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AP_HAL_ChibiOS: log heap and bss memory regions if enough space

This commit is contained in:
bugobliterator 2021-11-30 15:13:01 +05:30 committed by Andrew Tridgell
parent 3855767ff2
commit f9bb9b4fc0
1 changed files with 53 additions and 7 deletions
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60
libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c
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@ -87,7 +87,12 @@ bool stm32_crash_dump_region_erased(void)
}
#define ARRAY_SIZE(X) (sizeof(X)/sizeof(X[0]))
extern uint32_t __ram0_start__, __ram0_end__;
extern uint32_t __ram0_start__, __ram0_end__, __heap_base__, __heap_end__, __bss_base__, __bss_end__;
#define REMAINDER_MEM_REGION_SIZE (15000) // remainder memory for crashcatcher internal regions
static uint32_t dump_size = 0;
static uint8_t dump_buffer[32]; // we need to maintain a dump buffer of 32bytes for H7
static uint8_t buf_off = 0;
const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void);
const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void)
{
@ -95,7 +100,7 @@ const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void)
static CrashCatcherMemoryRegion regions[60] = {
{(uint32_t)&__ram0_start__, (uint32_t)&__ram0_end__, CRASH_CATCHER_BYTE},
{(uint32_t)&ch, (uint32_t)&ch + sizeof(ch), CRASH_CATCHER_BYTE}};
uint32_t total_dump_size = dump_size + buf_off + REMAINDER_MEM_REGION_SIZE;
// loop through chibios threads and add their stack info
uint8_t curr_region = 2;
for (thread_t *tp = chRegFirstThread(); tp && (curr_region < (ARRAY_SIZE(regions) - 1)); tp = chRegNextThread(tp)) {
@ -122,8 +127,53 @@ const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void)
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
regions[curr_region].startAddress = (uint32_t)(tp->wabase);
regions[curr_region++].endAddress = (uint32_t)(tp->wabase) + total_stack;
total_dump_size += total_stack;
if ((total_dump_size) >= stm32_crash_dump_max_size()) {
// we can't log anymore than this
goto finalise;
}
}
// log statically alocated memory
int32_t bss_size = ((uint32_t)&__bss_end__) - ((uint32_t)&__bss_base__);
int32_t available_space = stm32_crash_dump_max_size() - total_dump_size;
if (available_space < 0) {
// we can't log anymore than this
goto finalise;
}
if (bss_size > available_space) { // dump however much we can
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
regions[curr_region].startAddress = (uint32_t)&__bss_base__;
regions[curr_region++].endAddress = (uint32_t)&__bss_base__ + available_space;
total_dump_size += available_space;
} else { // dump the entire bss
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
regions[curr_region].startAddress = (uint32_t)&__bss_base__;
regions[curr_region++].endAddress = (uint32_t)&__bss_end__;
total_dump_size += bss_size;
}
// dump the Heap as well as much as we can
int32_t heap_size = ((uint32_t)&__heap_end__) - ((uint32_t)&__heap_base__);
available_space = stm32_crash_dump_max_size() - total_dump_size;
if (available_space < 0) {
// we can't log anymore than this
goto finalise;
}
if (heap_size > available_space) { // dump however much we can
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
regions[curr_region].startAddress = (uint32_t)&__heap_base__;
regions[curr_region++].endAddress = (uint32_t)&__heap_base__ + available_space;
total_dump_size += available_space;
} else { // dump the entire heap
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
regions[curr_region].startAddress = (uint32_t)&__heap_base__;
regions[curr_region++].endAddress = (uint32_t)&__heap_end__;
total_dump_size += heap_size;
}
finalise:
// ensure that last is filled with 0xFFFFFFFF
if (curr_region < ARRAY_SIZE(regions)) {
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
@ -193,10 +243,6 @@ CrashCatcherReturnCodes CrashCatcher_DumpEnd(void)
}
// -------------- FlashDump Code --------------------
static uint32_t dump_size;
static uint8_t dump_buffer[32]; // we need to maintain a dump buffer of 32bytes for H7
static uint8_t buf_off;
static void CrashCatcher_DumpStartFlash(const CrashCatcherInfo* pInfo)
{
// initialise for dumping