mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 18:08:30 -04:00
HAL_ChibiOS: setup for recording crashdump at the remaining flash space
This commit is contained in:
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52c7886270
commit
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@ -192,4 +192,13 @@ SECTIONS
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. = ORIGIN(HEAP_RAM) + LENGTH(HEAP_RAM);
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. = ORIGIN(HEAP_RAM) + LENGTH(HEAP_RAM);
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__heap_end__ = .;
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__heap_end__ = .;
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} > HEAP_RAM
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} > HEAP_RAM
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/* The crash log uses the unused part of a flash section.*/
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.crash_log (NOLOAD) :
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{
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. = ALIGN(32);
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__crash_log_base__ = .;
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. = ORIGIN(flash) + LENGTH(flash);
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__crash_log_end__ = .;
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} > flash
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}
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}
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@ -23,12 +23,9 @@
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#include "stm32_util.h"
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#include "stm32_util.h"
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#include "flash.h"
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#include "flash.h"
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#if defined(HAL_CRASH_DUMP_FLASHPAGE) || defined(HAL_CRASH_SERIAL_PORT)
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CRASH_CATCHER_TEST_WRITEABLE CrashCatcherReturnCodes g_crashCatcherDumpEndReturn = CRASH_CATCHER_TRY_AGAIN;
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CRASH_CATCHER_TEST_WRITEABLE CrashCatcherReturnCodes g_crashCatcherDumpEndReturn = CRASH_CATCHER_TRY_AGAIN;
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static CrashCatcherInfo g_info;
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static CrashCatcherInfo g_info;
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#endif
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#if defined(HAL_CRASH_DUMP_FLASHPAGE)
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static bool do_flash_crash_dump = true;
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static bool do_flash_crash_dump = true;
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static void* dump_start_address;
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static void* dump_start_address;
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static void* dump_end_address;
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static void* dump_end_address;
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@ -36,7 +33,6 @@ static void* dump_end_address;
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static void CrashCatcher_DumpStartFlash(const CrashCatcherInfo* pInfo);
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static void CrashCatcher_DumpStartFlash(const CrashCatcherInfo* pInfo);
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static CrashCatcherReturnCodes CrashCatcher_DumpEndFlash(void);
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static CrashCatcherReturnCodes CrashCatcher_DumpEndFlash(void);
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static void CrashCatcher_DumpMemoryFlash(const void* pvMemory, CrashCatcherElementSizes elementSize, size_t elementCount);
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static void CrashCatcher_DumpMemoryFlash(const void* pvMemory, CrashCatcherElementSizes elementSize, size_t elementCount);
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#endif // HAL_CRASH_DUMP_FLASHPAGE
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#if defined(HAL_CRASH_SERIAL_PORT)
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#if defined(HAL_CRASH_SERIAL_PORT)
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static bool uart_initialised = false;
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static bool uart_initialised = false;
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@ -61,15 +57,33 @@ static CrashCatcherReturnCodes CrashCatcher_DumpEndHex(void);
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static void CrashCatcher_DumpMemoryHex(const void* pvMemory, CrashCatcherElementSizes elementSize, size_t elementCount);
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static void CrashCatcher_DumpMemoryHex(const void* pvMemory, CrashCatcherElementSizes elementSize, size_t elementCount);
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#endif // HAL_CRASH_SERIAL_PORT
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#endif // HAL_CRASH_SERIAL_PORT
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extern uint32_t __crash_log_base__, __crash_log_end__;
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uint32_t stm32_crash_dump_size(void)
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uint32_t stm32_crash_dump_size(void)
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{
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{
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#if defined(HAL_CRASH_DUMP_FLASHPAGE)
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uint32_t* page_addr = (uint32_t*)&__crash_log_base__;
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uint32_t* page_addr = (uint32_t*)stm32_flash_getpageaddr(HAL_CRASH_DUMP_FLASHPAGE);
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uint32_t page_size = stm32_crash_dump_max_size();
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uint32_t page_size = stm32_flash_getpagesize(HAL_CRASH_DUMP_FLASHPAGE);
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return page_addr[(page_size / sizeof(uint32_t)) - 1];
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return page_addr[(page_size / sizeof(uint32_t)) - 1];
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#else
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}
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return 0;
