forked from Archive/PX4-Autopilot
Changes to auav-x21 for upstream Nuttx and hardfault logging
This commit is contained in:
David Sidrane
Lorenz Meier
parent
a2adf94d13
commit
3ddeb07b25
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@ -1,5 +1,7 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
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set(config_uavcan_num_ifaces 1)
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@ -56,6 +58,7 @@ set(config_module_list
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systemcmds/dumpfile
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systemcmds/esc_calib
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systemcmds/mixer
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systemcmds/hardfault_log
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systemcmds/motor_ramp
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systemcmds/mtd
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systemcmds/nshterm
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@ -201,11 +204,13 @@ set(config_io_extra_libs
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add_custom_target(sercon)
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set_target_properties(sercon PROPERTIES
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PRIORITY "SCHED_PRIORITY_DEFAULT"
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MAIN "sercon" STACK_MAIN "2048"
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MAIN "sercon"
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STACK_MAIN "2048"
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COMPILE_FLAGS "-Os")
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add_custom_target(serdis)
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set_target_properties(serdis PROPERTIES
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PRIORITY "SCHED_PRIORITY_DEFAULT"
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MAIN "serdis" STACK_MAIN "2048"
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MAIN "serdis"
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STACK_MAIN "2048"
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COMPILE_FLAGS "-Os")
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@ -148,11 +148,23 @@
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1,8 are on APB2, others on APB1
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* Note: TIM1,8-11 are on APB2, others on APB1
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*/
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#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
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#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
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#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
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#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
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#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
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#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
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/* SDIO dividers. Note that slower clocking is required when DMA is disabled
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* in order to avoid RX overrun/TX underrun errors due to delayed responses
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@ -200,31 +212,33 @@
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/*
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* UARTs.
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*/
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#define GPIO_USART1_RX GPIO_USART1_RX_1 /* console in from IO */
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#define GPIO_USART1_TX 0 /* USART1 is RX-only */
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#define GPIO_USART1_RX GPIO_USART1_RX_1 /* Console in from IO */
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#define GPIO_USART1_TX 0 /* USART1 is RX-only */
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#define GPIO_USART2_RX GPIO_USART2_RX_2
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#define GPIO_USART2_TX GPIO_USART2_TX_2
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2
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#define GPIO_USART2_RX GPIO_USART2_RX_2
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#define GPIO_USART2_TX GPIO_USART2_TX_2
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2
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#define GPIO_USART3_RX GPIO_USART3_RX_3
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#define GPIO_USART3_TX GPIO_USART3_TX_3
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#define GPIO_USART3_RTS GPIO_USART3_RTS_2
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#define GPIO_USART3_CTS GPIO_USART3_CTS_2
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#define GPIO_USART3_RX GPIO_USART3_RX_3
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#define GPIO_USART3_TX GPIO_USART3_TX_3
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#define GPIO_USART3_RTS GPIO_USART3_RTS_2
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#define GPIO_USART3_CTS GPIO_USART3_CTS_2
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#define GPIO_UART4_RX GPIO_UART4_RX_1
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#define GPIO_UART4_TX GPIO_UART4_TX_1
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#define GPIO_UART4_RX GPIO_UART4_RX_1
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#define GPIO_UART4_TX GPIO_UART4_TX_1
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#define GPIO_USART6_RX GPIO_USART6_RX_1
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#define GPIO_USART6_TX GPIO_USART6_TX_1
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#define GPIO_USART6_RX GPIO_USART6_RX_1
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#define GPIO_USART6_TX GPIO_USART6_TX_1
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#define GPIO_UART7_RX GPIO_UART7_RX_1
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#define GPIO_UART7_TX GPIO_UART7_TX_1
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#define GPIO_UART7_RX GPIO_UART7_RX_1
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#define GPIO_UART7_TX GPIO_UART7_TX_1
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/* UART8 has no alternate pin config */
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/* UART RX DMA configurations */
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#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
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#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
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@ -253,17 +267,17 @@
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*
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* There are sensors on SPI1, and SPI2 is connected to the FRAM.
