Line data    Source code

       1             : #include "AP_InternalError_config.h"
       2             : 
       3             : #if AP_INTERNALERROR_ENABLED
       4             : 
       5             : #include "AP_InternalError.h"
       6             : 
       7             : #include <AP_HAL/HAL.h>
       8             : #include <AP_HAL/Util.h>
       9             : 
      10             : #include <stdio.h>
      11             : 
      12             : extern const AP_HAL::HAL &hal;
      13             : 
      14             : // actually create the instance:
      15             : static AP_InternalError instance;
      16             : 
      17          49 : void AP_InternalError::error(const AP_InternalError::error_t e, uint16_t line) {
      18             : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_DEBUG_BUILD)
      19           1 :     switch (e) {
      20           1 :     case AP_InternalError::error_t::watchdog_reset:
      21             :     case AP_InternalError::error_t::main_loop_stuck:
      22             :     case AP_InternalError::error_t::params_restored:
      23             :         // don't panic on these to facilitate watchdog testing
      24           1 :         break;
      25           0 :     default:
      26             :         char buffer[50];
      27           0 :         AP::internalerror().error_to_string(buffer, ARRAY_SIZE(buffer), e);
      28           0 :         AP_HAL::panic("AP_InternalError::error_t::%s", buffer);
      29             :     }
      30             : #endif
      31             : #if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
      32             : if (e == AP_InternalError::error_t::imu_reset) return;// don't worry about this for esp32
      33             : #endif
      34          49 :     internal_errors |= uint32_t(e);
      35          49 :     total_error_count++;
      36          49 :     last_line = line;
      37             : 
      38          49 :     hal.util->persistent_data.internal_errors = internal_errors;
      39          49 :     hal.util->persistent_data.internal_error_count = total_error_count;
      40          49 :     hal.util->persistent_data.internal_error_last_line = line;
      41          49 : }
      42             : 
      43             : static const char * const error_bit_descriptions[] {
      44             :     "mapfailure",  // logger_mapfailure
      45             :     "miss_struct",  // logger_missing_logstructure
      46             :     "write_mssfmt",  // logger_logwrite_missingfmt
      47             :     "many_deletes",  // logger_too_many_deletions
      48             :     "bad_getfile",  // logger_bad_getfilename
      49             :     "panic",
      50             :     "flush_no_sem",  // logger_flushing_without_sem
      51             :     "bad_curr_blk",  // logger_bad_current_block
      52             :     "blkcnt_bad",  // logger_blockcount_mismatch
      53             :     "dq_failure",  // logger_dequeue_failure
      54             :     "cnstring_nan",  // constraining_nan
      55             :     "watchdog_rst",  // watchdog_reset
      56             :     "iomcu_reset",
      57             :     "iomcu_fail",
      58             :     "spi_fail",
      59             :     "main_loop_stk",  // main_loop_stuck
      60             :     "gcs_bad_link",  // gcs_bad_missionprotocol_link
      61             :     "bitmask_range",
      62             :     "gcs_offset",
      63             :     "i2c_isr",
      64             :     "flow_of_ctrl",  // flow_of_control
      65             :     "sfs_recursion",  // switch_full_sector_recursion
      66             :     "bad_rotation",
      67             :     "stack_ovrflw",  // stack_overflow
      68             :     "imu_reset",  // imu_reset
      69             :     "gpio_isr",
      70             :     "mem_guard",
      71             :     "dma_fail",
      72             :     "params_restored",
      73             :     "invalid arguments",
      74             : };
      75             : 
      76             : static_assert((1U<<(ARRAY_SIZE(error_bit_descriptions))) == uint32_t(AP_InternalError::error_t::__LAST__), "too few descriptions for bits");
      77             : 
      78           0 : void AP_InternalError::error_to_string(char *buffer, const uint16_t len, error_t error_code) const
      79             : {
      80           0 :     uint32_t temp = log2f(int(error_code));
      81           0 :     strncpy(buffer, error_bit_descriptions[temp], len - 1);
      82           0 : }
      83             : 
      84          40 : void AP_InternalError::errors_as_string(uint8_t *buffer, const uint16_t len) const
      85             : {
      86          40 :     buffer[0] = 0;
      87          40 :     uint32_t buffer_used = 0;
      88          40 :     const char *format = "%s"; // no comma before the first item
      89        1240 :     for (uint8_t i=0; i<ARRAY_SIZE(error_bit_descriptions); i++) {
      90        1200 :         if (buffer_used >= len) {
      91           0 :             break;
      92             :         }
      93        1200 :         if (internal_errors & (1U<<i)) {
      94          40 :             const int written = hal.util->snprintf((char*)&buffer[buffer_used],
      95          40 :                                                       len-buffer_used,
      96             :                                                       format,
      97          40 :                                                       error_bit_descriptions[i]);
      98          40 :             format = ",%s"; // once we write something, need commas thereafter
      99             : 
     100          40 :             if (written < 0) {
     101           0 :                 break;
     102             :             }
     103          40 :             buffer_used += written;
     104             :         }
     105             :     }
     106          40 : }
     107             : 
     108             : namespace AP {
     109             : 
     110    44215519 : AP_InternalError &internalerror()
     111             : {
     112    44215519 :     return instance;
     113             : }
     114             : 
     115             : };
     116             : #endif  // AP_INTERNALERROR_ENABLED