mirror of https://github.com/ArduPilot/ardupilot
137 lines
4.3 KiB
C++
137 lines
4.3 KiB
C++
#include "AP_InternalError.h"
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <stdio.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 && defined(HAL_DEBUG_BUILD)
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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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case AP_InternalError::error_t::params_restored:
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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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char buffer[50];
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AP::internalerror().error_to_string(buffer, ARRAY_SIZE(buffer), e);
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AP_HAL::panic("AP_InternalError::error_t::%s", buffer);
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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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static const char * const error_bit_descriptions[] {
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"mapfailure", // logger_mapfailure
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"miss_struct", // logger_missing_logstructure
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"write_mssfmt", // logger_logwrite_missingfmt
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"many_deletes", // logger_too_many_deletions
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"bad_getfile", // logger_bad_getfilename
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"panic",
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"flush_no_sem", // logger_flushing_without_sem
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"bad_curr_blk", // logger_bad_current_block
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"blkcnt_bad", // logger_blockcount_mismatch
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"dq_failure", // logger_dequeue_failure
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"cnstring_nan", // constraining_nan
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"watchdog_rst", // watchdog_reset
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"iomcu_reset",
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"iomcu_fail",
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"spi_fail",
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"main_loop_stk", // main_loop_stuck
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"gcs_bad_link", // gcs_bad_missionprotocol_link
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"bitmask_range",
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"gcs_offset",
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"i2c_isr",
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"flow_of_ctrl", // flow_of_control
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"sfs_recursion", // switch_full_sector_recursion
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"bad_rotation",
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"stack_ovrflw", // stack_overflow
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"imu_reset", // imu_reset
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"gpio_isr",
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"mem_guard",
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"dma_fail",
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"params_restored",
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"invalid arguments",
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};
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static_assert((1U<<(ARRAY_SIZE(error_bit_descriptions))) == uint32_t(AP_InternalError::error_t::__LAST__), "too few descriptions for bits");
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void AP_InternalError::error_to_string(char *buffer, const uint16_t len, error_t error_code) const
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{
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uint32_t temp = log2f(int(error_code));
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strncpy(buffer, error_bit_descriptions[temp], len - 1);
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}
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void AP_InternalError::errors_as_string(uint8_t *buffer, const uint16_t len) const
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{
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buffer[0] = 0;
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uint32_t buffer_used = 0;
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for (uint8_t i=0; i<ARRAY_SIZE(error_bit_descriptions); i++) {
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if (buffer_used >= len) {
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break;
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}
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if (internal_errors & (1U<<i)) {
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const char *format;
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if (buffer_used == 0) {
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format = "%s";
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} else {
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format = ",%s";
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}
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const size_t written = hal.util->snprintf((char*)&buffer[buffer_used],
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len-buffer_used,
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format,
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error_bit_descriptions[i]);
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if (written <= 0) {
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break;
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}
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buffer_used += written;
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}
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}
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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_noterm(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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// hook for memory guard errors with --enable-memory-guard
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void AP_memory_guard_error(uint32_t size)
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{
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INTERNAL_ERROR(AP_InternalError::error_t::mem_guard);
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if (!hal.util->get_soft_armed()) {
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::printf("memory guard error size=%u\n", unsigned(size));
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AP_HAL::panic("memory guard size=%u\n", unsigned(size));
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}
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}
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