From 0ef66659cec28bb51fc87d94e3a556bd9002ccbb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 28 Apr 2020 16:54:56 +1000
Subject: [PATCH] HAL_ChibiOS: log WDOG message once a second

this copes with delayed mounting of the microSD, making it much more
likely we log the critical data
---
 .../AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp      | 16 -----------
 libraries/AP_HAL_ChibiOS/Scheduler.cpp        | 27 +++++++++++++++++++
 2 files changed, 27 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 647420fcba..5c5c701da2 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -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
diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 20e790a167..d8819f0ce8 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -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