
if (written <= 0) {
break;
}
buffer_used += written;
}
}
}
namespace AP {
@ -34,3 +91,20 @@ AP_InternalError &internalerror()
}
};
// stack overflow hook for low level RTOS code, C binding
void AP_stack_overflow(const char *thread_name)
{
static bool done_stack_overflow;
INTERNAL_ERROR(AP_InternalError::error_t::stack_overflow);
if (!done_stack_overflow) {
// we don't want to record the thread name more than once, as
// first overflow can trigger a 2nd
strncpy(hal.util->persistent_data.thread_name4, thread_name, 4);
done_stack_overflow = true;
}
hal.util->persistent_data.fault_type = 42; // magic value
if (!hal.util->get_soft_armed()) {
AP_HAL::panic("stack overflow %s\n", thread_name);
}
}

32
libraries/AP_InternalError/AP_InternalError.h
View File

@ -32,6 +32,10 @@ public:
// of thing. Examples of what NOT to put in here - sd card
// filling up, bad input received from GCS, GPS unit was working
// and now is not.
// note that this map is an internal ArduPilot fixture and is
// prone to change at regular intervals. The meanings of these
// bits can change day-to-day.
enum class error_t { // Hex Decimal
logger_mapfailure = (1U << 0), // 0x00001 1
logger_missing_logstructure = (1U << 1), // 0x00002 2
@ -53,10 +57,26 @@ public:
bitmask_range = (1U << 17), // 0x20000 131072
gcs_offset = (1U << 18), // 0x40000 262144
i2c_isr = (1U << 19), // 0x80000 524288
flow_of_control = (1U << 20), // for generic we-should-never-get-here situations
flow_of_control = (1U << 20), //0x100000 1048576 for generic we-should-never-get-here situations
switch_full_sector_recursion= (1U << 21), //0x200000 2097152
bad_rotation = (1U << 22), //0x400000 4194304
stack_overflow = (1U << 23), //0x800000 8388608
__LAST__ = (1U << 24), // used only for sanity check
};
void error(const AP_InternalError::error_t error);
// if you've changed __LAST__ to be 32, then you will want to
// rejig the way we do sanity checks as we don't want to move to a
// 64-bit type for error_t:
static_assert(sizeof(error_t) == 4, "error_t should be 32-bit type");
uint16_t last_error_line() const { return last_line; }
void error(const AP_InternalError::error_t error, uint16_t line=0);
// fill buffer with a description of the exceptions present in
// internal errors. buffer will always be null-terminated.
void errors_as_string(uint8_t *buffer, uint16_t len) const;
uint32_t count() const { return total_error_count; }
// internal_errors - return mask of internal errors seen
@ -70,8 +90,16 @@ private:
uint32_t internal_errors;
uint32_t total_error_count;
uint16_t last_line;
};
namespace AP {
AP_InternalError &internalerror();
};
extern "C" {
void AP_stack_overflow(const char *thread_name);
}
#define INTERNAL_ERROR(error_number) \
AP::internalerror().error(error_number, __LINE__);