From 5afabf7bfb206c5bf4120bf69d741ee4b13b97ad Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 31 Oct 2021 21:41:05 +1100
Subject: [PATCH] HAL_CbibiOS: get crash dump info for main thread lockups

---
 libraries/AP_HAL_ChibiOS/Scheduler.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 60d134581c..63f44a09e2 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -443,6 +443,17 @@ void Scheduler::_monitor_thread(void *arg)
             INTERNAL_ERROR(AP_InternalError::error_t::main_loop_stuck);
         }
 
+#if AP_CRASHDUMP_ENABLED
+        if (loop_delay >= 1800 && using_watchdog) {
+            // we are about to watchdog, better to trigger a hardfault
+            // now and get a crash dump file
+            void *ptr = (void*)0xE000FFFF;
+            typedef void (*fptr)();
+            fptr gptr = (fptr) (void *)ptr;
+            gptr();
+        }
+#endif
+
 #if HAL_LOGGING_ENABLED
     if (log_wd_counter++ == 10 && hal.util->was_watchdog_reset()) {
         log_wd_counter = 0;