Adding hardfault logging application

CMakeLists.txt

@@ -161,6 +161,16 @@ set(target_name "${OS}-${BOARD}-${LABEL}")
 
 message(STATUS "${target_name}")
 
+#  The Url for the elf file for crash logging
+
+if (DEFINED ENV{BUILD_URI})
+	set (BUILD_URI $ENV{BUILD_URI})
+else()
+	set (BUILD_URI "localhost")
+endif()
+
+add_definitions(-DBUILD_URI=${BUILD_URI})
+
 # Define GNU standard installation directories
 include(GNUInstallDirs)
 
@@ -243,7 +253,7 @@ if (CATKIN_DEVEL_PREFIX)
 		message(FATAL_ERROR "catkin not found")
 	endif()
 else()
-	message(STATUS "catkin DISABLED")
+	#message(STATUS "catkin DISABLED")
 endif()
 
 find_package(PythonInterp REQUIRED)
@@ -337,6 +347,7 @@ add_definitions(${definitions})
 #=============================================================================
 # source code generation
 #
+
 add_subdirectory(msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
@@ -413,7 +424,7 @@ set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "mod
 
 add_subdirectory(src/firmware/${OS})
 
-#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
+#add_dependencies(df_driver_framework nuttx_export_${CONFIG})
 if (NOT "${OS}" STREQUAL "nuttx")
 endif()
 

ROMFS/px4fmu_common/init.d/rcS

@@ -24,6 +24,11 @@
 # UART7			/dev/ttyS5		?
 # UART8			/dev/ttyS6		CONSOLE
 
+#
+# Mount the procfs.
+#
+mount -t procfs /proc
+
 #
 # Start CDC/ACM serial driver
 #
@@ -43,8 +48,19 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	# Start playing the startup tune
-	tone_alarm start
+	echo "[i] microSD mounted: /fs/microsd"
+	if hardfault_log check
+	then
+		tone_alarm error
+		if hardfault_log commit
+		then
+			hardfault_log reset
+			tone_alarm stop
+		fi
+  else
+    # Start playing the startup tune
+    tone_alarm start
+ fi
 else
 	tone_alarm MBAGP
 	if mkfatfs /dev/mmcsd0
@@ -294,7 +310,7 @@ then
 
 			if px4io forceupdate 14662 ${IO_FILE}
 			then
-				usleep 500000
+				usleep 10000
 				if px4io checkcrc $IO_FILE
 				then
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE

src/lib/version/version.h

@@ -53,6 +53,11 @@ __EXPORT const char *board_name(void);
 
 __END_DECLS
 
+#define FREEZE_STR(s) #s
+#define STRINGIFY(s) FREEZE_STR(s)
+#define FW_GIT STRINGIFY(GIT_VERSION)
+#define FW_BUILD_URI STRINGIFY(BUILD_URI)
+
 #if defined(CONFIG_ARCH_BOARD_SITL)
 #  define	HW_ARCH "SITL"
 #elif defined(CONFIG_ARCH_BOARD_EAGLE)

