forked from Archive/PX4-Autopilot
Adding hardfault logging application
This commit is contained in:
David Sidrane
Lorenz Meier
parent
57ac4dd401
commit
d09cd77777
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@ -161,6 +161,16 @@ set(target_name "${OS}-${BOARD}-${LABEL}")
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message(STATUS "${target_name}")
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message(STATUS "${target_name}")
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# The Url for the elf file for crash logging
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if (DEFINED ENV{BUILD_URI})
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set (BUILD_URI $ENV{BUILD_URI})
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else()
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set (BUILD_URI "localhost")
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endif()
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add_definitions(-DBUILD_URI=${BUILD_URI})
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# Define GNU standard installation directories
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# Define GNU standard installation directories
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include(GNUInstallDirs)
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include(GNUInstallDirs)
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@ -243,7 +253,7 @@ if (CATKIN_DEVEL_PREFIX)
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message(FATAL_ERROR "catkin not found")
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message(FATAL_ERROR "catkin not found")
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endif()
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endif()
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else()
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else()
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message(STATUS "catkin DISABLED")
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#message(STATUS "catkin DISABLED")
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endif()
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endif()
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find_package(PythonInterp REQUIRED)
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find_package(PythonInterp REQUIRED)
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@ -337,6 +347,7 @@ add_definitions(${definitions})
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#=============================================================================
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#=============================================================================
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# source code generation
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# source code generation
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#
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#
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add_subdirectory(msg)
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add_subdirectory(msg)
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px4_generate_messages(TARGET msg_gen
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px4_generate_messages(TARGET msg_gen
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MSG_FILES ${msg_files}
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MSG_FILES ${msg_files}
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@ -413,7 +424,7 @@ set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "mod
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add_subdirectory(src/firmware/${OS})
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add_subdirectory(src/firmware/${OS})
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#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
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#add_dependencies(df_driver_framework nuttx_export_${CONFIG})
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if (NOT "${OS}" STREQUAL "nuttx")
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if (NOT "${OS}" STREQUAL "nuttx")
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endif()
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endif()
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@ -24,6 +24,11 @@
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# UART7 /dev/ttyS5 ?
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# UART7 /dev/ttyS5 ?
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# UART8 /dev/ttyS6 CONSOLE
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# UART8 /dev/ttyS6 CONSOLE
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#
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# Mount the procfs.
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#
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mount -t procfs /proc
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#
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#
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# Start CDC/ACM serial driver
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# Start CDC/ACM serial driver
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#
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#
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@ -43,8 +48,19 @@ set LOG_FILE /fs/microsd/bootlog.txt
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# REBOOTWORK this needs to start after the flight control loop
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# REBOOTWORK this needs to start after the flight control loop
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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then
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# Start playing the startup tune
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echo "[i] microSD mounted: /fs/microsd"
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tone_alarm start
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if hardfault_log check
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then
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tone_alarm error
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if hardfault_log commit
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then
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hardfault_log reset
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tone_alarm stop
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fi
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else
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# Start playing the startup tune
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tone_alarm start
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fi
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else
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else
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tone_alarm MBAGP
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tone_alarm MBAGP
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if mkfatfs /dev/mmcsd0
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if mkfatfs /dev/mmcsd0
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@ -294,7 +310,7 @@ then
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if px4io forceupdate 14662 ${IO_FILE}
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if px4io forceupdate 14662 ${IO_FILE}
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then
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then
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usleep 500000
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usleep 10000
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if px4io checkcrc $IO_FILE
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if px4io checkcrc $IO_FILE
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then
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then
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echo "PX4IO CRC OK after updating" >> $LOG_FILE
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echo "PX4IO CRC OK after updating" >> $LOG_FILE
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@ -53,6 +53,11 @@ __EXPORT const char *board_name(void);
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__END_DECLS
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__END_DECLS
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#define FREEZE_STR(s) #s
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#define STRINGIFY(s) FREEZE_STR(s)
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#define FW_GIT STRINGIFY(GIT_VERSION)
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#define FW_BUILD_URI STRINGIFY(BUILD_URI)
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#if defined(CONFIG_ARCH_BOARD_SITL)
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#if defined(CONFIG_ARCH_BOARD_SITL)
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# define HW_ARCH "SITL"
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# define HW_ARCH "SITL"
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#elif defined(CONFIG_ARCH_BOARD_EAGLE)
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#elif defined(CONFIG_ARCH_BOARD_EAGLE)
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@ -0,0 +1,355 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 PX4 Development Team. All rights reserved.
