mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
#include "AP_InternalError.h"
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#include <AP_BoardConfig/AP_BoardConfig.h>
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extern const AP_HAL::HAL &hal;
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// actually create the instance:
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static AP_InternalError instance;
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void AP_InternalError::error(const AP_InternalError::error_t e, uint16_t line) {
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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switch (e) {
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case AP_InternalError::error_t::watchdog_reset:
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case AP_InternalError::error_t::main_loop_stuck:
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// don't panic on these to facilitate watchdog testing
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break;
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default:
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AP_HAL::panic("internal error %u", unsigned(e));
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}
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#endif
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internal_errors |= uint32_t(e);
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total_error_count++;
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last_line = line;
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hal.util->persistent_data.internal_errors = internal_errors;
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hal.util->persistent_data.internal_error_count = total_error_count;
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hal.util->persistent_data.internal_error_last_line = line;
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}
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namespace AP {
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AP_InternalError &internalerror()
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{
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return instance;
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}
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};
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// stack overflow hook for low level RTOS code, C binding
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void AP_stack_overflow(const char *thread_name)
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{
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static bool done_stack_overflow;
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INTERNAL_ERROR(AP_InternalError::error_t::stack_overflow);
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if (!done_stack_overflow) {
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// we don't want to record the thread name more than once, as
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// first overflow can trigger a 2nd
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strncpy(hal.util->persistent_data.thread_name4, thread_name, 4);
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done_stack_overflow = true;
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}
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hal.util->persistent_data.fault_type = 42; // magic value
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if (!hal.util->get_soft_armed()) {
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AP_HAL::panic("stack overflow %s\n", thread_name);
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}
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}
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