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#endif
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uint32_t stm32_crash_dump_max_size(void)
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{
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return (uint32_t)&__crash_log_end__ - (uint32_t)&__crash_log_base__;
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}
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uint32_t stm32_crash_dump_addr(void)
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{
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return (uint32_t)&__crash_log_base__;
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}
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bool stm32_crash_dump_region_erased(void)
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{
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for (uint32_t i = 0; i < stm32_crash_dump_max_size(); i += 4) {
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if (((uint32_t*)stm32_crash_dump_addr())[i / 4] != 0xFFFFFFFF) {
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return false;
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}
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}
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return true;
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}
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}
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#define ARRAY_SIZE(X) (sizeof(X)/sizeof(X[0]))
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#define ARRAY_SIZE(X) (sizeof(X)/sizeof(X[0]))
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@ -121,13 +135,11 @@ const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void)
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regions[ARRAY_SIZE(regions) - 1].endAddress = 0xFFFFFFFF;
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regions[ARRAY_SIZE(regions) - 1].endAddress = 0xFFFFFFFF;
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}
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}
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#if defined(HAL_CRASH_DUMP_FLASHPAGE)
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if (do_flash_crash_dump) {
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if (do_flash_crash_dump) {
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// smaller dump if on flash
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// smaller dump if on flash
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regions[0].startAddress = (uint32_t)dump_start_address;
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regions[0].startAddress = (uint32_t)dump_start_address;
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regions[0].endAddress = (uint32_t)dump_end_address;
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regions[0].endAddress = (uint32_t)dump_end_address;
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}
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}
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#endif
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return regions;
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return regions;
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}
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}
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@ -141,11 +153,9 @@ void CrashCatcher_DumpMemory(const void* pvMemory, CrashCatcherElementSizes elem
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CrashCatcher_DumpMemoryHex(pvMemory, elementSize, elementCount);
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CrashCatcher_DumpMemoryHex(pvMemory, elementSize, elementCount);
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}
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}
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#endif
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#endif
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#if defined(HAL_CRASH_DUMP_FLASHPAGE)
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if (do_flash_crash_dump) {
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if (do_flash_crash_dump) {
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CrashCatcher_DumpMemoryFlash(pvMemory, elementSize, elementCount);
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CrashCatcher_DumpMemoryFlash(pvMemory, elementSize, elementCount);
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}
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}
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#endif
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}
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}
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@ -155,19 +165,14 @@ void CrashCatcher_DumpStart(const CrashCatcherInfo* pInfo)
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struct port_extctx* ctx = (struct port_extctx*)pInfo->sp;
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struct port_extctx* ctx = (struct port_extctx*)pInfo->sp;
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FaultType faultType = (FaultType)__get_IPSR();
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FaultType faultType = (FaultType)__get_IPSR();
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save_fault_watchdog(__LINE__, faultType, pInfo->sp, ctx->lr_thd);
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save_fault_watchdog(__LINE__, faultType, pInfo->sp, ctx->lr_thd);
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#if !defined(HAL_CRASH_SERIAL_PORT) && !defined(HAL_CRASH_DUMP_FLASHPAGE)
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while(true) {} // Nothing to do
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#endif
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#if defined(HAL_CRASH_SERIAL_PORT)
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#if defined(HAL_CRASH_SERIAL_PORT)
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if (do_serial_crash_dump) {
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if (do_serial_crash_dump) {
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CrashCatcher_DumpStartHex(pInfo);
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CrashCatcher_DumpStartHex(pInfo);
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}
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}
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#endif
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#endif
