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HAL_ChibiOS: log WDOG message once a second

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this copes with delayed mounting of the microSD, making it much more
likely we log the critical data
This commit is contained in:
Andrew Tridgell 2020-04-28 16:54:56 +10:00
parent 7d6e5fa8a5
commit 0ef66659ce
2 changed files with 27 additions and 16 deletions
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16
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -223,22 +223,6 @@ static void main_loop()
#ifndef HAL_NO_LOGGING
if (hal.util->was_watchdog_reset()) {
AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
const AP_HAL::Util::PersistentData &pd = hal.util->last_persistent_data;
AP::logger().WriteCritical("WDOG", "TimeUS,Tsk,IE,IEC,MvMsg,MvCmd,SmLn,FL,FT,FA,FP,ICSR,LR,TN", "QbIIHHHHHIBIIn",
AP_HAL::micros64(),
pd.scheduler_task,
pd.internal_errors,
pd.internal_error_count,
pd.last_mavlink_msgid,
pd.last_mavlink_cmd,
pd.semaphore_line,
pd.fault_line,
pd.fault_type,
pd.fault_addr,
pd.fault_thd_prio,
pd.fault_icsr,
pd.fault_lr,
pd.thread_name4);
}
#endif // HAL_NO_LOGGING
#endif // IOMCU_FW

27
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -352,6 +352,9 @@ void Scheduler::_monitor_thread(void *arg)
sched->delay(100);
}
bool using_watchdog = AP_BoardConfig::watchdog_enabled();
#ifndef HAL_NO_LOGGING
uint8_t log_wd_counter = 0;
#endif
while (true) {
sched->delay(100);
@ -382,6 +385,30 @@ void Scheduler::_monitor_thread(void *arg)
// at 500ms we declare an internal error
AP::internalerror().error(AP_InternalError::error_t::main_loop_stuck);
}
#ifndef HAL_NO_LOGGING
if (log_wd_counter++ == 10 && hal.util->was_watchdog_reset()) {
log_wd_counter = 0;
// log watchdog message once a second
const AP_HAL::Util::PersistentData &pd = hal.util->last_persistent_data;
AP::logger().WriteCritical("WDOG", "TimeUS,Tsk,IE,IEC,MvMsg,MvCmd,SmLn,FL,FT,FA,FP,ICSR,LR,TN", "QbIIHHHHHIBIIn",
AP_HAL::micros64(),
pd.scheduler_task,
pd.internal_errors,
pd.internal_error_count,
pd.last_mavlink_msgid,
pd.last_mavlink_cmd,
pd.semaphore_line,
pd.fault_line,
pd.fault_type,
pd.fault_addr,
pd.fault_thd_prio,
pd.fault_icsr,
pd.fault_lr,
pd.thread_name4);
}
#endif // HAL_NO_LOGGING
}
}
#endif // HAL_NO_MONITOR_THREAD