src/modules/systemlib/hardfault_log.h

+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <systemlib/px4_macros.h>
+#include <stm32_bbsram.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+#define FREEZE_STR(s) #s
+#define STRINGIFY(s) FREEZE_STR(s)
+#define HARDFAULT_FILENO 3
+#define HARDFAULT_PATH BBSRAM_PATH""STRINGIFY(HARDFAULT_FILENO)
+#define HARDFAULT_REBOOT_FILENO 0
+#define HARDFAULT_REBOOT_PATH BBSRAM_PATH""STRINGIFY(HARDFAULT_REBOOT_FILENO)
+
+
+#define BBSRAM_SIZE_FN0 (sizeof(int))
+#define BBSRAM_SIZE_FN1 384     /* greater then 2.5 times the size of vehicle_status_s */
+#define BBSRAM_SIZE_FN2 384     /* greater then 2.5 times the size of vehicle_status_s */
+#define BBSRAM_SIZE_FN3 -1
+
+/* The following guides in the amount of the user and interrupt stack
+ * data we can save. The amount of storage left will dictate the actual
+ * number of entries of the user stack data saved. If it is too big
+ * It will be truncated by the call to stm32_bbsram_savepanic
+ */
+#define BBSRAM_HEADER_SIZE 20 /* This is an assumption */
+#define BBSRAM_USED ((4*BBSRAM_HEADER_SIZE)+(BBSRAM_SIZE_FN0+BBSRAM_SIZE_FN1+BBSRAM_SIZE_FN2))
+#define BBSRAM_REAMINING (PX4_BBSRAM_SIZE-BBSRAM_USED)
+#if CONFIG_ARCH_INTERRUPTSTACK <= 3
+#  define BBSRAM_NUMBER_STACKS 1
+#else
+#  define BBSRAM_NUMBER_STACKS 2
+#endif
+#define BBSRAM_FIXED_ELEMENTS_SIZE (sizeof(info_s))
+#define BBSRAM_LEFTOVER (BBSRAM_REAMINING-BBSRAM_FIXED_ELEMENTS_SIZE)
+
+#define CONFIG_ISTACK_SIZE (BBSRAM_LEFTOVER/BBSRAM_NUMBER_STACKS/sizeof(stack_word_t))
+#define CONFIG_USTACK_SIZE (BBSRAM_LEFTOVER/BBSRAM_NUMBER_STACKS/sizeof(stack_word_t))
+
+/* The path to the Battery Backed up SRAM */
+#define BBSRAM_PATH "/fs/bbr"
+/* The sizes of the files to create (-1) use rest of BBSRAM memory */
+#define BSRAM_FILE_SIZES { \
+		BBSRAM_SIZE_FN0,   /* For Time stamp only */                  \
+		BBSRAM_SIZE_FN1,   /* For Current Flight Parameters Copy A */ \
+		BBSRAM_SIZE_FN2,   /* For Current Flight Parameters Copy B*/  \
+		BBSRAM_SIZE_FN3,   /* For the Panic Log use rest of space */  \
+		0                  /* End of table marker */                  \
+	}
+
+/* For Assert keep this much of the file name*/
+#define MAX_FILE_PATH_LENGTH 40
+
+
+/* Fixed size strings
+ * To change a format add the number of chars not represented by the format
+ * Specifier to the xxxx_NUM definei.e %Y is YYYY so add 2 and %s is -2
+ * Also xxxxTIME_FMT need to match in size. See CCASERT in hardfault_log.c
+ */
+#define LOG_PATH_BASE       "/fs/microsd/"
+#define LOG_PATH_BASE_LEN    ((arraySize(LOG_PATH_BASE))-1)
+
+#define LOG_NAME_FMT        "fault_%s.log"
+#define LOG_NAME_NUM         (     -2    )
+#define LOG_NAME_LEN         ((arraySize(LOG_NAME_FMT)-1) + LOG_NAME_NUM)
+
+#define TIME_FMT             "%Y_%m_%d_%H_%M_%S"
+#define TIME_FMT_NUM         (2+ 0+ 0+ 0+ 0+ 0)
+#define TIME_FMT_LEN         (((arraySize(TIME_FMT)-1) + TIME_FMT_NUM))
+
+#define LOG_PATH_LEN         ((LOG_PATH_BASE_LEN + LOG_NAME_LEN + TIME_FMT_LEN))
+
+#define HEADER_TIME_FMT      "%Y-%m-%d-%H:%M:%S"
+#define HEADER_TIME_FMT_NUM  (2+ 0+ 0+ 0+ 0+ 0)
+#define HEADER_TIME_FMT_LEN  (((arraySize(HEADER_TIME_FMT)-1) + HEADER_TIME_FMT_NUM))
+
+/* Select which format to use. On a terminal the details are at the bottom
+ * and in a file they are at the top
+ */
+#define HARDFAULT_DISPLAY_FORMAT 1
+#define HARDFAULT_FILE_FORMAT    0
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* Used for stack frame storage */
+typedef uint32_t stack_word_t;
+
+/* Stack related data */
+
+typedef struct {
+	uint32_t sp;
+	uint32_t top;
+	uint32_t size;
+
+} _stack_s;
+
+typedef struct {
+	_stack_s user;
+#if CONFIG_ARCH_INTERRUPTSTACK > 3
+	_stack_s interrupt;
+#endif
+
+} stack_t;
+
+/* Not Used for reference only */
+
+typedef struct {
+	uint32_t r0;
+	uint32_t r1;
+	uint32_t r2;
+	uint32_t r3;
+	uint32_t r4;
+	uint32_t r5;
+	uint32_t r6;
+	uint32_t r7;
+	uint32_t r8;
+	uint32_t r9;
+	uint32_t r10;
+	uint32_t r11;
+	uint32_t r12;
+	uint32_t sp;
+	uint32_t lr;
+	uint32_t pc;
+	uint32_t xpsr;
+	uint32_t d0;
+	uint32_t d1;
+	uint32_t d2;
+	uint32_t d3;
+	uint32_t d4;
+	uint32_t d5;
+	uint32_t d6;
+	uint32_t d7;
+	uint32_t d8;
+	uint32_t d9;
+	uint32_t d10;
+	uint32_t d11;
+	uint32_t d12;
+	uint32_t d13;
+	uint32_t d14;
+	uint32_t d15;
+	uint32_t fpscr;
+	uint32_t sp_main;
+	uint32_t sp_process;
+	uint32_t apsr;
+	uint32_t ipsr;
+	uint32_t epsr;
+	uint32_t primask;
+	uint32_t basepri;
+	uint32_t faultmask;
+	uint32_t control;
+	uint32_t s0;
+	uint32_t s1;
+	uint32_t s2;
+	uint32_t s3;
+	uint32_t s4;
+	uint32_t s5;
+	uint32_t s6;
+	uint32_t s7;
+	uint32_t s8;
+	uint32_t s9;
+	uint32_t s10;
+	uint32_t s11;
+	uint32_t s12;
+	uint32_t s13;
+	uint32_t s14;
+	uint32_t s15;
+	uint32_t s16;
+	uint32_t s17;
+	uint32_t s18;