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#if defined(HAL_CRASH_DUMP_FLASHPAGE)
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if (do_flash_crash_dump) {
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if (do_flash_crash_dump) {
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CrashCatcher_DumpStartFlash(pInfo);
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CrashCatcher_DumpStartFlash(pInfo);
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}
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}
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#endif
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}
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}
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CrashCatcherReturnCodes CrashCatcher_DumpEnd(void)
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CrashCatcherReturnCodes CrashCatcher_DumpEnd(void)
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@ -177,12 +182,10 @@ CrashCatcherReturnCodes CrashCatcher_DumpEnd(void)
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return CrashCatcher_DumpEndHex();
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return CrashCatcher_DumpEndHex();
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}
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}
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#endif
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#endif
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#if defined(HAL_CRASH_DUMP_FLASHPAGE)
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if (do_flash_crash_dump) {
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if (do_flash_crash_dump) {
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return CrashCatcher_DumpEndFlash();
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return CrashCatcher_DumpEndFlash();
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}
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}
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do_flash_crash_dump = false;
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do_flash_crash_dump = false;
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#endif
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#if defined(HAL_CRASH_SERIAL_PORT)
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#if defined(HAL_CRASH_SERIAL_PORT)
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do_serial_crash_dump = true;
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do_serial_crash_dump = true;
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#endif
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#endif
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@ -190,8 +193,6 @@ CrashCatcherReturnCodes CrashCatcher_DumpEnd(void)
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}
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}
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// -------------- FlashDump Code --------------------
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// -------------- FlashDump Code --------------------
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#if defined(HAL_CRASH_DUMP_FLASHPAGE)
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static uint32_t dump_size;
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static uint32_t dump_size;
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static uint8_t dump_buffer[32]; // we need to maintain a dump buffer of 32bytes for H7
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static uint8_t dump_buffer[32]; // we need to maintain a dump buffer of 32bytes for H7
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static uint8_t buf_off;
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static uint8_t buf_off;
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@ -224,7 +225,7 @@ static void CrashCatcher_DumpStartFlash(const CrashCatcherInfo* pInfo)
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dump_size = 0;
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dump_size = 0;
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buf_off = 0;
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buf_off = 0;
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// we expect crash dump flash page to already be empty
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// we expect crash dump flash page to already be empty
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if (!stm32_flash_ispageerased(HAL_CRASH_DUMP_FLASHPAGE)) {
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if (!stm32_crash_dump_region_erased()) {
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// stuff is already there, maybe last dump
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// stuff is already there, maybe last dump
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// so just do nothing
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// so just do nothing
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do_flash_crash_dump = false;
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do_flash_crash_dump = false;
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@ -238,7 +239,7 @@ static void CrashCatcher_DumpStartFlash(const CrashCatcherInfo* pInfo)
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static void flush_dump_buffer(void)
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static void flush_dump_buffer(void)
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{
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{
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if (buf_off == sizeof(dump_buffer)) {
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if (buf_off == sizeof(dump_buffer)) {
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uint32_t page_start = stm32_flash_getpageaddr(HAL_CRASH_DUMP_FLASHPAGE);
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uint32_t page_start = (uint32_t)stm32_crash_dump_addr();
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// write dump buffer to flash
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// write dump buffer to flash
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stm32_flash_write(page_start + dump_size, dump_buffer, sizeof(dump_buffer));
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stm32_flash_write(page_start + dump_size, dump_buffer, sizeof(dump_buffer));
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dump_size += sizeof(dump_buffer);
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dump_size += sizeof(dump_buffer);
