diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7e981274b4fe50afbb8d3aa055ebd83cfaba81bd..635a0ca10a261172831279e14515090ce1137c79 100644
--- a/CMakeLists.txt
+++ b/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()
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 0ce78312d735d035c4b12a9efa8698a78a7c76b2..a3fa9d5ba2c638ad1d9f372d1634b5cb09e4375e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/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
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index ae2acbd4eb7ed19478d02e0806dfc70b7e193594..e4a0c839a818d9d6d435b8b07d029670eb77c7ea 100644
--- a/src/lib/version/version.h
+++ b/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)
diff --git a/src/modules/systemlib/hardfault_log.h b/src/modules/systemlib/hardfault_log.h
new file mode 100644
index 0000000000000000000000000000000000000000..334db786568e1a5c5992fd8ea7f0cd65ecb01a2e
--- /dev/null
+++ b/src/modules/systemlib/hardfault_log.h
@@ -0,0 +1,355 @@
+/****************************************************************************
+ *
+ * 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
diff --git a/src/systemcmds/hardfault_log/CMakeLists.txt b/src/systemcmds/hardfault_log/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b4b6ebf11c93f50f123f4cfcdc17285bdc9ea236
--- /dev/null
+++ b/src/systemcmds/hardfault_log/CMakeLists.txt
@@ -0,0 +1,43 @@
+############################################################################
+#
+# 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
+ )
diff --git a/src/systemcmds/hardfault_log/hardfault_log.c b/src/systemcmds/hardfault_log/hardfault_log.c
new file mode 100644
index 0000000000000000000000000000000000000000..795166f552526b1ad01bfe3312e482e48bc84e08
--- /dev/null
+++ b/src/systemcmds/hardfault_log/hardfault_log.c
@@ -0,0 +1,955 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <nuttx/compiler.h>
+#include <nuttx/arch.h>
+
+#include <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <string.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <stm32_bbsram.h>
+
+#include <systemlib/px4_macros.h>
+#include <systemlib/visibility.h>
+#include <systemlib/hardfault_log.h>
+#include <lib/version/version.h>
+
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+__EXPORT int hardfault_log_main(int argc, char *argv[]);
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+#define OUT_BUFFER_LEN 200
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+static int genfault(int fault);
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+/****************************************************************************
+ * genfault
+ ****************************************************************************/
+
+static int genfault(int fault)
+{
+
+ /* Pointer to System Control Block's System Control Register */
+
+ uint32_t *pCCR = (uint32_t *)0xE000ED14;
+
+ static volatile int k = 0;
+
+ switch (fault) {
+ case 0:
+
+ /* Enable divide by 0 fault generation */
+
+ *pCCR |= 0x10;
+
+ k = 1 / fault;
+
+ /* This is not going to happen
+ * Enable divide by 0 fault generation
+ */
+
+ *pCCR &= ~0x10;
+ break;
+
+ case 1:
+ ASSERT(fault == 0);
+ /* This is not going to happen */
+ break;
+
+ default:
+ break;
+
+ }
+
+ UNUSED(k);
+ return OK;
+}
+
+
+/****************************************************************************