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* Author: @author David Sidrane <david_s5@nscdg.com>
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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 PX4 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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#pragma once
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <systemlib/px4_macros.h>
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#include <stm32_bbsram.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define FREEZE_STR(s) #s
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#define STRINGIFY(s) FREEZE_STR(s)
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#define HARDFAULT_FILENO 3
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#define HARDFAULT_PATH BBSRAM_PATH""STRINGIFY(HARDFAULT_FILENO)
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#define HARDFAULT_REBOOT_FILENO 0
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#define HARDFAULT_REBOOT_PATH BBSRAM_PATH""STRINGIFY(HARDFAULT_REBOOT_FILENO)
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#define BBSRAM_SIZE_FN0 (sizeof(int))
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#define BBSRAM_SIZE_FN1 384 /* greater then 2.5 times the size of vehicle_status_s */
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#define BBSRAM_SIZE_FN2 384 /* greater then 2.5 times the size of vehicle_status_s */
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#define BBSRAM_SIZE_FN3 -1
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/* The following guides in the amount of the user and interrupt stack
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* data we can save. The amount of storage left will dictate the actual
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* number of entries of the user stack data saved. If it is too big
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* It will be truncated by the call to stm32_bbsram_savepanic
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*/
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#define BBSRAM_HEADER_SIZE 20 /* This is an assumption */
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#define BBSRAM_USED ((4*BBSRAM_HEADER_SIZE)+(BBSRAM_SIZE_FN0+BBSRAM_SIZE_FN1+BBSRAM_SIZE_FN2))
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#define BBSRAM_REAMINING (PX4_BBSRAM_SIZE-BBSRAM_USED)
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#if CONFIG_ARCH_INTERRUPTSTACK <= 3
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# define BBSRAM_NUMBER_STACKS 1
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#else
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# define BBSRAM_NUMBER_STACKS 2
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#endif
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#define BBSRAM_FIXED_ELEMENTS_SIZE (sizeof(info_s))
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#define BBSRAM_LEFTOVER (BBSRAM_REAMINING-BBSRAM_FIXED_ELEMENTS_SIZE)
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#define CONFIG_ISTACK_SIZE (BBSRAM_LEFTOVER/BBSRAM_NUMBER_STACKS/sizeof(stack_word_t))
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#define CONFIG_USTACK_SIZE (BBSRAM_LEFTOVER/BBSRAM_NUMBER_STACKS/sizeof(stack_word_t))
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/* The path to the Battery Backed up SRAM */
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#define BBSRAM_PATH "/fs/bbr"
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/* The sizes of the files to create (-1) use rest of BBSRAM memory */
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#define BSRAM_FILE_SIZES { \
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BBSRAM_SIZE_FN0, /* For Time stamp only */ \
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BBSRAM_SIZE_FN1, /* For Current Flight Parameters Copy A */ \
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BBSRAM_SIZE_FN2, /* For Current Flight Parameters Copy B*/ \
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BBSRAM_SIZE_FN3, /* For the Panic Log use rest of space */ \
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0 /* End of table marker */ \
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}
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/* For Assert keep this much of the file name*/
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#define MAX_FILE_PATH_LENGTH 40
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/* Fixed size strings
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* To change a format add the number of chars not represented by the format
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* Specifier to the xxxx_NUM definei.e %Y is YYYY so add 2 and %s is -2
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* Also xxxxTIME_FMT need to match in size. See CCASERT in hardfault_log.c
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*/
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#define LOG_PATH_BASE "/fs/microsd/"
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#define LOG_PATH_BASE_LEN ((arraySize(LOG_PATH_BASE))-1)
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#define LOG_NAME_FMT "fault_%s.log"
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#define LOG_NAME_NUM ( -2 )
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#define LOG_NAME_LEN ((arraySize(LOG_NAME_FMT)-1) + LOG_NAME_NUM)
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#define TIME_FMT "%Y_%m_%d_%H_%M_%S"
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#define TIME_FMT_NUM (2+ 0+ 0+ 0+ 0+ 0)
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#define TIME_FMT_LEN (((arraySize(TIME_FMT)-1) + TIME_FMT_NUM))
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#define LOG_PATH_LEN ((LOG_PATH_BASE_LEN + LOG_NAME_LEN + TIME_FMT_LEN))
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#define HEADER_TIME_FMT "%Y-%m-%d-%H:%M:%S"
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#define HEADER_TIME_FMT_NUM (2+ 0+ 0+ 0+ 0+ 0)
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#define HEADER_TIME_FMT_LEN (((arraySize(HEADER_TIME_FMT)-1) + HEADER_TIME_FMT_NUM))
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/* Select which format to use. On a terminal the details are at the bottom
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* and in a file they are at the top
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*/
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#define HARDFAULT_DISPLAY_FORMAT 1
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#define HARDFAULT_FILE_FORMAT 0
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* Used for stack frame storage */
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typedef uint32_t stack_word_t;
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/* Stack related data */
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typedef struct {
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uint32_t sp;
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uint32_t top;
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uint32_t size;
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} _stack_s;
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typedef struct {
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_stack_s user;
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#if CONFIG_ARCH_INTERRUPTSTACK > 3
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_stack_s interrupt;
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#endif
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} stack_t;
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/* Not Used for reference only */
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typedef struct {
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uint32_t r0;
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uint32_t r1;
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uint32_t r2;
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uint32_t r3;
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uint32_t r4;
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uint32_t r5;
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uint32_t r6;
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uint32_t r7;
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uint32_t r8;
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uint32_t r9;
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uint32_t r10;
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uint32_t r11;
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uint32_t r12;
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uint32_t sp;
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uint32_t lr;
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uint32_t pc;
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uint32_t xpsr;
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uint32_t d0;
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uint32_t d1;
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uint32_t d2;
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uint32_t d3;
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uint32_t d4;
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uint32_t d5;
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uint32_t d6;
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uint32_t d7;
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uint32_t d8;
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uint32_t d9;
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uint32_t d10;
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uint32_t d11;
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uint32_t d12;
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uint32_t d13;
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uint32_t d14;
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uint32_t d15;
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uint32_t fpscr;
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uint32_t sp_main;
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uint32_t sp_process;
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uint32_t apsr;
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uint32_t ipsr;
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uint32_t epsr;
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uint32_t primask;
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uint32_t basepri;
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uint32_t faultmask;
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uint32_t control;
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uint32_t s0;
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uint32_t s1;
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uint32_t s2;
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uint32_t s3;
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uint32_t s4;
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uint32_t s5;
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uint32_t s6;
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uint32_t s7;
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uint32_t s8;
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uint32_t s9;
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uint32_t s10;
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uint32_t s11;
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uint32_t s12;
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uint32_t s13;
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uint32_t s14;
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uint32_t s15;
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uint32_t s16;
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uint32_t s17;
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uint32_t s18;
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uint32_t s19;
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uint32_t s20;
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uint32_t s21;
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uint32_t s22;
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uint32_t s23;
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uint32_t s24;
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uint32_t s25;
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uint32_t s26;
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uint32_t s27;
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uint32_t s28;
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uint32_t s29;
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uint32_t s30;
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uint32_t s31;
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} proc_regs_s;
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/* Flags to identify what is in the dump */
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typedef enum {
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eRegsPresent = 0x01,
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eUserStackPresent = 0x02,
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eIntStackPresent = 0x04,
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eInvalidUserStackPtr = 0x20,
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eInvalidIntStackPrt = 0x40,
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} fault_flags_t;
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typedef struct {
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fault_flags_t flags; /* What is in the dump */
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uintptr_t current_regs; /* Used to validate the dump */
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int lineno; /* __LINE__ to up_assert */
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int pid; /* Process ID */
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uint32_t regs[XCPTCONTEXT_REGS]; /* Interrupt register save
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* area */
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stack_t stacks; /* Stack info */
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#if CONFIG_TASK_NAME_SIZE > 0
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char name[CONFIG_TASK_NAME_SIZE + 1]; /* Task name (with NULL
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* terminator) */
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#endif
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char filename[MAX_FILE_PATH_LENGTH]; /* the Last of chars in
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* __FILE__ to up_assert */
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||||||
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} info_s;
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typedef struct {
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info_s info; /* The info */
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#if CONFIG_ARCH_INTERRUPTSTACK > 3 /* The amount of stack data is compile time
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* sized backed on what is left after the
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* other BBSRAM files are defined
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* The order is such that only the
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* ustack should be truncated
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*/
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stack_word_t istack[CONFIG_USTACK_SIZE];
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#endif
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stack_word_t ustack[CONFIG_ISTACK_SIZE];
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} fullcontext_s;
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__BEGIN_DECLS
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/****************************************************************************
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||||||
|
* Name: hardfault_check_status
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Check the status of the BBSRAM hard fault file which can be in
|
||||||
|
* one of two states Armed, Valid or Broken.