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@ -254,7 +255,7 @@ static void CrashCatcher_DumpMemoryFlash(const void* pvMemory, CrashCatcherEleme
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const uint8_t* pv = (const uint8_t*)pvMemory;
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const uint8_t* pv = (const uint8_t*)pvMemory;
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size_t cnt = 0;
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size_t cnt = 0;
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while (cnt < elementCount) {
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while (cnt < elementCount) {
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if (dump_size + buf_off + sizeof(dump_size) >= stm32_flash_getpagesize(HAL_CRASH_DUMP_FLASHPAGE)) {
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if (dump_size + buf_off + sizeof(dump_size) >= stm32_crash_dump_max_size()) {
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// when this happens, buf_off will be sizeof(buffer)-sizeof(dump_size)
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// when this happens, buf_off will be sizeof(buffer)-sizeof(dump_size)
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// 0xFF will be used to detect that we were in the middle of taking a dump
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// 0xFF will be used to detect that we were in the middle of taking a dump
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memset(&dump_buffer[sizeof(dump_buffer)-sizeof(dump_size)], 0xFF, sizeof(dump_size));
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memset(&dump_buffer[sizeof(dump_buffer)-sizeof(dump_size)], 0xFF, sizeof(dump_size));
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@ -289,20 +290,20 @@ static void CrashCatcher_DumpMemoryFlash(const void* pvMemory, CrashCatcherEleme
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static CrashCatcherReturnCodes CrashCatcher_DumpEndFlash(void)
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static CrashCatcherReturnCodes CrashCatcher_DumpEndFlash(void)
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{
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{
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// flush the buffer
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// flush the buffer
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if (dump_size + buf_off + sizeof(dump_size) >= stm32_flash_getpagesize(HAL_CRASH_DUMP_FLASHPAGE)) {
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if (dump_size + buf_off + sizeof(dump_size) >= stm32_crash_dump_max_size()) {
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// when this happens, buf_off will be sizeof(buffer)-sizeof(dump_size)
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// when this happens, buf_off will be sizeof(buffer)-sizeof(dump_size)
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// 0xFF will be used to detect that we were in the middle of taking a dump
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// 0xFF will be used to detect that we were in the middle of taking a dump
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memset(&dump_buffer[sizeof(dump_buffer)-sizeof(dump_size)], 0xFF, sizeof(dump_size));
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memset(&dump_buffer[sizeof(dump_buffer)-sizeof(dump_size)], 0xFF, sizeof(dump_size));
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buf_off = sizeof(dump_buffer);
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buf_off = sizeof(dump_buffer);
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}
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}
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if (buf_off > 0) {
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if (buf_off > 0) {
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if (dump_size + sizeof(dump_buffer) >= stm32_flash_getpagesize(HAL_CRASH_DUMP_FLASHPAGE) && buf_off < sizeof(dump_buffer)) {
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if (dump_size + sizeof(dump_buffer) >= stm32_crash_dump_max_size() && buf_off < sizeof(dump_buffer)) {
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// we have a partially full buffer towards the end, so we need to write the buffer
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// we have a partially full buffer towards the end, so we need to write the buffer
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// and then write the size of the buffer
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// and then write the size of the buffer
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memcpy(&dump_buffer[sizeof(dump_buffer)-sizeof(dump_size)], &dump_size, sizeof(dump_size));
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memcpy(&dump_buffer[sizeof(dump_buffer)-sizeof(dump_size)], &dump_size, sizeof(dump_size));
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buf_off = 32;
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buf_off = 32;
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}
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}
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stm32_flash_write(stm32_flash_getpageaddr(HAL_CRASH_DUMP_FLASHPAGE) + dump_size, dump_buffer, 32);
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stm32_flash_write(stm32_crash_dump_addr() + dump_size, dump_buffer, 32);
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dump_size += buf_off;
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dump_size += buf_off;
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buf_off = 0;
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buf_off = 0;
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memset(dump_buffer, 0, sizeof(dump_buffer));
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memset(dump_buffer, 0, sizeof(dump_buffer));
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@ -310,9 +311,9 @@ static CrashCatcherReturnCodes CrashCatcher_DumpEndFlash(void)
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}
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}
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// write size to buffer if not already written
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// write size to buffer if not already written
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if (dump_size < stm32_flash_getpagesize(HAL_CRASH_DUMP_FLASHPAGE)) {