+ * format_fault_time
+ ****************************************************************************/
+/* Ensure Size is the same foe formats or rewrite this */
+CCASSERT(TIME_FMT_LEN == HEADER_TIME_FMT_LEN);
+static int format_fault_time(char *format, struct timespec *ts, char *buffer, unsigned int maxsz)
+{
+ int ret = -EINVAL;
+
+ if (buffer != NULL && format != NULL) {
+ ret = -ENOMEM;
+
+ if (maxsz >= TIME_FMT_LEN + 1) {
+ struct tm tt;
+ time_t time_sec = ts->tv_sec + (ts->tv_nsec / 1e9);
+ gmtime_r(&time_sec, &tt);
+
+ if (TIME_FMT_LEN == strftime(buffer, maxsz, format , &tt)) {
+ ret = OK;
+ }
+ }
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * format_fault_file_name
+ ****************************************************************************/
+
+static int format_fault_file_name(struct timespec *ts, char *buffer, unsigned int maxsz)
+{
+ char fmtbuff[ TIME_FMT_LEN + 1];
+ int ret = -EINVAL;
+
+ if (buffer) {
+
+ ret = -ENOMEM;
+ unsigned int plen = LOG_PATH_BASE_LEN;
+
+ if (maxsz >= LOG_PATH_LEN) {
+ strncpy(buffer, LOG_PATH_BASE, plen);
+ maxsz -= plen;
+ int rv = format_fault_time(TIME_FMT, ts, fmtbuff, arraySize(fmtbuff));
+
+ if (rv == OK) {
+ int n = snprintf(&buffer[plen], maxsz , LOG_NAME_FMT, fmtbuff);
+
+ if (n == (int) LOG_NAME_LEN + TIME_FMT_LEN) {
+ ret = OK;
+ }
+ }
+ }
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * identify
+ ****************************************************************************/
+static void identify(char *caller)
+{
+ if (caller) {
+ syslog(LOG_INFO, "[%s] ", caller);
+ }
+}
+
+
+/****************************************************************************
+ * hardfault_get_desc
+ ****************************************************************************/
+static int hardfault_get_desc(char *caller, struct bbsramd_s *desc, bool silent)
+{
+ int ret = -ENOENT;
+ int fd = open(HARDFAULT_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ if (!silent) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to open Fault Log file [%s] (%d)\n", HARDFAULT_PATH, fd);
+ }
+
+ } else {
+ ret = -EIO;
+ int rv = ioctl(fd, PX4_BBSRAM_GETDESC_IOCTL, (unsigned long)((uintptr_t)desc));
+
+ if (rv >= 0) {
+ ret = fd;
+
+ } else {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to get Fault Log descriptor (%d)\n", rv);
+ }
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * write_stack_detail
+ ****************************************************************************/
+static int write_stack_detail(bool inValid, _stack_s *si, char *sp_name,
+ char *buffer, int max, int fd)
+{
+
+ int n = 0;
+ uint32_t sbot = si->top - si->size;
+ n = snprintf(&buffer[n], max - n, " %s stack: \n", sp_name);
+ n += snprintf(&buffer[n], max - n, " top: 0x%08x\n", si->top);
+ n += snprintf(&buffer[n], max - n, " sp: 0x%08x %s\n", si->sp, (inValid ? "Invalid" : "Valid"));
+
+ if (n != write(fd, buffer, n)) {
+ return -EIO;
+ }
+
+ n = 0;
+ n += snprintf(&buffer[n], max - n, " bottom: 0x%08x\n", sbot);
+ n += snprintf(&buffer[n], max - n, " size: 0x%08x\n", si->size);
+
+ if (n != write(fd, buffer, n)) {
+ return -EIO;
+ }
+
+#ifdef CONFIG_STACK_COLORATION
+ FAR struct tcb_s tcb;
+ tcb.stack_alloc_ptr = (void *) sbot;
+ tcb.adj_stack_size = si->size;
+ n = snprintf(buffer, max, " used: %08x\n", up_check_tcbstack(&tcb));
+
+ if (n != write(fd, buffer, n)) {