+	uint32_t s19;
+	uint32_t s20;
+	uint32_t s21;
+	uint32_t s22;
+	uint32_t s23;
+	uint32_t s24;
+	uint32_t s25;
+	uint32_t s26;
+	uint32_t s27;
+	uint32_t s28;
+	uint32_t s29;
+	uint32_t s30;
+	uint32_t s31;
+} proc_regs_s;
+
+
+/* Flags to identify what is in the dump */
+typedef enum {
+	eRegsPresent          = 0x01,
+	eUserStackPresent     = 0x02,
+	eIntStackPresent      = 0x04,
+	eInvalidUserStackPtr  = 0x20,
+	eInvalidIntStackPrt   = 0x40,
+} fault_flags_t;
+
+typedef struct {
+	fault_flags_t         flags;                  /* What is in the dump */
+	uintptr_t             current_regs;           /* Used to validate the dump */
+	int                   lineno;                 /* __LINE__ to up_assert */
+	int                   pid;                    /* Process ID */
+	uint32_t              regs[XCPTCONTEXT_REGS]; /* Interrupt register save
+											 * area */
+	stack_t               stacks;                 /* Stack info */
+#if CONFIG_TASK_NAME_SIZE > 0
+	char                  name[CONFIG_TASK_NAME_SIZE + 1]; /* Task name (with NULL
+													* terminator) */
+#endif
+	char                  filename[MAX_FILE_PATH_LENGTH]; /* the Last of chars in
+												  * __FILE__ to up_assert */
+} info_s;
+
+typedef struct {
+	info_s    info;                       /* The info */
+#if CONFIG_ARCH_INTERRUPTSTACK > 3      /* The amount of stack data is compile time
+									 * sized backed on what is left after the
+									 * other BBSRAM files are defined
+									 * The order is such that only the
+									 * ustack should be truncated
+									 */
+	stack_word_t istack[CONFIG_USTACK_SIZE];
+#endif
+	stack_word_t ustack[CONFIG_ISTACK_SIZE];
+} fullcontext_s;
+
+__BEGIN_DECLS
+/****************************************************************************
+ * Name: hardfault_check_status
+ *
+ * Description:
+ *      Check the status of the BBSRAM hard fault file which can be in
+ *      one of two states Armed, Valid or Broken.
+ *
+ *      Armed - The file in the armed state is not accessible in the fs
+ *              the act of unlinking it is what arms it.
+ *
+ *      Valid - The file in the armed state is not accessible in the fs
+ *              the act of unlinking it is what arms it.
+ *
+ * Inputs:
+ *   - caller:  A label to display in syslog output
+ *
+ *  Returned Value:
+ *   -ENOENT    Armed - The file in the armed state
+ *    OK        Valid - The file contains data from a fault that has not
+ *                      been committed to disk (see write_hardfault).
+ *   -  Any < 0 Broken - Should not happen
+ *
+ ****************************************************************************/
+int hardfault_check_status(char *caller) weak_function;
+
+/****************************************************************************
+ * Name: hardfault_write
+ *
+ * Description:
+ *      Will parse and write a human readable output of the data
+ *      in the BBSRAM file. Once
+ *
+ *
+ * Inputs:
+ *   - caller:  A label to display in syslog output
+ *   - fd:      An FD to write the data to
+ *   - format:  Select which format to use.
+ *
+ *              HARDFAULT_DISPLAY_FORMAT  On the console the details are
+ *                                        at the bottom
+ *              HARDFAULT_FILE_FORMAT     In a file details are at the top
+ *                                        of the log file
+ *
+ *    - rearm: If true will move the file to the Armed state, if
+ *             false the file is not armed and can be read again
+ *
+ *  Returned Value:
+ *
+ *    OK  or errno
+ *
+ *
+ ****************************************************************************/
+int hardfault_write(char *caller, int fd, int format, bool rearm) weak_function;
+
+/****************************************************************************
+ * Name: hardfault_rearm
+ *
+ * Description:
+ *      Will move the file to the Armed state
+ *
+ *
+ * Inputs:
+ *   - caller:  A label to display in syslog output
+ *
+ *  Returned Value:
+ *
+ *    OK  or errno
+ *
+ *
+ ****************************************************************************/
+int hardfault_rearm(char *caller) weak_function;
+
+/****************************************************************************
+ * Name: hardfault_increment_reboot
+ *
+ * Description:
+ *      Will increment the reboot counter. The reboot counter will help
+ *      detect reboot loops.
+ *
+ *
+ * Inputs:
+ *   - caller:  A label to display in syslog output
+ *   - reset :  when set will reset the reboot counter to 0.
+ *
+ *  Returned Value:
+ *
+ *    The current value of the reboot counter (post increment).
+ *
+ *
+ ****************************************************************************/
+int hardfault_increment_reboot(char *caller, bool reset) weak_function;
+
+__END_DECLS

