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HAL_ChibiOS: dump per thread stack for crash

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bugobliterator 2021-11-03 22:19:09 +05:30 committed by Andrew Tridgell
parent f02a7b560b
commit eae3fb016f
1 changed files with 44 additions and 4 deletions
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48
libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c
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@ -72,15 +72,55 @@ uint32_t stm32_crash_dump_size(void)
#endif
}
#define ARRAY_SIZE(X) (sizeof(X)/sizeof(X[0]))
extern uint32_t __ram0_start__, __ram0_end__;
const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void);
const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void)
{
// do a full dump if on serial
static CrashCatcherMemoryRegion regions[] = {
{(uint32_t)&__ram0_start__, (uint32_t)&__ram0_end__, CRASH_CATCHER_BYTE},
{0xFFFFFFFF, 0xFFFFFFFF, CRASH_CATCHER_BYTE}
};
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}};
// 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)) {
uint32_t total_stack;
if (tp->wabase == (void*)&__main_thread_stack_base__) {
// main thread has its stack separated from the thread context
total_stack = (uint32_t)((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
} else {
// all other threads have their thread context pointer
// above the stack top
total_stack = (uint32_t)(tp) - (uint32_t)(tp->wabase);
}
// log names if in RAM
if (tp->name != NULL && is_address_in_memory((void*)tp->name)) {
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
regions[curr_region].startAddress = (uint32_t)(tp->name);
regions[curr_region++].endAddress = (uint32_t)(tp->name) + 13;
}
// log thread info
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
regions[curr_region].startAddress = (uint32_t)(tp);
regions[curr_region++].endAddress = (uint32_t)(tp) + sizeof(thread_t);
// log thread stacks
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;
}
// ensure that last is filled with 0xFFFFFFFF
if (curr_region < ARRAY_SIZE(regions)) {
regions[curr_region].elementSize = CRASH_CATCHER_BYTE;
regions[curr_region].startAddress = 0xFFFFFFFF;
regions[curr_region].endAddress = 0xFFFFFFFF;
} else {
regions[ARRAY_SIZE(regions) - 1].elementSize = CRASH_CATCHER_BYTE;
regions[ARRAY_SIZE(regions) - 1].startAddress = 0xFFFFFFFF;
regions[ARRAY_SIZE(regions) - 1].endAddress = 0xFFFFFFFF;
}
#if defined(HAL_CRASH_DUMP_FLASHPAGE)
if (do_flash_crash_dump) {
// smaller dump if on flash