+ return -EIO;
+ }
+
+#endif
+ return OK;
+}
+
+/****************************************************************************
+ * write_stack
+ ****************************************************************************/
+static int read_stack(int fd, stack_word_t *words, int num)
+{
+ int bytes = read(fd, (char *) words, sizeof(stack_word_t) * num);
+
+ if (bytes > 0) {
+ bytes /= sizeof(stack_word_t);
+ }
+
+ return bytes;
+}
+static int write_stack(bool inValid, int winsize, uint32_t wtopaddr,
+ uint32_t topaddr, uint32_t spaddr, uint32_t botaddr,
+ char *sp_name, char *buffer, int max, int infd, int outfd)
+{
+ char marker[30];
+ stack_word_t stack[32];
+ int ret = OK;
+
+ int n = snprintf(buffer, max, "%s memory region, stack pointer lies %s stack\n",
+ sp_name, (inValid ? "outside of" : "within"));
+
+ if (n != write(outfd, buffer, n)) {
+
+ ret = -EIO;
+
+ } else {
+
+ while (winsize > 0 && ret == OK) {
+ int chunk = read_stack(infd, stack, arraySize(stack));
+
+ if (chunk <= 0) {
+ ret = -EIO;
+
+ } else {
+ winsize -= chunk;
+
+ for (int i = 0; i < chunk; i++) {
+ if (wtopaddr == topaddr) {
+ strncpy(marker, "<-- ", sizeof(marker));
+ strncat(marker, sp_name, sizeof(marker));
+ strncat(marker, " top", sizeof(marker));
+
+ } else if (wtopaddr == spaddr) {
+ strncpy(marker, "<-- ", sizeof(marker));
+ strncat(marker, sp_name, sizeof(marker));
+
+ } else if (wtopaddr == botaddr) {
+ strncpy(marker, "<-- ", sizeof(marker));
+ strncat(marker, sp_name, sizeof(marker));
+ strncat(marker, " bottom", sizeof(marker));
+
+ } else {
+ marker[0] = '\0';
+ }
+
+ n = snprintf(buffer, max, "0x%08x 0x%08x%s\n", wtopaddr, stack[i], marker);
+
+ if (n != write(outfd, buffer, n)) {
+ ret = -EIO;
+ }
+
+ wtopaddr--;
+ }
+ }
+ }
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * write_registers
+ ****************************************************************************/
+static int write_registers(uint32_t regs[], char *buffer, int max, int fd)
+{
+ int n = snprintf(buffer, max, " r0:0x%08x r1:0x%08x r2:0x%08x r3:0x%08x r4:0x%08x r5:0x%08x r6:0x%08x r7:0x%08x\n",
+ regs[REG_R0], regs[REG_R1],
+ regs[REG_R2], regs[REG_R3],
+ regs[REG_R4], regs[REG_R5],
+ regs[REG_R6], regs[REG_R7]);
+
+ if (n != write(fd, buffer, n)) {
+ return -EIO;
+ }
+
+ n = snprintf(buffer, max, " r8:0x%08x r9:0x%08x r10:0x%08x r11:0x%08x r12:0x%08x sp:0x%08x lr:0x%08x pc:0x%08x\n",
+ regs[REG_R8], regs[REG_R9],
+ regs[REG_R10], regs[REG_R11],
+ regs[REG_R12], regs[REG_R13],
+ regs[REG_R14], regs[REG_R15]);
+
+ if (n != write(fd, buffer, n)) {
+ return -EIO;
+ }
+
+#ifdef CONFIG_ARMV7M_USEBASEPRI
+ n = snprintf(buffer, max, " xpsr:0x%08x basepri:0x%08x control:0x%08x\n",
+ regs[REG_XPSR], regs[REG_BASEPRI],
+ getcontrol());
+#else
+ n = snprintf(buffer, max, " xpsr:0x%08x primask:0x%08x control:0x%08x\n",
+ regs[REG_XPSR], regs[REG_PRIMASK],
+ getcontrol());
+#endif
+
+ if (n != write(fd, buffer, n)) {
+ return -EIO;
+ }
+
+#ifdef REG_EXC_RETURN
+ n = snprintf(buffer, max, " exe return:0x%08x\n", regs[REG_EXC_RETURN]);
+
+ if (n != write(fd, buffer, n)) {
+ return -EIO;
+ }
+
+#endif
+ return OK;
+}
+
+/****************************************************************************
+ * write_registers_info
+ ****************************************************************************/
+static int write_registers_info(int fdout, info_s *pi , char *buffer, int sz)