|
||||||
|
*
|
||||||
|
* Armed - The file in the armed state is not accessible in the fs
|
||||||
|
* the act of unlinking it is what arms it.
|
||||||
|
*
|
||||||
|
* Valid - The file in the armed state is not accessible in the fs
|
||||||
|
* the act of unlinking it is what arms it.
|
||||||
|
*
|
||||||
|
* Inputs:
|
||||||
|
* - caller: A label to display in syslog output
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
* -ENOENT Armed - The file in the armed state
|
||||||
|
* OK Valid - The file contains data from a fault that has not
|
||||||
|
* been committed to disk (see write_hardfault).
|
||||||
|
* - Any < 0 Broken - Should not happen
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
int hardfault_check_status(char *caller) weak_function;
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: hardfault_write
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Will parse and write a human readable output of the data
|
||||||
|
* in the BBSRAM file. Once
|
||||||
|
*
|
||||||
|
*
|
||||||
|
* Inputs:
|
||||||
|
* - caller: A label to display in syslog output
|
||||||
|
* - fd: An FD to write the data to
|
||||||
|
* - format: Select which format to use.
|
||||||
|
*
|
||||||
|
* HARDFAULT_DISPLAY_FORMAT On the console the details are
|
||||||
|
* at the bottom
|
||||||
|
* HARDFAULT_FILE_FORMAT In a file details are at the top
|
||||||
|
* of the log file
|
||||||
|
*
|
||||||
|
* - rearm: If true will move the file to the Armed state, if
|
||||||
|
* false the file is not armed and can be read again
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
*
|
||||||
|
* OK or errno
|
||||||
|
*
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
int hardfault_write(char *caller, int fd, int format, bool rearm) weak_function;
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: hardfault_rearm
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Will move the file to the Armed state
|
||||||
|
*
|
||||||
|
*
|
||||||
|
* Inputs:
|
||||||
|
* - caller: A label to display in syslog output
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
*
|
||||||
|
* OK or errno
|
||||||
|
*
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
int hardfault_rearm(char *caller) weak_function;
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: hardfault_increment_reboot
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Will increment the reboot counter. The reboot counter will help
|
||||||
|
* detect reboot loops.
|
||||||
|
*
|
||||||
|
*
|
||||||
|
* Inputs:
|
||||||
|
* - caller: A label to display in syslog output
|
||||||
|
* - reset : when set will reset the reboot counter to 0.
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
*
|
||||||
|
* The current value of the reboot counter (post increment).
