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AP_HAL_ChibiOS: prevent Periph bricking problem when paniccing early

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if Periph panics before we mark the scheduler as initialised then we don't watchdog, which we really need to do on periph nodes so they can be re-flashed conveniently.
This commit is contained in:
Peter Barker 2023-08-16 12:18:52 +10:00 committed by Andrew Tridgell
parent 4d3e7bd3da
commit 7273c8416a
2 changed files with 16 additions and 0 deletions
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9
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -79,6 +79,13 @@ THD_WORKING_AREA(_storage_thread_wa, STORAGE_THD_WA_SIZE);
THD_WORKING_AREA(_monitor_thread_wa, MONITOR_THD_WA_SIZE);
#endif
// while the vehicle is being initialised we expect there to be random
// delays which may exceed the watchdog timeout. By default, We pat
// the watchdog in the timer thread during setup to avoid the watchdog:
#ifndef AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED
#define AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED 1
#endif
Scheduler::Scheduler()
{
}
@ -372,10 +379,12 @@ void Scheduler::_rcout_thread(void *arg)
*/
bool Scheduler::in_expected_delay(void) const
{
#if AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED
if (!_initialized) {
// until setup() is complete we expect delays
return true;
}
#endif
if (expect_delay_start != 0) {
uint32_t now = AP_HAL::millis();
if (now - expect_delay_start <= expect_delay_length) {

7
libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
View File

@ -328,3 +328,10 @@
#ifndef HAL_BOARD_TERRAIN_DIRECTORY
#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
#endif
// for boards other than AP_Periph we are always expecting delays when
// not initialised. We can't afford that on AP_Periph as you may end
// up with a bricked node if you write a bad firmware to it.
#ifndef AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED
#define AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED 0
#endif