From 161288ef7153ec97ffeea575f8412e3bcfbaf820 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Wed, 24 Oct 2018 13:37:33 -0700
Subject: [PATCH] px4fmu-v4:use board_hardfault_init API
---
src/drivers/boards/px4fmu-v4/init.c | 143 ++--------------------------
1 file changed, 8 insertions(+), 135 deletions(-)
diff --git a/src/drivers/boards/px4fmu-v4/init.c b/src/drivers/boards/px4fmu-v4/init.c
index 6a99b5761e..977b19b6c7 100644
--- a/src/drivers/boards/px4fmu-v4/init.c
+++ b/src/drivers/boards/px4fmu-v4/init.c
@@ -77,8 +77,6 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
-#include <systemlib/hardfault_log.h>
-
#include <parameters/param.h>
/****************************************************************************
@@ -319,143 +317,16 @@ __EXPORT int board_app_initialize(uintptr_t arg)
(hrt_callout)stm32_serial_dma_poll,
NULL);
-#if defined(CONFIG_STM32_BBSRAM)
-
- /**
- * NB. the use of the console requires the hrt running
- * to poll the DMA.
- */
-
- // Using Battery Backed Up SRAM.
- int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
-
- stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
-
-#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
-
- /* Panic Logging in Battery Backed Up Files */
-
- /**
- * In an ideal world, if a fault happens in flight the
- * system save it to BBSRAM will then reboot. Upon
- * rebooting, the system will log the fault to disk, recover
- * the flight state and continue to fly. But if there is
- * a fault on the bench or in the air that prohibit the recovery
- * or committing the log to disk, the things are too broken to
- * fly. So the question is:
- *
- * Did we have a hard fault and not make it far enough
- * through the boot sequence to commit the fault data to
- * the SD card?
- */
-
- /**
- * Do we have an uncommitted hard fault in BBSRAM?
- * - this will be reset after a successful commit to SD.
- */
- int hadCrash = hardfault_check_status("boot");
-
- if (hadCrash == OK) {
-
- message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
- " while booting to halt the system!\n");
-
- /**
- * Yes. So add one to the boot count - this will be reset after a successful
- * commit to SD.
- */
- int reboots = hardfault_increment_reboot("boot", false);
-
- /* Also end the misery for a user that holds for a key down on the console. */
- int bytesWaiting;
- ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
-
- if (reboots > 2 || bytesWaiting != 0) {
-
- /**
- * Since we can not commit the fault dump to disk. Display it
- * to the console.
- */
- hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
-
- message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
- reboots,
- (bytesWaiting == 0 ? "" : " Due to Key Press\n"));
-
-
- /**
- * For those of you with a debugger set a break point on up_assert and
- * then set dbgContinue = 1 and go.
- */
-
- // Clear any key press that got us here.
- static volatile bool dbgContinue = false;
- int c = '>';
-
- while (!dbgContinue) {
-
- switch (c) {
-
- case EOF:
-
-
- case '\n':
- case '\r':
- case ' ':
- continue;
-
- default:
-
- putchar(c);
- putchar('\n');
-
- switch (c) {
-
- case 'D':
- case 'd':
- hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
- break;
-
- case 'C':
- case 'c':
- hardfault_rearm("boot");
- hardfault_increment_reboot("boot", true);
- break;
-
- case 'B':
- case 'b':
- dbgContinue = true;
- break;
-
- default:
- break;
- } // Inner Switch
-
- message("\nEnter B - Continue booting\n" \
- "Enter C - Clear the fault log\n" \
- "Enter D - Dump fault log\n\n?>");
- fflush(stdout);
-
- if (!dbgContinue) {
- c = getchar();
- }
-
- break;
-
- } // outer switch
- } // for
- } // inner if
- } // outer if
-
-#endif // CONFIG_STM32_SAVE_CRASHDUMP
-#endif // CONFIG_STM32_BBSRAM
-
// Initial LED state.
drv_led_start();
led_off(LED_RED);
led_off(LED_GREEN);
led_off(LED_BLUE);
+ if (board_hardfault_init(2, true) != 0) {
+ led_on(LED_RED);
+ }
+
// Power up the sensors.
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
@@ -467,7 +338,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\n");
- board_autoled_on(LED_RED);
+ led_on(LED_RED);
return -ENODEV;
}
@@ -486,7 +357,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\n");
- board_autoled_on(LED_RED);
+ led_on(LED_RED);
return -ENODEV;
}
@@ -508,6 +379,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
+ led_on(LED_RED);
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
@@ -517,6 +389,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
+ led_on(LED_RED);
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
--
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