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*/
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#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
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#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
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#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
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#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
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#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
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#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
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#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
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#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
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#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
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#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
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#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
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#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
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#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1
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#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1
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#define GPIO_SPI4_SCK GPIO_SPI4_SCK_1
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/************************************************************************************
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* Public Data
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@ -35,14 +35,14 @@
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include ${TOPDIR}/.config
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include ${TOPDIR}/tools/Config.mk
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include $(TOPDIR)/PX4_Warnings.mk
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include $(TOPDIR)/PX4_Config.mk
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#
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# We only support building with the ARM bare-metal toolchain from
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# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
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#
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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@ -62,17 +62,19 @@ ARCHCPUFLAGS = -mcpu=cortex-m4 \
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-mfpu=fpv4-sp-d16 \
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-mfloat-abi=hard
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# Enable precise stack overflow tracking
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# enable precise stack overflow tracking
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ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
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INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
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endif
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# pull in *just* libm from the toolchain ... this is grody
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# Pull in *just* libm from the toolchain ... this is grody
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LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
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EXTRA_LIBS += $(LIBM)
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# use our linker script
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# Use our linker script
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LDSCRIPT = ld.script
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ifeq ($(WINTOOL),y)
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@ -94,18 +96,20 @@ else
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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else
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# Linux/Cygwin-native toolchain
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MKDEP = $(TOPDIR)/tools/mkdeps.sh
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MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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endif
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endif
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# tool versions
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# Tool versions
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ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
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ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
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# optimisation flags
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# Optimization flags
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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@ -127,7 +131,8 @@ ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
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ARCHDEFINES =
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ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
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# this seems to be the only way to add linker flags
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# This seems to be the only way to add linker flags
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EXTRA_LIBS += --warn-common \
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--gc-sections
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@ -146,8 +151,8 @@ OBJEXT = .o
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LIBEXT = .a
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EXEEXT =
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# Produce partially-linked $1 from files in $2
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# produce partially-linked $1 from files in $2
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define PRELINK
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@echo "PRELINK: $1"
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$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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@ -156,4 +161,4 @@ endef
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HOSTCC = gcc
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HOSTINCLUDES = -I.
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HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
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HOSTLDFLAGS =
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HOSTLDFLAGS =
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@ -1,52 +0,0 @@
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############################################################################
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# configs/auav_x2.1/nsh/appconfig
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#
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# Copyright (C) 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name NuttX nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# Path to example in apps/examples containing the user_start entry point
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CONFIGURED_APPS += examples/nsh
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# The NSH application library
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CONFIGURED_APPS += nshlib
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CONFIGURED_APPS += system/readline
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ifeq ($(CONFIG_CAN),y)
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CONFIGURED_APPS += examples/can
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endif
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#ifeq ($(CONFIG_USBDEV),y)
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#ifeq ($(CONFIG_CDCACM),y)
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CONFIGURED_APPS += examples/cdcacm
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#endif
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#endif
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File diff suppressed because it is too large
Load Diff
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@ -80,4 +80,8 @@ distclean: clean
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$(call DELFILE, Make.dep)
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$(call DELFILE, .depend)
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ifneq ($(BOARD_CONTEXT),y)
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context:
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endif
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-include Make.dep
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@ -46,15 +46,15 @@
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can.h>
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#include <nuttx/drivers/can.h>
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#include <arch/board/board.h>
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#include "board_config.h"
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#include "chip.h"
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#include "up_arch.h"
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#include "stm32.h"
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#include "stm32_can.h"
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#include "board_config.h"
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#ifdef CONFIG_CAN
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@ -74,21 +74,6 @@
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# define CAN_PORT 2
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#endif
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/* Debug ***************************************************************************/
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/* Non-standard debug that may be enabled just for testing CAN */
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#ifdef CONFIG_DEBUG_CAN
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# define candbg dbg
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# define canvdbg vdbg
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# define canlldbg lldbg
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# define canllvdbg llvdbg
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#else
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# define candbg(x...)
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# define canvdbg(x...)
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# define canlldbg(x...)
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# define canllvdbg(x...)
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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@ -121,7 +106,7 @@ int can_devinit(void)
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can = stm32_caninitialize(CAN_PORT);
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if (can == NULL) {
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candbg("ERROR: Failed to get CAN interface\n");
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canerr("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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@ -130,7 +115,7 @@ int can_devinit(void)
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ret = can_register("/dev/can0", can);
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|
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if (ret < 0) {
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candbg("ERROR: can_register failed: %d\n", ret);
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canerr("ERROR: can_register failed: %d\n", ret);
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return ret;
|
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}
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|
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@ -35,10 +35,10 @@
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* @file auav_init.c
|
||||
*
|
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* PX4FMU-specific early startup code. This file implements the
|
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* nsh_archinitialize() function that is called early by nsh during startup.