+{
+ int ret = ENOENT;
+
+ if (pi->flags & eRegsPresent) {
+ ret = -EIO;
+ int n = snprintf(buffer, sz, " Processor registers: from 0x%08x\n", pi->current_regs);
+
+ if (n == write(fdout, buffer, n)) {
+ ret = write_registers(pi->regs, buffer, sz, fdout);
+ }
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * write_interrupt_stack_info
+ ****************************************************************************/
+static int write_interrupt_stack_info(int fdout, info_s *pi, char *buffer,
+ unsigned int sz)
+{
+ int ret = ENOENT;
+
+ if (pi->flags & eIntStackPresent) {
+ ret = write_stack_detail((pi->flags & eInvalidIntStackPrt) != 0,
+ &pi->stacks.interrupt, "IRQ",
+ buffer, sz, fdout);
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * write_user_stack_info
+ ****************************************************************************/
+static int write_user_stack_info(int fdout, info_s *pi, char *buffer,
+ unsigned int sz)
+{
+ int ret = ENOENT;
+
+ if (pi->flags & eUserStackPresent) {
+ ret = write_stack_detail((pi->flags & eInvalidUserStackPtr) != 0,
+ &pi->stacks.user, "User", buffer, sz, fdout);
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * write_dump_info
+ ****************************************************************************/
+static int write_dump_info(int fdout, info_s *info, struct bbsramd_s *desc,
+ char *buffer, unsigned int sz)
+{
+ char fmtbuff[ TIME_FMT_LEN + 1];
+ format_fault_time(HEADER_TIME_FMT, &desc->lastwrite, fmtbuff, sizeof(fmtbuff));
+
+ bool isFault = (info->current_regs != 0 || info->pid == 0);
+ int n;
+ n = snprintf(buffer, sz, "System fault Occurred on: %s\n", fmtbuff);
+
+ if (n != write(fdout, buffer, n)) {
+ return -EIO;
+ }
+
+ if (isFault) {
+ n = snprintf(buffer, sz, " Type:Hard Fault");
+
+ } else {
+ n = snprintf(buffer, sz, " Type:Assertion failed");
+ }
+
+ if (n != write(fdout, buffer, n)) {
+ return -EIO;
+ }
+
+#ifdef CONFIG_TASK_NAME_SIZE
+ n = snprintf(buffer, sz, " in file:%s at line: %d running task: %s\n",
+ info->filename, info->lineno, info->name);
+#else
+ n = snprintf(buffer, sz, " in file:%s at line: %d \n",
+ info->filename, info->lineno);
+#endif
+
+ if (n != write(fdout, buffer, n)) {
+ return -EIO;
+ }
+
+ n = snprintf(buffer, sz, " FW git-hash: %s\n", FW_GIT);
+
+ if (n != write(fdout, buffer, n)) {
+ return -EIO;
+ }
+
+ n = snprintf(buffer, sz, " Build datetime: %s %s\n", __DATE__, __TIME__);
+
+ if (n != write(fdout, buffer, n)) {
+ return -EIO;
+ }
+
+ n = snprintf(buffer, sz, " Build url: %s \n", FW_BUILD_URI);
+
+ if (n != write(fdout, buffer, n)) {
+ return -EIO;
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * write_dump_time
+ ****************************************************************************/
+static int write_dump_time(char *caller, char *tag, int fdout,
+ struct timespec *ts, char *buffer, unsigned int sz)
+{
+ int ret = OK;
+ char fmtbuff[ TIME_FMT_LEN + 1];
+ format_fault_time(HEADER_TIME_FMT, ts, fmtbuff, sizeof(fmtbuff));
+ int n = snprintf(buffer, sz, "[%s] -- %s %s Fault Log --\n", caller, fmtbuff, tag);
+
+ if (n != write(fdout, buffer, n)) {
+ ret = -EIO;
+ }
+
+ return ret;
+}
+/****************************************************************************
+ * write_dump_footer
+ ****************************************************************************/