src/systemcmds/hardfault_log/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__hardfault_log
+	MAIN hardfault_log
+	STACK_MAIN 1024
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		hardfault_log.c
+	DEPENDS
+		platforms__common
+	)

src/systemcmds/ver/ver.c

@@ -50,20 +50,24 @@
 
 /* string constants for version commands */
 static const char sz_ver_hw_str[] 	= "hw";
-static const char sz_ver_hwcmp_str[] = "hwcmp";
+static const char sz_ver_hwcmp_str[]    = "hwcmp";
 static const char sz_ver_git_str[] 	= "git";
-static const char sz_ver_bdate_str[] = "bdate";
+static const char sz_ver_bdate_str[]    = "bdate";
+static const char sz_ver_buri_str[]     = "uri";
 static const char sz_ver_gcc_str[] 	= "gcc";
 static const char sz_ver_all_str[] 	= "all";
 static const char mcu_ver_str[]		= "mcu";
-static const char mcu_uid_str[]		= "uid";
+static const char mcu_uid_str[]         = "uid";
 
 const char *px4_git_version = PX4_GIT_VERSION_STR;
 const uint64_t px4_git_version_binary = PX4_GIT_VERSION_BINARY;
+#if !defined(CONFIG_CDCACM_PRODUCTID)
+# define CONFIG_CDCACM_PRODUCTID 0
+#endif
 const char *px4_git_tag = PX4_GIT_TAG_STR;
 
 #if defined(__PX4_NUTTX)
-__EXPORT const char *os_git_tag = "6.27";
+__EXPORT const char *os_git_tag = "7.18";
 __EXPORT const uint32_t px4_board_version = CONFIG_CDCACM_PRODUCTID;
 #else
 __EXPORT const char *os_git_tag = "";
@@ -178,7 +182,7 @@ static void usage(const char *reason)
 		printf("%s\n", reason);
 	}
 
-	printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu|uid}\n\n");
+	printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu|uid|uri}\n\n");
 }
 
 __EXPORT int ver_main(int argc, char *argv[]);
@@ -239,6 +243,13 @@ int ver_main(int argc, char *argv[])
 
 			}
 
+			if (show_all || !strncmp(argv[1], sz_ver_buri_str, sizeof(sz_ver_buri_str))) {
+				printf("Build uri: %s\n", FW_BUILD_URI);
+				ret = 0;
+
+			}
+
+
 			if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
 				printf("Toolchain: %s\n", __VERSION__);
 				ret = 0;