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialisation.
|
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* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
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/****************************************************************************
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@ -49,17 +49,20 @@
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#include <stdbool.h>
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#include <stdio.h>
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#include <string.h>
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#include <debug.h>
|
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#include <errno.h>
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|
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#include <nuttx/arch.h>
|
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#include <nuttx/spi.h>
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#include <nuttx/i2c.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
|
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sdio.h>
|
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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|
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#include <stm32.h>
|
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#include "board_config.h"
|
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#include <stm32_uart.h>
|
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|
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#include <arch/board/board.h>
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@ -67,11 +70,14 @@
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#include <drivers/drv_hrt.h>
|
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#include <drivers/drv_led.h>
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|
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#include <systemlib/px4_macros.h>
|
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#include <systemlib/cpuload.h>
|
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#include <systemlib/perf_counter.h>
|
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#include <systemlib/err.h>
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|
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#include "board_config.h"
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#include <systemlib/hardfault_log.h>
|
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|
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#include <systemlib/systemlib.h>
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|
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/****************************************************************************
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* Pre-Processor Definitions
|
||||
|
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@ -83,13 +89,13 @@
|
|||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
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# define message(...) lowsyslog(__VA_ARGS__)
|
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# define message(...) syslog(__VA_ARGS__)
|
||||
# else
|
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# define message(...) printf(__VA_ARGS__)
|
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# endif
|
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#else
|
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# ifdef CONFIG_DEBUG
|
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# define message lowsyslog
|
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# define message syslog
|
||||
# else
|
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# define message printf
|
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# endif
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|
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@ -123,8 +129,8 @@ __END_DECLS
|
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__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
/* set the peripheral rails off */
|
||||
px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN);
|
||||
px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
|
||||
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
|
||||
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
|
||||
|
||||
/* wait for the peripheral rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
|
|
@ -133,7 +139,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
|||
/* re-enable power */
|
||||
|
||||
/* switch the peripheral rail back on */
|
||||
px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
|
||||
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
|
|
@ -149,31 +155,12 @@ __EXPORT void board_peripheral_reset(int ms)
|
|||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure LEDs */
|
||||
up_ledinit();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nsh_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct spi_dev_s *spi1;
|
||||
static struct spi_dev_s *spi2;
|
||||
static struct sdio_dev_s *sdio;
|
||||
|
||||
#include <math.h>
|
||||
|
||||
__EXPORT int nsh_archinitialize(void)
|
||||
{
|
||||
board_autoled_initialize();
|
||||
|
||||
/* configure ADC pins */
|
||||
|
||||
px4_arch_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
|
||||
px4_arch_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
|
||||
px4_arch_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
|
||||
|
|
@ -195,6 +182,62 @@ __EXPORT int nsh_archinitialize(void)
|
|||
px4_arch_configgpio(GPIO_GPIO4_OUTPUT);
|
||||
px4_arch_configgpio(GPIO_GPIO5_OUTPUT);
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure USB interface */
|
||||
|
||||
stm32_usbinitialize();
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX; the meaning of the argument is a contract
|
||||
* between the board-specific initalization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
static struct spi_dev_s *spi1;
|
||||
static struct spi_dev_s *spi2;
|
||||
static struct sdio_dev_s *sdio;
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
|
||||
up_cxxinitialize();
|
||||
|
||||
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
|
||||
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
|
||||
# endif
|
||||
|
||||
#else
|
||||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
|
|
@ -226,6 +269,140 @@ __EXPORT int nsh_archinitialize(void)
|
|||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
#if defined(CONFIG_STM32_BBSRAM)
|
||||
|
||||
if (hardfault_check_status) {
|
||||
/* NB. the use of the console requires the hrt running
|
||||
* to poll the DMA
|
||||
*/
|
||||
|
||||
/* Using Battery Backed Up SRAM */
|
||||
|
||||
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
|
||||
|
||||
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
|
||||
|
||||
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
|
||||
|
||||
/* Panic Logging in Battery Backed Up Files */
|
||||
|
||||
/*
|
||||
* In an ideal world, if a fault happens in flight the
|
||||
* system save it to BBSRAM will then reboot. Upon
|
||||
* rebooting, the system will log the fault to disk, recover
|
||||
* the flight state and continue to fly. But if there is
|
||||
* a fault on the bench or in the air that prohibit the recovery
|
||||
* or committing the log to disk, the things are too broken to
|
||||
* fly. So the question is:
|
||||
*
|
||||
* Did we have a hard fault and not make it far enough
|
||||
* through the boot sequence to commit the fault data to
|
||||
* the SD card?
