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AP_HAL_ChibiOS: add support for early initialisation of WATCHDOG

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This is needed for Ardupilot Vehicle builds running on AP_Periph bootloaders
This commit is contained in:
bugobliterator 2023-11-15 15:41:27 +11:00 committed by Andrew Tridgell
parent 8ddfa02575
commit bea8b25c5d
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
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@ -268,10 +268,12 @@ static void main_loop()
#ifdef IOMCU_FW
stm32_watchdog_init();
#elif !defined(HAL_BOOTLOADER_BUILD)
#if !defined(HAL_EARLY_WATCHDOG_INIT)
// setup watchdog to reset if main loop stops
if (AP_BoardConfig::watchdog_enabled()) {
stm32_watchdog_init();
}
#endif
if (hal.util->was_watchdog_reset()) {
INTERNAL_ERROR(AP_InternalError::error_t::watchdog_reset);
@ -314,6 +316,10 @@ static void main_loop()
void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
{
#if defined(HAL_EARLY_WATCHDOG_INIT) && !defined(DISABLE_WATCHDOG)
stm32_watchdog_init();
stm32_watchdog_pat();
#endif
/*
* System initializations.
* - ChibiOS HAL initialization, this also initializes the configured device drivers