|
||||||
|
*
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
int hardfault_increment_reboot(char *caller, bool reset) weak_function;
|
||||||
|
|
||||||
|
__END_DECLS
|
||||||
|
|
@ -0,0 +1,43 @@
|
||||||
|
############################################################################
|
||||||
|
#
|
||||||
|
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
px4_add_module(
|
||||||
|
MODULE systemcmds__hardfault_log
|
||||||
|
MAIN hardfault_log
|
||||||
|
STACK_MAIN 1024
|
||||||
|
COMPILE_FLAGS
|
||||||
|
-Os
|
||||||
|
SRCS
|
||||||
|
hardfault_log.c
|
||||||
|
DEPENDS
|
||||||
|
platforms__common
|
||||||
|
)
|
||||||
|
|
@ -0,0 +1,955 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||||
|
* Author: @author David Sidrane <david_s5@nscdg.com>
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <px4_config.h>
|
||||||
|
#include <nuttx/compiler.h>
|
||||||
|
#include <nuttx/arch.h>
|
||||||
|
|
||||||
|
#include <sys/ioctl.h>
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <fcntl.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <errno.h>
|
||||||
|
#include <debug.h>
|
||||||
|
|
||||||
|
#include <stm32_bbsram.h>
|
||||||
|
|
||||||
|
#include <systemlib/px4_macros.h>
|
||||||
|
#include <systemlib/visibility.h>
|
||||||
|
#include <systemlib/hardfault_log.h>
|
||||||
|
#include <lib/version/version.h>
|
||||||
|
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Function Prototypes
|
||||||
|
****************************************************************************/
|
||||||
|
__EXPORT int hardfault_log_main(int argc, char *argv[]);
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
|
#define OUT_BUFFER_LEN 200
|
||||||
|
/****************************************************************************
|
||||||
|
* Private Types
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Private Function Prototypes
|
||||||
|
****************************************************************************/
|
||||||
|
static int genfault(int fault);
|
||||||
|
/****************************************************************************
|
||||||
|
* Private Data
|
||||||
|
****************************************************************************/
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Data
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Private Functions
|
||||||
|
****************************************************************************/
|
||||||
|
/****************************************************************************
|
||||||
|
* genfault
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
static int genfault(int fault)
|
||||||
|
{
|
||||||
|
|
||||||
|
/* Pointer to System Control Block's System Control Register */
|
||||||
|
|
||||||
|
uint32_t *pCCR = (uint32_t *)0xE000ED14;
|
||||||
|
|
||||||
|
static volatile int k = 0;
|
||||||
|
|
||||||
|
switch (fault) {
|
||||||
|
case 0:
|
||||||
|
|
||||||
|
/* Enable divide by 0 fault generation */
|
||||||
|
|
||||||
|
*pCCR |= 0x10;
|
||||||
|
|
||||||
|
k = 1 / fault;
|
||||||
|
|
||||||
|
/* This is not going to happen
|
||||||
|
* Enable divide by 0 fault generation
|
||||||
|
*/
|
||||||
|
|
||||||
|
*pCCR &= ~0x10;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 1:
|
||||||
|
ASSERT(fault == 0);
|
||||||
|
/* This is not going to happen */
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
UNUSED(k);
|
||||||
|
return OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* format_fault_time
|
||||||
|
****************************************************************************/
|
||||||
|
/* Ensure Size is the same foe formats or rewrite this */
|
||||||
|
CCASSERT(TIME_FMT_LEN == HEADER_TIME_FMT_LEN);
|
||||||
|
static int format_fault_time(char *format, struct timespec *ts, char *buffer, unsigned int maxsz)
|
||||||
|
{
|
||||||
|
int ret = -EINVAL;
|
||||||
|
|
||||||
|
if (buffer != NULL && format != NULL) {
|
||||||
|
ret = -ENOMEM;
|
||||||
|
|
||||||
|
if (maxsz >= TIME_FMT_LEN + 1) {
|
||||||
|
struct tm tt;
|
||||||
|
time_t time_sec = ts->tv_sec + (ts->tv_nsec / 1e9);
|
||||||
|
gmtime_r(&time_sec, &tt);
|
||||||
|
|
||||||
|
if (TIME_FMT_LEN == strftime(buffer, maxsz, format , &tt)) {
|
||||||
|
ret = OK;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* format_fault_file_name
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
static int format_fault_file_name(struct timespec *ts, char *buffer, unsigned int maxsz)
|
||||||
|
{
|
||||||
|
char fmtbuff[ TIME_FMT_LEN + 1];
|
||||||
|
int ret = -EINVAL;
|
||||||
|
|
||||||
|
if (buffer) {
|
||||||
|
|
||||||
|
ret = -ENOMEM;
|
||||||
|
unsigned int plen = LOG_PATH_BASE_LEN;
|
||||||
|
|
||||||
|
if (maxsz >= LOG_PATH_LEN) {
|
||||||
|
strncpy(buffer, LOG_PATH_BASE, plen);
|
||||||
|
maxsz -= plen;
|
||||||
|
int rv = format_fault_time(TIME_FMT, ts, fmtbuff, arraySize(fmtbuff));
|
||||||
|
|
||||||
|
if (rv == OK) {
|
||||||
|
int n = snprintf(&buffer[plen], maxsz , LOG_NAME_FMT, fmtbuff);
|
||||||
|
|
||||||
|
if (n == (int) LOG_NAME_LEN + TIME_FMT_LEN) {
|
||||||
|
ret = OK;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* identify
|
||||||
|
****************************************************************************/
|
||||||
|
static void identify(char *caller)
|
||||||
|
{
|
||||||
|
if (caller) {
|
||||||
|
syslog(LOG_INFO, "[%s] ", caller);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* hardfault_get_desc
|
||||||
|
****************************************************************************/
|
||||||
|
static int hardfault_get_desc(char *caller, struct bbsramd_s *desc, bool silent)
|
||||||
|
{
|
||||||
|
int ret = -ENOENT;
|
