From 74695f3cfbe4107c22606b675afb168d1e71b713 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Wed, 24 Oct 2018 12:33:34 -0700
Subject: [PATCH] stm32:add stm32 and stm32f7 board_hardfault_init
---
src/drivers/boards/common/board_crashdump.c | 168 ++++++++++++++++++++
1 file changed, 168 insertions(+)
diff --git a/src/drivers/boards/common/board_crashdump.c b/src/drivers/boards/common/board_crashdump.c
index e1143bc06f..b2c83405d9 100644
--- a/src/drivers/boards/common/board_crashdump.c
+++ b/src/drivers/boards/common/board_crashdump.c
@@ -1,16 +1,184 @@
#ifdef CONFIG_BOARD_CRASHDUMP
#include <px4_config.h>
+#include <px4_log.h>
#include <px4_tasks.h>
#include <stdio.h>
+#include <stdbool.h>
#include <string.h>
+#include <limits.h>
+#include <errno.h>
+#include <sys/ioctl.h>
#include <nuttx/board.h>
#include "up_internal.h"
#include <systemlib/hardfault_log.h>
+#if defined(CONFIG_STM32F7_BBSRAM) && defined(CONFIG_STM32F7_SAVE_CRASHDUMP)
+# define HAS_BBSRAM CONFIG_STM32F7_BBSRAM
+# define BBSRAM_FILE_COUNT CONFIG_STM32F7_BBSRAM_FILES
+# define SAVE_CRASHDUMP CONFIG_STM32F7_SAVE_CRASHDUMP
+#elif defined(CONFIG_STM32_BBSRAM) && defined(CONFIG_STM32_SAVE_CRASHDUMP)
+# define HAS_BBSRAM CONFIG_STM32_BBSRAM
+# define BBSRAM_FILE_COUNT CONFIG_STM32_BBSRAM_FILES
+# define SAVE_CRASHDUMP CONFIG_STM32_SAVE_CRASHDUMP
+#endif
+
+int board_hardfault_init(int display_to_console, bool allow_prompt)
+{
+
+ int hadCrash = -1;
+#if defined(HAS_BBSRAM)
+
+ /* NB. the use of the console requires the hrt running
+ * to poll the DMA
+ */
+
+ /* Using Battery Backed Up SRAM */
+
+ int filesizes[BBSRAM_FILE_COUNT + 1] = BSRAM_FILE_SIZES;
+
+ stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
+
+#if defined(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
+ */
+ hadCrash = hardfault_check_status("boot");
+
+ if (hadCrash == OK) {
+
+ PX4_ERR("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
+ " while booting to review!\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);
+
+ if (reboots < 0) {
+ return -EIO;
+ }
+
+ if (reboots >= 32000) {
+ reboots = hardfault_increment_reboot("boot", true);
+ return -ENOSPC;
+ }
+
+ /* 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 > display_to_console || bytesWaiting != 0) {
+
+ /* Since we can not commit the fault dump to disk. Display it
+ * to the console.
+ */
+
+ if (!allow_prompt) {
+ bytesWaiting = 0;
+ }
+
+ if (display_to_console != INT_MAX) {
+ hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
+ }
+
+ PX4_ERR("[boot] There were %d reboots with Hard fault that were not committed to disk%s\n",
+ reboots,
+ (bytesWaiting == 0 ? "" : " - Boot halted 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 */
+
+ volatile bool dbgContinue = bytesWaiting == 0;
+ int c = '>';
+
+ while (!dbgContinue) {
+
+ switch (c) {
+
+ case EOF:
+ case '\n':
+ case '\r':
+ case ' ':
+ goto read;
+
+ 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
+
+ PX4_INFO("\nEnter B - Continue booting\n" \
+ "Enter C - Clear the fault log\n" \
+ "Enter D - Dump fault log\n\n?>");
+ fflush(stdout);
+
+read:
+
+ if (!dbgContinue) {
+ c = getchar();
+ }
+
+ break;
+
+ } // outer switch
+ } // for
+
+ } // inner if
+ } // outer if
+
+#endif // SAVE_CRASHDUMP
+#endif // HAS_BBSRAM
+ return hadCrash == OK ? 1 : 0;
+}
+
static void copy_reverse(stack_word_t *dest, stack_word_t *src, int size)
{
while (size--) {
--
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