+static int write_dump_header(char *caller, int fdout, struct timespec *ts,
+ char *buffer, unsigned int sz)
+{
+ return write_dump_time(caller, "Begin", fdout, ts, buffer, sz);
+}
+/****************************************************************************
+ * write_dump_footer
+ ****************************************************************************/
+static int write_dump_footer(char *caller, int fdout, struct timespec *ts,
+ char *buffer, unsigned int sz)
+{
+ return write_dump_time(caller, "END", fdout, ts, buffer, sz);
+}
+/****************************************************************************
+ * write_intterupt_satck
+ ****************************************************************************/
+static int write_intterupt_stack(int fdin, int fdout, info_s *pi, char *buffer,
+ unsigned int sz)
+{
+ int ret = ENOENT;
+
+ if ((pi->flags & eIntStackPresent) != 0) {
+ lseek(fdin, offsetof(fullcontext_s, istack), SEEK_SET);
+ ret = write_stack((pi->flags & eInvalidIntStackPrt) != 0,
+ CONFIG_ISTACK_SIZE,
+ pi->stacks.interrupt.sp + CONFIG_ISTACK_SIZE / 2,
+ pi->stacks.interrupt.top,
+ pi->stacks.interrupt.sp,
+ pi->stacks.interrupt.top - pi->stacks.interrupt.size,
+ "Interrupt sp", buffer, sz, fdin, fdout);
+ }
+
+ return ret;
+}
+
+
+/****************************************************************************
+ * write_user_stack
+ ****************************************************************************/
+static int write_user_stack(int fdin, int fdout, info_s *pi, char *buffer,
+ unsigned int sz)
+{
+ int ret = ENOENT;
+
+ if ((pi->flags & eUserStackPresent) != 0) {
+ lseek(fdin, offsetof(fullcontext_s, ustack), SEEK_SET);
+ ret = write_stack((pi->flags & eInvalidUserStackPtr) != 0,
+ CONFIG_USTACK_SIZE,
+ pi->stacks.user.sp + CONFIG_USTACK_SIZE / 2,
+ pi->stacks.user.top,
+ pi->stacks.user.sp,
+ pi->stacks.user.top - pi->stacks.user.size,
+ "User sp", buffer, sz, fdin, fdout);
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * commit
+ ****************************************************************************/
+static int hardfault_commit(char *caller)
+{
+ int ret = -ENOENT;
+ int state = -1;
+ struct bbsramd_s desc;
+ char path[LOG_PATH_LEN + 1];
+ ret = hardfault_get_desc(caller, &desc, false);
+
+ if (ret >= 0) {
+
+ int fd = ret;
+ state = (desc.lastwrite.tv_sec || desc.lastwrite.tv_nsec) ? OK : 1;
+ int rv = close(fd);
+
+ if (rv < 0) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n", rv);
+
+ } else {
+
+ if (state != OK) {
+ identify(caller);
+ syslog(LOG_INFO, "Nothing to save\n", path);
+ ret = -ENOENT;
+
+ } else {
+ ret = format_fault_file_name(&desc.lastwrite, path, arraySize(path));
+
+ if (ret == OK) {
+ int fdout = open(path, O_RDWR | O_CREAT);
+
+ if (fdout > 0) {
+ identify(caller);
+ syslog(LOG_INFO, "Saving Fault Log file %s\n", path);
+ ret = hardfault_write(caller, fdout, HARDFAULT_FILE_FORMAT, true);
+ identify(caller);
+ syslog(LOG_INFO, "Done saving Fault Log file\n");
+ close(fdout);
+ }
+ }
+ }
+ }
+ }
+
+ return ret;
+}
+
+
+/****************************************************************************
+ * hardfault_dowrite
+ ****************************************************************************/
+static int hardfault_dowrite(char *caller, int infd, int outfd,
+ struct bbsramd_s *desc, int format)