||||||
|
int fd = open(HARDFAULT_PATH, O_RDONLY);
|
||||||
|
|
||||||
|
if (fd < 0) {
|
||||||
|
if (!silent) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to open Fault Log file [%s] (%d)\n", HARDFAULT_PATH, fd);
|
||||||
|
}
|
||||||
|
|
||||||
|
} else {
|
||||||
|
ret = -EIO;
|
||||||
|
int rv = ioctl(fd, PX4_BBSRAM_GETDESC_IOCTL, (unsigned long)((uintptr_t)desc));
|
||||||
|
|
||||||
|
if (rv >= 0) {
|
||||||
|
ret = fd;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to get Fault Log descriptor (%d)\n", rv);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_stack_detail
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_stack_detail(bool inValid, _stack_s *si, char *sp_name,
|
||||||
|
char *buffer, int max, int fd)
|
||||||
|
{
|
||||||
|
|
||||||
|
int n = 0;
|
||||||
|
uint32_t sbot = si->top - si->size;
|
||||||
|
n = snprintf(&buffer[n], max - n, " %s stack: \n", sp_name);
|
||||||
|
n += snprintf(&buffer[n], max - n, " top: 0x%08x\n", si->top);
|
||||||
|
n += snprintf(&buffer[n], max - n, " sp: 0x%08x %s\n", si->sp, (inValid ? "Invalid" : "Valid"));
|
||||||
|
|
||||||
|
if (n != write(fd, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
n = 0;
|
||||||
|
n += snprintf(&buffer[n], max - n, " bottom: 0x%08x\n", sbot);
|
||||||
|
n += snprintf(&buffer[n], max - n, " size: 0x%08x\n", si->size);
|
||||||
|
|
||||||
|
if (n != write(fd, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef CONFIG_STACK_COLORATION
|
||||||
|
FAR struct tcb_s tcb;
|
||||||
|
tcb.stack_alloc_ptr = (void *) sbot;
|
||||||
|
tcb.adj_stack_size = si->size;
|
||||||
|
n = snprintf(buffer, max, " used: %08x\n", up_check_tcbstack(&tcb));
|
||||||
|
|
||||||
|
if (n != write(fd, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
return OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_stack
|
||||||
|
****************************************************************************/
|
||||||
|
static int read_stack(int fd, stack_word_t *words, int num)
|
||||||
|
{
|
||||||
|
int bytes = read(fd, (char *) words, sizeof(stack_word_t) * num);
|
||||||
|
|
||||||
|
if (bytes > 0) {
|
||||||
|
bytes /= sizeof(stack_word_t);
|
||||||
|
}
|
||||||
|
|
||||||
|
return bytes;
|
||||||
|
}
|
||||||
|
static int write_stack(bool inValid, int winsize, uint32_t wtopaddr,
|
||||||
|
uint32_t topaddr, uint32_t spaddr, uint32_t botaddr,
|
||||||
|
char *sp_name, char *buffer, int max, int infd, int outfd)
|
||||||
|
{
|
||||||
|
char marker[30];
|
||||||
|
stack_word_t stack[32];
|
||||||
|
int ret = OK;
|
||||||
|
|
||||||
|
int n = snprintf(buffer, max, "%s memory region, stack pointer lies %s stack\n",
|
||||||
|
sp_name, (inValid ? "outside of" : "within"));
|
||||||
|
|
||||||
|
if (n != write(outfd, buffer, n)) {
|
||||||
|
|
||||||
|
ret = -EIO;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
|
||||||
|
while (winsize > 0 && ret == OK) {
|
||||||
|
int chunk = read_stack(infd, stack, arraySize(stack));
|
||||||
|
|
||||||
|
if (chunk <= 0) {
|
||||||
|
ret = -EIO;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
winsize -= chunk;
|
||||||
|
|
||||||
|
for (int i = 0; i < chunk; i++) {
|
||||||
|
if (wtopaddr == topaddr) {
|
||||||
|
strncpy(marker, "<-- ", sizeof(marker));
|
||||||
|
strncat(marker, sp_name, sizeof(marker));
|
||||||
|
strncat(marker, " top", sizeof(marker));
|
||||||
|
|
||||||
|
} else if (wtopaddr == spaddr) {
|
||||||
|
strncpy(marker, "<-- ", sizeof(marker));
|
||||||
|
strncat(marker, sp_name, sizeof(marker));
|
||||||
|
|
||||||
|
} else if (wtopaddr == botaddr) {
|
||||||
|
strncpy(marker, "<-- ", sizeof(marker));
|
||||||
|
strncat(marker, sp_name, sizeof(marker));
|
||||||
|
strncat(marker, " bottom", sizeof(marker));
|
||||||
|
|
||||||
|
} else {
|
||||||
|
marker[0] = '\0';
|
||||||
|
}
|
||||||
|
|
||||||
|
n = snprintf(buffer, max, "0x%08x 0x%08x%s\n", wtopaddr, stack[i], marker);
|
||||||
|
|
||||||
|
if (n != write(outfd, buffer, n)) {
|
||||||
|
ret = -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
wtopaddr--;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_registers
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_registers(uint32_t regs[], char *buffer, int max, int fd)
|
||||||
|
{
|
||||||
|
int n = snprintf(buffer, max, " r0:0x%08x r1:0x%08x r2:0x%08x r3:0x%08x r4:0x%08x r5:0x%08x r6:0x%08x r7:0x%08x\n",
|
||||||
|
regs[REG_R0], regs[REG_R1],
|
||||||
|
regs[REG_R2], regs[REG_R3],
|
||||||
|
regs[REG_R4], regs[REG_R5],
|
||||||
|
regs[REG_R6], regs[REG_R7]);
|
||||||
|
|
||||||
|
if (n != write(fd, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
n = snprintf(buffer, max, " r8:0x%08x r9:0x%08x r10:0x%08x r11:0x%08x r12:0x%08x sp:0x%08x lr:0x%08x pc:0x%08x\n",
|
||||||
|
regs[REG_R8], regs[REG_R9],
|
||||||
|
regs[REG_R10], regs[REG_R11],
|
||||||
|
regs[REG_R12], regs[REG_R13],
|
||||||
|
regs[REG_R14], regs[REG_R15]);
|
||||||
|
|
||||||
|
if (n != write(fd, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef CONFIG_ARMV7M_USEBASEPRI
|
||||||
|
n = snprintf(buffer, max, " xpsr:0x%08x basepri:0x%08x control:0x%08x\n",
|
||||||
|
regs[REG_XPSR], regs[REG_BASEPRI],
|
||||||
|
getcontrol());
|
||||||
|
#else
|
||||||
|
n = snprintf(buffer, max, " xpsr:0x%08x primask:0x%08x control:0x%08x\n",
|
||||||
|
regs[REG_XPSR], regs[REG_PRIMASK],
|
||||||
|
getcontrol());
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (n != write(fd, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef REG_EXC_RETURN
|
||||||
|
n = snprintf(buffer, max, " exe return:0x%08x\n", regs[REG_EXC_RETURN]);
|
||||||
|
|
||||||
|
if (n != write(fd, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
return OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_registers_info
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_registers_info(int fdout, info_s *pi , char *buffer, int sz)
|
||||||
|
{
|
||||||
|
int ret = ENOENT;
|
||||||
|
|
||||||
|
if (pi->flags & eRegsPresent) {
|
||||||
|
ret = -EIO;
|
||||||
|
int n = snprintf(buffer, sz, " Processor registers: from 0x%08x\n", pi->current_regs);
|
||||||
|
|
||||||
|
if (n == write(fdout, buffer, n)) {
|
||||||
|
ret = write_registers(pi->regs, buffer, sz, fdout);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_interrupt_stack_info
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_interrupt_stack_info(int fdout, info_s *pi, char *buffer,
|
||||||
|
unsigned int sz)
|
||||||
|
{
|
||||||
|
int ret = ENOENT;
|
||||||
|
|
||||||
|
if (pi->flags & eIntStackPresent) {
|
||||||
|
ret = write_stack_detail((pi->flags & eInvalidIntStackPrt) != 0,
|
||||||
|
&pi->stacks.interrupt, "IRQ",
|
||||||
|
buffer, sz, fdout);
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_user_stack_info
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_user_stack_info(int fdout, info_s *pi, char *buffer,
|
||||||
|
unsigned int sz)
|
||||||
|
{
|
||||||
|
int ret = ENOENT;
|
||||||
|
|
||||||
|
if (pi->flags & eUserStackPresent) {
|
||||||
|
ret = write_stack_detail((pi->flags & eInvalidUserStackPtr) != 0,
|
||||||
|
&pi->stacks.user, "User", buffer, sz, fdout);
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_dump_info
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_dump_info(int fdout, info_s *info, struct bbsramd_s *desc,
|
||||||
|
char *buffer, unsigned int sz)
|
||||||
|
{
|
||||||
|
char fmtbuff[ TIME_FMT_LEN + 1];
|
||||||
|
format_fault_time(HEADER_TIME_FMT, &desc->lastwrite, fmtbuff, sizeof(fmtbuff));
|
||||||
|
|
||||||
|
bool isFault = (info->current_regs != 0 || info->pid == 0);
|
||||||
|
int n;
|
||||||
|
n = snprintf(buffer, sz, "System fault Occurred on: %s\n", fmtbuff);
|
||||||
|
|
||||||
|
if (n != write(fdout, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (isFault) {
|
||||||
|
n = snprintf(buffer, sz, " Type:Hard Fault");
|
||||||
|
|
||||||
|
} else {
|
||||||
|
n = snprintf(buffer, sz, " Type:Assertion failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (n != write(fdout, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef CONFIG_TASK_NAME_SIZE
|
||||||
|
n = snprintf(buffer, sz, " in file:%s at line: %d running task: %s\n",
|
||||||
|
info->filename, info->lineno, info->name);
|
||||||
|
#else
|
||||||
|
n = snprintf(buffer, sz, " in file:%s at line: %d \n",
|
||||||
|
info->filename, info->lineno);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (n != write(fdout, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
n = snprintf(buffer, sz, " FW git-hash: %s\n", FW_GIT);
|
||||||
|
|
||||||
|
if (n != write(fdout, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
n = snprintf(buffer, sz, " Build datetime: %s %s\n", __DATE__, __TIME__);
|
||||||
|
|
||||||
|
if (n != write(fdout, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
n = snprintf(buffer, sz, " Build url: %s \n", FW_BUILD_URI);
|
||||||
|
|
||||||
|
if (n != write(fdout, buffer, n)) {
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
return OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_dump_time
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_dump_time(char *caller, char *tag, int fdout,
|
||||||
|
struct timespec *ts, char *buffer, unsigned int sz)
|
||||||
|
{
|
||||||
|
int ret = OK;
|
||||||
|
char fmtbuff[ TIME_FMT_LEN + 1];
|
||||||
|
format_fault_time(HEADER_TIME_FMT, ts, fmtbuff, sizeof(fmtbuff));
|
||||||
|
int n = snprintf(buffer, sz, "[%s] -- %s %s Fault Log --\n", caller, fmtbuff, tag);
|
||||||
|
|
||||||
|
if (n != write(fdout, buffer, n)) {
|
||||||
|
ret = -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
/****************************************************************************
|
||||||
|
* write_dump_footer
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_dump_header(char *caller, int fdout, struct timespec *ts,
|
||||||
|
char *buffer, unsigned int sz)
|
||||||
|
{
|
||||||
|
return write_dump_time(caller, "Begin", fdout, ts, buffer, sz);
|
||||||
|
}
|
||||||
|
/****************************************************************************
|
||||||
|
* write_dump_footer
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_dump_footer(char *caller, int fdout, struct timespec *ts,
|
||||||
|
char *buffer, unsigned int sz)
|
||||||
|
{
|
||||||
|
return write_dump_time(caller, "END", fdout, ts, buffer, sz);
|
||||||
|
}
|
||||||
|
/****************************************************************************
|
||||||
|
* write_intterupt_satck
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_intterupt_stack(int fdin, int fdout, info_s *pi, char *buffer,
|
||||||
|
unsigned int sz)
|
||||||
|
{
|
||||||
|
int ret = ENOENT;
|
||||||
|
|
||||||
|
if ((pi->flags & eIntStackPresent) != 0) {
|
||||||
|
lseek(fdin, offsetof(fullcontext_s, istack), SEEK_SET);
|
||||||
|
ret = write_stack((pi->flags & eInvalidIntStackPrt) != 0,
|
||||||
|
CONFIG_ISTACK_SIZE,
|
||||||
|
pi->stacks.interrupt.sp + CONFIG_ISTACK_SIZE / 2,
|
||||||
|
pi->stacks.interrupt.top,
|
||||||
|
pi->stacks.interrupt.sp,
|
||||||
|
pi->stacks.interrupt.top - pi->stacks.interrupt.size,
|
||||||
|
"Interrupt sp", buffer, sz, fdin, fdout);
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* write_user_stack
|
||||||
|
****************************************************************************/
|
||||||
|
static int write_user_stack(int fdin, int fdout, info_s *pi, char *buffer,
|
||||||
|
unsigned int sz)
|
||||||
|
{
|
||||||
|
int ret = ENOENT;
|
||||||
|
|
||||||
|
if ((pi->flags & eUserStackPresent) != 0) {
|
||||||
|
lseek(fdin, offsetof(fullcontext_s, ustack), SEEK_SET);
|
||||||
|
ret = write_stack((pi->flags & eInvalidUserStackPtr) != 0,
|
||||||
|
CONFIG_USTACK_SIZE,
|
||||||
|
pi->stacks.user.sp + CONFIG_USTACK_SIZE / 2,
|
||||||
|
pi->stacks.user.top,
|
||||||
|
pi->stacks.user.sp,
|
||||||
|
pi->stacks.user.top - pi->stacks.user.size,
|
||||||
|
"User sp", buffer, sz, fdin, fdout);
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* commit
|
||||||
|
****************************************************************************/
|
||||||
|
static int hardfault_commit(char *caller)
|
||||||
|
{
|
||||||
|
int ret = -ENOENT;
|
||||||
|
int state = -1;
|
||||||
|
struct bbsramd_s desc;
|
||||||
|
char path[LOG_PATH_LEN + 1];
|
||||||
|
ret = hardfault_get_desc(caller, &desc, false);
|
||||||
|
|
||||||
|
if (ret >= 0) {
|
||||||
|
|
||||||
|
int fd = ret;
|
||||||
|
state = (desc.lastwrite.tv_sec || desc.lastwrite.tv_nsec) ? OK : 1;
|
||||||
|
int rv = close(fd);
|
||||||
|
|
||||||
|
if (rv < 0) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n", rv);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
|
||||||
|
if (state != OK) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Nothing to save\n", path);
|
||||||
|
ret = -ENOENT;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
ret = format_fault_file_name(&desc.lastwrite, path, arraySize(path));
|
||||||
|
|
||||||
|
if (ret == OK) {
|
||||||
|
int fdout = open(path, O_RDWR | O_CREAT);
|
||||||
|
|
||||||
|
if (fdout > 0) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Saving Fault Log file %s\n", path);
|
||||||
|
ret = hardfault_write(caller, fdout, HARDFAULT_FILE_FORMAT, true);
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Done saving Fault Log file\n");
|
||||||
|
close(fdout);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* hardfault_dowrite
|
||||||
|
****************************************************************************/
|
||||||
|
static int hardfault_dowrite(char *caller, int infd, int outfd,
|
||||||
|
struct bbsramd_s *desc, int format)
|
||||||
|
{
|
||||||
|
int ret = -ENOMEM;
|
||||||
|
char *line = zalloc(OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (line) {
|
||||||
|
char *info = zalloc(sizeof(info_s));
|
||||||
|
|
||||||
|
if (info) {
|
||||||
|
lseek(infd, offsetof(fullcontext_s, info), SEEK_SET);
|
||||||
|
ret = read(infd, info, sizeof(info_s));
|
||||||
|
|
||||||
|
if (ret < 0) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to read Fault Log file [%s] (%d)\n", HARDFAULT_PATH, ret);
|
||||||
|
ret = -EIO;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
info_s *pinfo = (info_s *) info;
|
||||||
|
ret = write_dump_header(caller, outfd, &desc->lastwrite, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret == OK) {
|
||||||
|
|
||||||
|
switch (format) {
|
||||||
|
case HARDFAULT_DISPLAY_FORMAT:
|
||||||
|
ret = write_intterupt_stack(infd, outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_user_stack(infd, outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_dump_info(outfd, pinfo, desc, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_registers_info(outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_interrupt_stack_info(outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_user_stack_info(outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case HARDFAULT_FILE_FORMAT:
|
||||||
|
ret = write_dump_info(outfd, pinfo, desc, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret == OK) {
|
||||||
|
ret = write_registers_info(outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_interrupt_stack_info(outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_user_stack_info(outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_intterupt_stack(infd, outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_user_stack(infd, outfd, pinfo, line, OUT_BUFFER_LEN);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
ret = -EINVAL;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ret >= OK) {
|
||||||
|
ret = write_dump_footer(caller, outfd, &desc->lastwrite, line, OUT_BUFFER_LEN);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
free(info);
|
||||||
|
}
|
||||||
|
|
||||||
|
free(line);
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
/****************************************************************************
|
||||||
|
* hardfault_rearm
|
||||||
|
****************************************************************************/
|
||||||
|
__EXPORT int hardfault_rearm(char *caller)
|
||||||
|
{
|
||||||
|
int ret = OK;
|
||||||
|
int rv = unlink(HARDFAULT_PATH);
|
||||||
|
|
||||||
|
if (rv < 0) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to re arming Fault Log (%d)\n", rv);
|
||||||
|
ret = -EIO;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Fault Log is Armed\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* hardfault_check_status
|
||||||
|
****************************************************************************/
|
||||||
|
__EXPORT int hardfault_check_status(char *caller)
|
||||||
|
{
|
||||||
|
int state = -1;
|
||||||
|
struct bbsramd_s desc;
|
||||||
|
int ret = hardfault_get_desc(caller, &desc, true);
|
||||||
|
|
||||||
|
if (ret < 0) {
|
||||||
|
identify(caller);
|
||||||
|
|
||||||
|
if (ret == -ENOENT) {
|
||||||
|
syslog(LOG_INFO, "Fault Log is Armed\n");
|
||||||
|
|
||||||
|
} else {
|
||||||
|
syslog(LOG_INFO, "Failed to open Fault Log file [%s] (%d)\n", HARDFAULT_PATH, ret);