|
||||
*/
|
||||
|
||||
/* Do we have an uncommitted hard fault in BBSRAM?
|
||||
* - this will be reset after a successful commit to SD
|
||||
*/
|
||||
int hadCrash = hardfault_check_status("boot");
|
||||
|
||||
if (hadCrash == OK) {
|
||||
|
||||
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
|
||||
" while booting to halt the system!\n");
|
||||
|
||||
/* Yes. So add one to the boot count - this will be reset after a successful
|
||||
* commit to SD
|
||||
*/
|
||||
|
||||
int reboots = hardfault_increment_reboot("boot", false);
|
||||
|
||||
/* Also end the misery for a user that holds for a key down on the console */
|
||||
|
||||
int bytesWaiting;
|
||||
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
|
||||
|
||||
if (reboots > 2 || bytesWaiting != 0) {
|
||||
|
||||
/* Since we can not commit the fault dump to disk. Display it
|
||||
* to the console.
|
||||
*/
|
||||
|
||||
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
|
||||
|
||||
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
|
||||
reboots,
|
||||
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
|
||||
|
||||
|
||||
/* For those of you with a debugger set a break point on up_assert and
|
||||
* then set dbgContinue = 1 and go.
|
||||
*/
|
||||
|
||||
/* Clear any key press that got us here */
|
||||
|
||||
static volatile bool dbgContinue = false;
|
||||
int c = '>';
|
||||
|
||||
while (!dbgContinue) {
|
||||
|
||||
switch (c) {
|
||||
|
||||
case EOF:
|
||||
|
||||
|
||||
case '\n':
|
||||
case '\r':
|
||||
case ' ':
|
||||
continue;
|
||||
|
||||
default:
|
||||
|
||||
putchar(c);
|
||||
putchar('\n');
|
||||
|
||||
switch (c) {
|
||||
|
||||
case 'D':
|
||||
case 'd':
|
||||
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
|
||||
break;
|
||||
|
||||
case 'C':
|
||||
case 'c':
|
||||
hardfault_rearm("boot");
|
||||
hardfault_increment_reboot("boot", true);
|
||||
break;
|
||||
|
||||
case 'B':
|
||||
case 'b':
|
||||
dbgContinue = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
} // Inner Switch
|
||||
|
||||
message("\nEnter B - Continue booting\n" \
|
||||
"Enter C - Clear the fault log\n" \
|
||||
"Enter D - Dump fault log\n\n?>");
|
||||
fflush(stdout);
|
||||
|
||||
if (!dbgContinue) {
|
||||
c = getchar();
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
} // outer switch
|
||||
} // for
|
||||
|
||||
} // inner if
|
||||
} // outer if
|
||||
} // hardfault_check_status
|
||||
|
||||
#endif // CONFIG_STM32_SAVE_CRASHDUMP
|
||||
#endif // CONFIG_STM32_BBSRAM
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_AMBER);
|
||||
|
|
@ -236,7 +413,7 @@ __EXPORT int nsh_archinitialize(void)
|
|||
|
||||
if (!spi1) {
|
||||
message("[boot] FAILED to initialize SPI port 1\n");
|
||||
up_ledon(LED_AMBER);
|
||||
board_autoled_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
|
|
@ -255,7 +432,7 @@ __EXPORT int nsh_archinitialize(void)
|
|||
|
||||
if (!spi2) {
|
||||
message("[boot] FAILED to initialize SPI port 2\n");
|
||||
up_ledon(LED_AMBER);
|
||||
board_autoled_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
|
|
@ -295,3 +472,160 @@ __EXPORT int nsh_archinitialize(void)
|
|||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static void copy_reverse(stack_word_t *dest, stack_word_t *src, int size)
|
||||
{
|
||||
while (size--) {
|
||||
*dest++ = *src--;
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
|
||||
{
|
||||
if (hardfault_check_status) {
|
||||
/* We need a chunk of ram to save the complete context in.
