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AP_Periph: added magic FLASH_BOOTLOADER=42/43 values

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when FLASH_BOOTLOADER=42 we will enter into a lockup loop, which will
trigger a watchdog. This is useful for testing watchdog support
This commit is contained in:
Andrew Tridgell 2020-11-26 15:10:27 +11:00
parent 5e81fadf13
commit d586a2d853
1 changed files with 18 additions and 0 deletions
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18
Tools/AP_Periph/can.cpp
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@ -902,7 +902,23 @@ static void process1HzTasks(uint64_t timestamp_usec)
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
if (periph.g.flash_bootloader.get()) {
const uint8_t flash_bl = periph.g.flash_bootloader.get();
periph.g.flash_bootloader.set_and_save_ifchanged(0);
if (flash_bl == 42) {
// magic developer value to test watchdog support with main loop lockup
while (true) {
can_printf("entering lockup\n");
hal.scheduler->delay(100);
}
}
if (flash_bl == 43) {
// magic developer value to test watchdog support with hard fault
can_printf("entering fault\n");
void *foo = (void*)0xE000ED38;
typedef void (*fptr)();
fptr gptr = (fptr) (void *) foo;
gptr();
}
hal.scheduler->delay(1000);
AP_HAL::Util::FlashBootloader res = hal.util->flash_bootloader();
switch (res) {
@ -1044,6 +1060,8 @@ void AP_Periph_FW::can_start()
PreferredNodeID = g.can_node;
}
periph.g.flash_bootloader.set_and_save_ifchanged(0);
can_iface.init(1000000, AP_HAL::CANIface::NormalMode);
canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool),