forked from Archive/PX4-Autopilot
stm32:add stm32 and stm32f7 board_hardfault_init
This commit is contained in:
David Sidrane
Lorenz Meier
parent
2f6a297f3d
commit
74695f3cfb
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@ -1,16 +1,184 @@
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#ifdef CONFIG_BOARD_CRASHDUMP
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#include <px4_config.h>
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#include <px4_log.h>
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#include <px4_tasks.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <string.h>
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#include <limits.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <nuttx/board.h>
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#include "up_internal.h"
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#include <systemlib/hardfault_log.h>
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#if defined(CONFIG_STM32F7_BBSRAM) && defined(CONFIG_STM32F7_SAVE_CRASHDUMP)
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# define HAS_BBSRAM CONFIG_STM32F7_BBSRAM
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# define BBSRAM_FILE_COUNT CONFIG_STM32F7_BBSRAM_FILES
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# define SAVE_CRASHDUMP CONFIG_STM32F7_SAVE_CRASHDUMP
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#elif defined(CONFIG_STM32_BBSRAM) && defined(CONFIG_STM32_SAVE_CRASHDUMP)
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# define HAS_BBSRAM CONFIG_STM32_BBSRAM
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# define BBSRAM_FILE_COUNT CONFIG_STM32_BBSRAM_FILES
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# define SAVE_CRASHDUMP CONFIG_STM32_SAVE_CRASHDUMP
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#endif
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int board_hardfault_init(int display_to_console, bool allow_prompt)
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{
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int hadCrash = -1;
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#if defined(HAS_BBSRAM)
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/* NB. the use of the console requires the hrt running
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* to poll the DMA
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*/
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/* Using Battery Backed Up SRAM */
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int filesizes[BBSRAM_FILE_COUNT + 1] = BSRAM_FILE_SIZES;
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stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
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#if defined(SAVE_CRASHDUMP)
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/* Panic Logging in Battery Backed Up Files */
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/*
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* In an ideal world, if a fault happens in flight the
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* system save it to BBSRAM will then reboot. Upon
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* rebooting, the system will log the fault to disk, recover
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* the flight state and continue to fly. But if there is
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* a fault on the bench or in the air that prohibit the recovery
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* or committing the log to disk, the things are too broken to
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* fly. So the question is:
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*
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* Did we have a hard fault and not make it far enough
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* through the boot sequence to commit the fault data to
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* the SD card?
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*/
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/* Do we have an uncommitted hard fault in BBSRAM?
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* - this will be reset after a successful commit to SD
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*/
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hadCrash = hardfault_check_status("boot");
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if (hadCrash == OK) {
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PX4_ERR("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
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" while booting to review!\n");
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/* Yes. So add one to the boot count - this will be reset after a successful
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* commit to SD
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*/
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int reboots = hardfault_increment_reboot("boot", false);
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if (reboots < 0) {
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return -EIO;
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}
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if (reboots >= 32000) {
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reboots = hardfault_increment_reboot("boot", true);
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return -ENOSPC;
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}
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/* Also end the misery for a user that holds for a key down on the console */
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int bytesWaiting;
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ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
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if (reboots > display_to_console || bytesWaiting != 0) {
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/* Since we can not commit the fault dump to disk. Display it
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* to the console.
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*/
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if (!allow_prompt) {
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bytesWaiting = 0;
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}
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if (display_to_console != INT_MAX) {
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hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
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}
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PX4_ERR("[boot] There were %d reboots with Hard fault that were not committed to disk%s\n",
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reboots,
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(bytesWaiting == 0 ? "" : " - Boot halted Due to Key Press\n"));
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/* For those of you with a debugger set a break point on up_assert and
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* then set dbgContinue = 1 and go.
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*/
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/* Clear any key press that got us here */
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volatile bool dbgContinue = bytesWaiting == 0;
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int c = '>';
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while (!dbgContinue) {
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switch (c) {
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case EOF:
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case '\n':
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case '\r':
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case ' ':
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goto read;
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default:
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putchar(c);
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putchar('\n');
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switch (c) {
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case 'D':
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case 'd':
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hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
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break;
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case 'C':
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case 'c':
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hardfault_rearm("boot");
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hardfault_increment_reboot("boot", true);
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break;
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case 'B':
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case 'b':
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dbgContinue = true;
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break;
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default:
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break;
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} // Inner Switch
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PX4_INFO("\nEnter B - Continue booting\n" \
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"Enter C - Clear the fault log\n" \
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"Enter D - Dump fault log\n\n?>");
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fflush(stdout);
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read:
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if (!dbgContinue) {
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c = getchar();
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}
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break;
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} // outer switch
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} // for
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} // inner if
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} // outer if
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#endif // SAVE_CRASHDUMP
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#endif // HAS_BBSRAM
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return hadCrash == OK ? 1 : 0;
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}
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static void copy_reverse(stack_word_t *dest, stack_word_t *src, int size)
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{
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while (size--) {
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