|
||||
* Since we are going to reboot we will use &_sdata
|
||||
* which is the lowest memory and the amount we will save
|
||||
* _should be_ below any resources we need herein.
|
||||
* Unfortunately this is hard to test. See dead below
|
||||
*/
|
||||
|
||||
fullcontext_s *pdump = (fullcontext_s *)&_sdata;
|
||||
|
||||
(void)enter_critical_section();
|
||||
|
||||
struct tcb_s *rtcb = (struct tcb_s *)tcb;
|
||||
|
||||
/* Zero out everything */
|
||||
|
||||
memset(pdump, 0, sizeof(fullcontext_s));
|
||||
|
||||
/* Save Info */
|
||||
|
||||
pdump->info.lineno = lineno;
|
||||
|
||||
if (filename) {
|
||||
|
||||
int offset = 0;
|
||||
unsigned int len = strlen((char *)filename) + 1;
|
||||
|
||||
if (len > sizeof(pdump->info.filename)) {
|
||||
offset = len - sizeof(pdump->info.filename) ;
|
||||
}
|
||||
|
||||
strncpy(pdump->info.filename, (char *)&filename[offset], sizeof(pdump->info.filename));
|
||||
}
|
||||
|
||||
/* Save the value of the pointer for current_regs as debugging info.
|
||||
* It should be NULL in case of an ASSERT and will aid in cross
|
||||
* checking the validity of system memory at the time of the
|
||||
* fault.
|
||||
*/
|
||||
|
||||
pdump->info.current_regs = (uintptr_t) CURRENT_REGS;
|
||||
|
||||
/* Save Context */
|
||||
|
||||
|
||||
#if CONFIG_TASK_NAME_SIZE > 0
|
||||
strncpy(pdump->info.name, rtcb->name, CONFIG_TASK_NAME_SIZE);
|
||||
#endif
|
||||
|
||||
pdump->info.pid = rtcb->pid;
|
||||
|
||||
|
||||
/* If current_regs is not NULL then we are in an interrupt context
|
||||
* and the user context is in current_regs else we are running in
|
||||
* the users context
|
||||
*/
|
||||
|
||||
if (CURRENT_REGS) {
|
||||
pdump->info.stacks.interrupt.sp = currentsp;
|
||||
|
||||
pdump->info.flags |= (eRegsPresent | eUserStackPresent | eIntStackPresent);
|
||||
memcpy(pdump->info.regs, (void *)CURRENT_REGS, sizeof(pdump->info.regs));
|
||||
pdump->info.stacks.user.sp = pdump->info.regs[REG_R13];
|
||||
|
||||
} else {
|
||||
|
||||
/* users context */
|
||||
pdump->info.flags |= eUserStackPresent;
|
||||
|
||||
pdump->info.stacks.user.sp = currentsp;
|
||||
}
|
||||
|
||||
if (pdump->info.pid == 0) {
|
||||
|
||||
pdump->info.stacks.user.top = g_idle_topstack - 4;
|
||||
pdump->info.stacks.user.size = CONFIG_IDLETHREAD_STACKSIZE;
|
||||
|
||||
} else {
|
||||
pdump->info.stacks.user.top = (uint32_t) rtcb->adj_stack_ptr;
|
||||
pdump->info.stacks.user.size = (uint32_t) rtcb->adj_stack_size;;
|
||||
}
|
||||
|
||||
#if CONFIG_ARCH_INTERRUPTSTACK > 3
|
||||
|
||||
/* Get the limits on the interrupt stack memory */
|
||||
|
||||
pdump->info.stacks.interrupt.top = (uint32_t)&g_intstackbase;
|
||||
pdump->info.stacks.interrupt.size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
|
||||
|
||||
/* If In interrupt Context save the interrupt stack data centered
|
||||
* about the interrupt stack pointer
|
||||
*/
|
||||
|
||||
if ((pdump->info.flags & eIntStackPresent) != 0) {
|
||||
stack_word_t *ps = (stack_word_t *) pdump->info.stacks.interrupt.sp;
|
||||
copy_reverse(pdump->istack, &ps[arraySize(pdump->istack) / 2], arraySize(pdump->istack));
|
||||
}
|
||||
|
||||
/* Is it Invalid? */
|
||||
|
||||
if (!(pdump->info.stacks.interrupt.sp <= pdump->info.stacks.interrupt.top &&
|
||||
pdump->info.stacks.interrupt.sp > pdump->info.stacks.interrupt.top - pdump->info.stacks.interrupt.size)) {
|
||||
pdump->info.flags |= eInvalidIntStackPrt;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* If In interrupt context or User save the user stack data centered
|
||||
* about the user stack pointer
|
||||
*/
|
||||
if ((pdump->info.flags & eUserStackPresent) != 0) {
|
||||
stack_word_t *ps = (stack_word_t *) pdump->info.stacks.user.sp;
