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logger watchdog: avoid using printf from IRQ context

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PX4_ERR calls printf, which calls lib_sem_initialize, which calls sem_wait
This commit is contained in:
Beat Küng
2018-05-07 14:03:31 +02:00
committed by Lorenz Meier
parent b8a94bf8d4
commit 9b5df10631
1 changed files with 9 additions and 15 deletions
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src/modules/logger/watchdog.cpp
+9 -15
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@@ -77,7 +77,9 @@ bool watchdog_update(watchdog_data_t &watchdog_data)
watchdog_data.last_state = current_state; watchdog_data.last_state = current_state;
#if 0 // for debugging #if 0 // for debugging
// test code that prints the maximum time in ready state // test code that prints the maximum time in ready state.
// Note: we are in IRQ context, and thus are strictly speaking not allowed to use PX4_ERR -
// we do it anyway since it's only used for debugging.
static uint64_t max_time = 0; static uint64_t max_time = 0;
if (now - watchdog_data.ready_to_run_timestamp > max_time) { if (now - watchdog_data.ready_to_run_timestamp > max_time) {
@@ -95,26 +97,18 @@ bool watchdog_update(watchdog_data_t &watchdog_data)
#endif #endif
if (now - watchdog_data.ready_to_run_timestamp > 1_s) { if (now - watchdog_data.ready_to_run_timestamp > 1_s) {
PX4_ERR("watchdog triggered!"); // this will most likely not be logged due to dropouts // boost the priority to make sure the logger continues to write to the log.
// Note that we never restore the priority, to keep the logic simple and because it is
// boost the priority to make sure the logger continues to write to the log // an event that must not occur under normal circumstances (if it does, there's a bug
// somewhere)
sched_param param{}; sched_param param{};
param.sched_priority = SCHED_PRIORITY_MAX; param.sched_priority = SCHED_PRIORITY_MAX;
int ret;
if (system_load.tasks[watchdog_data.logger_main_task_index].valid) { if (system_load.tasks[watchdog_data.logger_main_task_index].valid) {
ret = sched_setparam(system_load.tasks[watchdog_data.logger_main_task_index].tcb->pid, &param); sched_setparam(system_load.tasks[watchdog_data.logger_main_task_index].tcb->pid, &param);
if (ret < 0) {
PX4_ERR("sched_reprioritize failed (%i)", ret);
}
} }
ret = sched_setparam(log_writer_task.tcb->pid, &param); sched_setparam(log_writer_task.tcb->pid, &param);
if (ret < 0) {
PX4_ERR("sched_reprioritize failed (%i)", ret);
}
// make sure we won't trigger again // make sure we won't trigger again
watchdog_data.logger_main_task_index = -1; watchdog_data.logger_main_task_index = -1;