mirror of https://github.com/ArduPilot/ardupilot
113 lines
4.9 KiB
C++
113 lines
4.9 KiB
C++
/*
|
|
AP_InternalError holds information about "should not happen" errors
|
|
that have occured within ArduPilot. This covers things like code
|
|
paths that should not be crossed or pointers being null when they
|
|
really, really shouldn't be. It does NOT cover things like losing
|
|
GPS lock at inopportune times - that's just bad luck, not bad
|
|
programming.
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
class AP_InternalError {
|
|
public:
|
|
// internal error counters. Do not set these unless it is a
|
|
// *true* internal error - a thread locking up, a codepath which
|
|
// should never be taken, a code-sanity-check failing, that sort
|
|
// 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
|
|
logger_logwrite_missingfmt = (1U << 2), // 0x00004 4
|
|
logger_too_many_deletions = (1U << 3), // 0x00008 8
|
|
logger_bad_getfilename = (1U << 4), // 0x00010 16
|
|
panic = (1U << 5), // 0x00020 32
|
|
logger_flushing_without_sem = (1U << 6), // 0x00040 64
|
|
logger_bad_current_block = (1U << 7), // 0x00080 128
|
|
logger_blockcount_mismatch = (1U << 8), // 0x00100 256
|
|
logger_dequeue_failure = (1U << 9), // 0x00200 512
|
|
constraining_nan = (1U << 10), // 0x00400 1024
|
|
watchdog_reset = (1U << 11), // 0x00800 2048
|
|
iomcu_reset = (1U << 12), // 0x01000 4096
|
|
iomcu_fail = (1U << 13), // 0x02000 8192
|
|
spi_fail = (1U << 14), // 0x04000 16384
|
|
main_loop_stuck = (1U << 15), // 0x08000 32768
|
|
gcs_bad_missionprotocol_link= (1U << 16), // 0x10000 65536
|
|
bitmask_range = (1U << 17), // 0x20000 131072
|
|
gcs_offset = (1U << 18), // 0x40000 262144
|
|
i2c_isr = (1U << 19), // 0x80000 524288
|
|
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
|
|
imu_reset = (1U << 24), //0x1000000 16777216
|
|
gpio_isr = (1U << 25), //0x2000000 33554432
|
|
mem_guard = (1U << 26), //0x4000000 67108864
|
|
dma_fail = (1U << 27), //0x8000000 134217728
|
|
params_restored = (1U << 28), //0x10000000 268435456
|
|
invalid_arg_or_result = (1U << 29), //0x20000000 536870912
|
|
__LAST__ = (1U << 30), // used only for sanity check
|
|
};
|
|
|
|
// 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);
|
|
|
|
// 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
|
|
uint32_t errors() const {
|
|
return internal_errors;
|
|
}
|
|
|
|
private:
|
|
|
|
// bitmask holding errors from internal_error_t
|
|
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);
|
|
void AP_memory_guard_error(uint32_t size);
|
|
}
|
|
|
|
#define INTERNAL_ERROR(error_number) \
|
|
AP::internalerror().error(error_number, __LINE__);
|