|
||||
copy_reverse(pdump->ustack, &ps[arraySize(pdump->ustack) / 2], arraySize(pdump->ustack));
|
||||
}
|
||||
|
||||
/* Is it Invalid? */
|
||||
|
||||
if (!(pdump->info.stacks.user.sp <= pdump->info.stacks.user.top &&
|
||||
pdump->info.stacks.user.sp > pdump->info.stacks.user.top - pdump->info.stacks.user.size)) {
|
||||
pdump->info.flags |= eInvalidUserStackPtr;
|
||||
}
|
||||
|
||||
int rv = stm32_bbsram_savepanic(HARDFAULT_FILENO, (uint8_t *)pdump, sizeof(fullcontext_s));
|
||||
|
||||
/* Test if memory got wiped because of using _sdata */
|
||||
|
||||
if (rv == -ENXIO) {
|
||||
char *dead = "Memory wiped - dump not saved!";
|
||||
|
||||
while (*dead) {
|
||||
up_lowputc(*dead++);
|
||||
}
|
||||
|
||||
} else if (rv == -ENOSPC) {
|
||||
|
||||
/* hard fault again */
|
||||
|
||||
up_lowputc('!');
|
||||
}
|
||||
|
||||
|
||||
#if defined(CONFIG_BOARD_RESET_ON_CRASH)
|
||||
px4_systemreset(false);
|
||||
#endif
|
||||
} // hardfault_check_status
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -47,15 +47,16 @@
|
|||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <unistd.h>
|
||||
#include <nuttx/spi.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
|
|
@ -77,21 +78,12 @@ __EXPORT void stm32_spiinitialize(void)
|
|||
px4_arch_configgpio(GPIO_SPI_CS_BARO);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU);
|
||||
|
||||
/* De-activate all peripherals,
|
||||
* required for some peripheral
|
||||
* state machines
|
||||
*/
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
|
||||
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
|
||||
px4_arch_configgpio(GPIO_EXTI_ICM_20608_G_DRDY);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
px4_arch_configgpio(GPIO_SPI_CS_FRAM);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
|
@ -196,14 +188,6 @@ __EXPORT void board_spi_reset(int ms)
|
|||
px4_arch_configgpio(GPIO_SPI_CS_BARO);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU);
|
||||
|
||||
/* De-activate all peripherals,
|
||||
* required for some peripheral
|
||||
* state machines
|
||||
*/
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
|
||||
px4_arch_configgpio(GPIO_SPI1_SCK);
|
||||
px4_arch_configgpio(GPIO_SPI1_MISO);
|
||||
px4_arch_configgpio(GPIO_SPI1_MOSI);
|
||||
|
|
|
|||
|
|
@ -47,10 +47,6 @@
|
|||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#define UDID_START 0x1FFF7A10
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
|
@ -254,6 +250,26 @@ __BEGIN_DECLS
|
|||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
/****************************************************************************************************
|
||||
* Name: board_spi_reset board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
* Called to reset SPI and the perferal bus
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void board_spi_reset(int ms);
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure USB IO.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
|
|
@ -264,30 +280,6 @@ __BEGIN_DECLS
|
|||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
extern void board_spi_reset(int ms);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nsh_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization for NSH.
|
||||
*
|
||||
* CONFIG_NSH_ARCHINIT=y :
|
||||
* Called from the NSH library
|
||||
*
|
||||
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
|
||||
* CONFIG_NSH_ARCHINIT=n :
|
||||
* Called from board_initialize().
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_NSH_LIBRARY
|
||||
int nsh_archinitialize(void);
|
||||
#endif
|
||||
|
||||
#include "../common/board_common.h"
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue