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AP_HAL_ChibiOS: stash lr_thd in watchdog hardfault handler

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This commit is contained in:
Peter Barker 2020-03-19 10:13:44 +11:00 committed by Andrew Tridgell
parent 97b07d9c84
commit a59c3670c8
3 changed files with 9 additions and 6 deletions
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1
libraries/AP_HAL/Util.h
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@ -72,6 +72,7 @@ public:
uint8_t fault_thd_prio;
uint32_t fault_addr;
uint32_t fault_icsr;
uint32_t fault_lr;
};
struct PersistentData persistent_data;

5
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -226,7 +226,7 @@ static void main_loop()
if (hal.util->was_watchdog_reset()) {
AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
const AP_HAL::Util::PersistentData &pd = last_persistent_data;
AP::logger().WriteCritical("WDOG", "TimeUS,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine,FL,FT,FA,FP,ICSR", "QbIIHHHHHIBI",
AP::logger().WriteCritical("WDOG", "TimeUS,Tsk,IE,IEC,MvMsg,MvCmd,SmLn,FL,FT,FA,FP,ICSR,LR", "QbIIHHHHHIBII",
AP_HAL::micros64(),
pd.scheduler_task,
pd.internal_errors,
@ -238,7 +238,8 @@ static void main_loop()
pd.fault_type,
pd.fault_addr,
pd.fault_thd_prio,
pd.fault_icsr);
pd.fault_icsr,
pd.fault_lr);
}
#endif // HAL_NO_LOGGING
#endif // IOMCU_FW

9
libraries/AP_HAL_ChibiOS/system.cpp
View File

@ -56,7 +56,7 @@ void NMI_Handler(void) { while (1); }
/*
save watchdog data for a hard fault
*/
static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr)
static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr)
{
#ifndef HAL_BOOTLOADER_BUILD
bool using_watchdog = AP_BoardConfig::watchdog_enabled();
@ -67,6 +67,7 @@ static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fa
pd.fault_addr = fault_addr;
pd.fault_thd_prio = chThdGetPriorityX();
pd.fault_icsr = SCB->ICSR;
pd.fault_lr = lr;
stm32_watchdog_save((uint32_t *)&hal.util->persistent_data, (sizeof(hal.util->persistent_data)+3)/4);
}
#endif
@ -98,7 +99,7 @@ void HardFault_Handler(void) {
(void)isFaultOnStacking;
(void)isFaultAddressValid;
save_fault_watchdog(__LINE__, faultType, faultAddress);
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
#ifdef HAL_GPIO_PIN_FAULT
while (true) {
@ -151,7 +152,7 @@ void UsageFault_Handler(void) {
(void)isUnalignedAccessFault;
(void)isDivideByZeroFault;
save_fault_watchdog(__LINE__, faultType, faultAddress);
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
//Cause debugger to stop. Ignored if no debugger is attached
while(1) {}
@ -183,7 +184,7 @@ void MemManage_Handler(void) {
(void)isExceptionStackingFault;
(void)isFaultAddressValid;
save_fault_watchdog(__LINE__, faultType, faultAddress);
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
while(1) {}
}