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if (dump_size < stm32_crash_dump_max_size()) {
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memcpy(&dump_buffer[sizeof(dump_buffer)-sizeof(dump_size)], &dump_size, sizeof(dump_size));
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memcpy(&dump_buffer[sizeof(dump_buffer)-sizeof(dump_size)], &dump_size, sizeof(dump_size));
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stm32_flash_write(stm32_flash_getpageaddr(HAL_CRASH_DUMP_FLASHPAGE) + stm32_flash_getpagesize(HAL_CRASH_DUMP_FLASHPAGE) - sizeof(dump_buffer), dump_buffer, sizeof(dump_buffer));
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stm32_flash_write(stm32_crash_dump_addr() + stm32_crash_dump_max_size() - sizeof(dump_buffer), dump_buffer, sizeof(dump_buffer));
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stm32_watchdog_pat();
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stm32_watchdog_pat();
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}
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}
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@ -324,8 +325,6 @@ static CrashCatcherReturnCodes CrashCatcher_DumpEndFlash(void)
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return g_crashCatcherDumpEndReturn;
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return g_crashCatcherDumpEndReturn;
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}
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}
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#endif // HAL_USE_CRASH_CATCHER
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// -------------- HexDump Code --------------------
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// -------------- HexDump Code --------------------
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/* Copyright (C) 2018 Adam Green (https://github.com/adamgreen)
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/* Copyright (C) 2018 Adam Green (https://github.com/adamgreen)
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@ -145,10 +145,6 @@ static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(32), KB(32), KB(32
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static_assert(STORAGE_FLASH_PAGE < STM32_FLASH_NPAGES,
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static_assert(STORAGE_FLASH_PAGE < STM32_FLASH_NPAGES,
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"STORAGE_FLASH_PAGE out of range");
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"STORAGE_FLASH_PAGE out of range");
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#endif
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#endif
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#ifdef HAL_CRASH_DUMP_FLASH_PAGE
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static_assert(HAL_CRASH_DUMP_FLASH_PAGE < STM32_FLASH_NPAGES,
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"HAL_CRASH_DUMP_FLASH_PAGE out of range");
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#endif
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#endif
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#endif
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// keep a cache of the page addresses
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// keep a cache of the page addresses
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@ -138,6 +138,8 @@ void* get_addr_mem_region_end_addr(void *addr);
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// return the size of crash dump
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// return the size of crash dump
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uint32_t stm32_crash_dump_size(void);
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uint32_t stm32_crash_dump_size(void);
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uint32_t stm32_crash_dump_addr(void);
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uint32_t stm32_crash_dump_max_size(void);
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typedef enum {
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typedef enum {
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Reset = 1,
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Reset = 1,
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@ -856,17 +856,6 @@ def write_mcu_config(f):
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# lets pick a flash sector for Crash log
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# lets pick a flash sector for Crash log
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f.write('#define HAL_CRASHDUMP_ENABLE 1\n')
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f.write('#define HAL_CRASHDUMP_ENABLE 1\n')
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env_vars['ENABLE_CRASHDUMP'] = 1
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env_vars['ENABLE_CRASHDUMP'] = 1
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num_flash_pages = get_flash_npages()
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crash_dump_flash_page = get_config('CRASH_DUMP_FLASHPAGE', default=num_flash_pages-1, type=int)
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if crash_dump_flash_page >= num_flash_pages:
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raise Exception("CRASH_DUMP_FLASHPAGE cannot exceed number of available flash pages: %u" % num_flash_pages)
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if storage_flash_page is not None:
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while crash_dump_flash_page == storage_flash_page or crash_dump_flash_page == storage_flash_page+1:
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if crash_dump_flash_page > 0:
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crash_dump_flash_page -= 1
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else:
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raise Exception('Unable to find a Crash log flash page')
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f.write('#define HAL_CRASH_DUMP_FLASHPAGE %u\n' % crash_dump_flash_page)
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else:
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else:
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f.write('#define HAL_CRASHDUMP_ENABLE 0\n')
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f.write('#define HAL_CRASHDUMP_ENABLE 0\n')
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env_vars['ENABLE_CRASHDUMP'] = 0
|
env_vars['ENABLE_CRASHDUMP'] = 0
|
||||||
|
Loading…
Reference in New Issue
Block a user