+{
+ int ret = -ENOMEM;
+ char *line = zalloc(OUT_BUFFER_LEN);
+
+ if (line) {
+ char *info = zalloc(sizeof(info_s));
+
+ if (info) {
+ lseek(infd, offsetof(fullcontext_s, info), SEEK_SET);
+ ret = read(infd, info, sizeof(info_s));
+
+ if (ret < 0) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to read Fault Log file [%s] (%d)\n", HARDFAULT_PATH, ret);
+ ret = -EIO;
+
+ } else {
+ info_s *pinfo = (info_s *) info;
+ ret = write_dump_header(caller, outfd, &desc->lastwrite, line, OUT_BUFFER_LEN);
+
+ if (ret == OK) {
+
+ switch (format) {
+ case HARDFAULT_DISPLAY_FORMAT:
+ ret = write_intterupt_stack(infd, outfd, pinfo, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_user_stack(infd, outfd, pinfo, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_dump_info(outfd, pinfo, desc, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_registers_info(outfd, pinfo, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_interrupt_stack_info(outfd, pinfo, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_user_stack_info(outfd, pinfo, line, OUT_BUFFER_LEN);
+ }
+ }
+ }
+ }
+ }
+
+ break;
+
+ case HARDFAULT_FILE_FORMAT:
+ ret = write_dump_info(outfd, pinfo, desc, line, OUT_BUFFER_LEN);
+
+ if (ret == OK) {
+ ret = write_registers_info(outfd, pinfo, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_interrupt_stack_info(outfd, pinfo, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_user_stack_info(outfd, pinfo, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_intterupt_stack(infd, outfd, pinfo, line, OUT_BUFFER_LEN);
+
+ if (ret >= OK) {
+ ret = write_user_stack(infd, outfd, pinfo, line, OUT_BUFFER_LEN);
+ }
+ }
+ }
+ }
+ }
+
+ break;
+
+ default:
+ ret = -EINVAL;
+ break;
+ }
+ }
+
+ if (ret >= OK) {
+ ret = write_dump_footer(caller, outfd, &desc->lastwrite, line, OUT_BUFFER_LEN);
+ }
+ }
+
+ free(info);
+ }
+
+ free(line);
+ }
+
+ return ret;
+}
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/****************************************************************************
+ * hardfault_rearm
+ ****************************************************************************/
+__EXPORT int hardfault_rearm(char *caller)
+{
+ int ret = OK;
+ int rv = unlink(HARDFAULT_PATH);
+
+ if (rv < 0) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to re arming Fault Log (%d)\n", rv);
+ ret = -EIO;
+
+ } else {
+ identify(caller);
+ syslog(LOG_INFO, "Fault Log is Armed\n");
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * hardfault_check_status
+ ****************************************************************************/
+__EXPORT int hardfault_check_status(char *caller)
+{
+ int state = -1;
+ struct bbsramd_s desc;
+ int ret = hardfault_get_desc(caller, &desc, true);
+
+ if (ret < 0) {
+ identify(caller);
+
+ if (ret == -ENOENT) {
+ syslog(LOG_INFO, "Fault Log is Armed\n");
+
+ } else {
+ syslog(LOG_INFO, "Failed to open Fault Log file [%s] (%d)\n", HARDFAULT_PATH, ret);
+ }
+
+ } else {
+ int fd = ret;
+ state = (desc.lastwrite.tv_sec || desc.lastwrite.tv_nsec) ? OK : 1;
+ int rv = close(fd);
+
+ if (rv < 0) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n", rv);
+
+ } else {
+ ret = state;
+ identify(caller);
+ syslog(LOG_INFO, "Fault Log info File No %d Length %d flags:0x%02x state:%d\n",
+ (unsigned int)desc.fileno, (unsigned int) desc.len, (unsigned int)desc.flags, state);
+
+ if (state == OK) {
+ char buf[TIME_FMT_LEN + 1];
+ format_fault_time(HEADER_TIME_FMT, &desc.lastwrite, buf, arraySize(buf));
+ identify(caller);
+ syslog(LOG_INFO, "Fault Logged on %s - Valid\n", buf);
+
+ } else {
+ rv = hardfault_rearm(caller);
+
+ if (rv < 0) {
+ ret = rv;
+ }
+ }
+ }
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * hardfault_increment_reboot
+ ****************************************************************************/
+__EXPORT int hardfault_increment_reboot(char *caller, bool reset)
+{
+ int ret = -EIO;
+ int count = 0;
+ int fd = open(HARDFAULT_REBOOT_PATH, O_RDWR | O_CREAT);
+
+ if (fd < 0) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to open Fault reboot count file [%s] (%d)\n", HARDFAULT_REBOOT_PATH, ret);
+
+ } else {
+
+ ret = OK;
+
+ if (!reset) {
+ if (read(fd, &count, sizeof(count)) != sizeof(count)) {
+ ret = -EIO;
+ close(fd);
+
+ } else {
+ lseek(fd, 0, SEEK_SET);
+ count++;
+ }
+ }
+
+ if (ret == OK) {
+ ret = write(fd, &count, sizeof(count));
+
+ if (ret != sizeof(count)) {
+ ret = -EIO;
+
+ } else {
+ ret = close(fd);
+
+ if (ret == OK) {
+ ret = count;
+ }
+ }
+ }
+ }
+
+ return ret;
+}
+/****************************************************************************
+ * hardfault_write
+ ****************************************************************************/
+
+__EXPORT int hardfault_write(char *caller, int fd, int format, bool rearm)
+{
+ struct bbsramd_s desc;
+
+ switch (format) {
+
+ case HARDFAULT_FILE_FORMAT:
+ case HARDFAULT_DISPLAY_FORMAT:
+ break;
+
+ default:
+ return -EINVAL;
+ }
+
+ int ret = hardfault_get_desc(caller, &desc, false);
+
+ if (ret >= 0) {
+ int hffd = ret;
+
+
+ int rv = hardfault_dowrite(caller, hffd, fd, &desc, format);
+
+ ret = close(hffd);
+
+ if (ret < 0) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n", ret);
+
+ }
+
+ if (rv == OK && rearm) {
+ ret = hardfault_rearm(caller);
+
+ if (ret < 0) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to re-arm Fault Log (%d)\n", ret);
+ }
+ }
+
+ if (ret == OK) {
+ ret = rv;
+ }
+
+ if (ret != OK) {
+ identify(caller);
+ syslog(LOG_INFO, "Failed to Write Fault Log (%d)\n", ret);
+ }
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: hardfault_log_main
+ ****************************************************************************/
+__EXPORT int hardfault_log_main(int argc, char *argv[])
+{
+ char *self = "hardfault_log";
+
+ if (!strcmp(argv[1], "check")) {
+
+ return hardfault_check_status(self);
+
+ } else if (!strcmp(argv[1], "rearm")) {
+
+ return hardfault_rearm(self);
+
+ } else if (!strcmp(argv[1], "fault")) {
+
+ int fault = 0;
+
+ if (argc > 2) {
+ fault = atol(argv[2]);
+ }
+
+ return genfault(fault);
+
+ } else if (!strcmp(argv[1], "commit")) {
+
+ return hardfault_commit(self);
+
+ } else if (!strcmp(argv[1], "count")) {
+
+ return hardfault_increment_reboot(self, false);
+
+ } else if (!strcmp(argv[1], "reset")) {
+
+ return hardfault_increment_reboot(self, true);
+
+ }
+
+ fprintf(stderr, "unrecognised command, try 'check' ,'rearm' , 'fault', 'count', 'reset' or 'commit'\n");
+ return -EINVAL;
+}
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index b72a14e528eb78e7558619a531d80c9b292b1f9a..e1cf70361895c18ff4a08684c49900ddc97c45bd 100644
--- a/src/systemcmds/ver/ver.c
+++ b/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;