|
||||||
|
}
|
||||||
|
|
||||||
|
} else {
|
||||||
|
int fd = ret;
|
||||||
|
state = (desc.lastwrite.tv_sec || desc.lastwrite.tv_nsec) ? OK : 1;
|
||||||
|
int rv = close(fd);
|
||||||
|
|
||||||
|
if (rv < 0) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n", rv);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
ret = state;
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Fault Log info File No %d Length %d flags:0x%02x state:%d\n",
|
||||||
|
(unsigned int)desc.fileno, (unsigned int) desc.len, (unsigned int)desc.flags, state);
|
||||||
|
|
||||||
|
if (state == OK) {
|
||||||
|
char buf[TIME_FMT_LEN + 1];
|
||||||
|
format_fault_time(HEADER_TIME_FMT, &desc.lastwrite, buf, arraySize(buf));
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Fault Logged on %s - Valid\n", buf);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
rv = hardfault_rearm(caller);
|
||||||
|
|
||||||
|
if (rv < 0) {
|
||||||
|
ret = rv;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* hardfault_increment_reboot
|
||||||
|
****************************************************************************/
|
||||||
|
__EXPORT int hardfault_increment_reboot(char *caller, bool reset)
|
||||||
|
{
|
||||||
|
int ret = -EIO;
|
||||||
|
int count = 0;
|
||||||
|
int fd = open(HARDFAULT_REBOOT_PATH, O_RDWR | O_CREAT);
|
||||||
|
|
||||||
|
if (fd < 0) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to open Fault reboot count file [%s] (%d)\n", HARDFAULT_REBOOT_PATH, ret);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
|
||||||
|
ret = OK;
|
||||||
|
|
||||||
|
if (!reset) {
|
||||||
|
if (read(fd, &count, sizeof(count)) != sizeof(count)) {
|
||||||
|
ret = -EIO;
|
||||||
|
close(fd);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
lseek(fd, 0, SEEK_SET);
|
||||||
|
count++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ret == OK) {
|
||||||
|
ret = write(fd, &count, sizeof(count));
|
||||||
|
|
||||||
|
if (ret != sizeof(count)) {
|
||||||
|
ret = -EIO;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
ret = close(fd);
|
||||||
|
|
||||||
|
if (ret == OK) {
|
||||||
|
ret = count;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
/****************************************************************************
|
||||||
|
* hardfault_write
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT int hardfault_write(char *caller, int fd, int format, bool rearm)
|
||||||
|
{
|
||||||
|
struct bbsramd_s desc;
|
||||||
|
|
||||||
|
switch (format) {
|
||||||
|
|
||||||
|
case HARDFAULT_FILE_FORMAT:
|
||||||
|
case HARDFAULT_DISPLAY_FORMAT:
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
return -EINVAL;
|
||||||
|
}
|
||||||
|
|
||||||
|
int ret = hardfault_get_desc(caller, &desc, false);
|
||||||
|
|
||||||
|
if (ret >= 0) {
|
||||||
|
int hffd = ret;
|
||||||
|
|
||||||
|
|
||||||
|
int rv = hardfault_dowrite(caller, hffd, fd, &desc, format);
|
||||||
|
|
||||||
|
ret = close(hffd);
|
||||||
|
|
||||||
|
if (ret < 0) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n", ret);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
if (rv == OK && rearm) {
|
||||||
|
ret = hardfault_rearm(caller);
|
||||||
|
|
||||||
|
if (ret < 0) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to re-arm Fault Log (%d)\n", ret);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ret == OK) {
|
||||||
|
ret = rv;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ret != OK) {
|
||||||
|
identify(caller);
|
||||||
|
syslog(LOG_INFO, "Failed to Write Fault Log (%d)\n", ret);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: hardfault_log_main
|
||||||
|
****************************************************************************/
|
||||||
|
__EXPORT int hardfault_log_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
char *self = "hardfault_log";
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "check")) {
|
||||||
|
|
||||||
|
return hardfault_check_status(self);
|
||||||
|
|
||||||
|
} else if (!strcmp(argv[1], "rearm")) {
|
||||||
|
|
||||||
|
return hardfault_rearm(self);
|
||||||
|
|
||||||
|
} else if (!strcmp(argv[1], "fault")) {
|
||||||
|
|
||||||
|
int fault = 0;
|
||||||
|
|
||||||
|
if (argc > 2) {
|
||||||
|
fault = atol(argv[2]);
|
||||||
|
}
|
||||||
|
|
||||||
|
return genfault(fault);
|
||||||
|
|
||||||
|
} else if (!strcmp(argv[1], "commit")) {
|
||||||
|
|
||||||
|
return hardfault_commit(self);
|
||||||
|
|
||||||
|
} else if (!strcmp(argv[1], "count")) {
|
||||||
|
|
||||||
|
return hardfault_increment_reboot(self, false);
|
||||||
|
|
||||||
|
} else if (!strcmp(argv[1], "reset")) {
|
||||||
|
|
||||||
|
return hardfault_increment_reboot(self, true);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
fprintf(stderr, "unrecognised command, try 'check' ,'rearm' , 'fault', 'count', 'reset' or 'commit'\n");
|
||||||
|
return -EINVAL;
|
||||||
|
}
|
||||||
|
|
@ -50,20 +50,24 @@
|
||||||
|
|
||||||
/* string constants for version commands */
|
/* string constants for version commands */
|
||||||
static const char sz_ver_hw_str[] = "hw";
|
static const char sz_ver_hw_str[] = "hw";
|
||||||
static const char sz_ver_hwcmp_str[] = "hwcmp";
|
static const char sz_ver_hwcmp_str[] = "hwcmp";
|
||||||
static const char sz_ver_git_str[] = "git";
|
static const char sz_ver_git_str[] = "git";
|
||||||
static const char sz_ver_bdate_str[] = "bdate";
|
static const char sz_ver_bdate_str[] = "bdate";
|
||||||
|
static const char sz_ver_buri_str[] = "uri";
|
||||||
static const char sz_ver_gcc_str[] = "gcc";
|
static const char sz_ver_gcc_str[] = "gcc";
|
||||||
static const char sz_ver_all_str[] = "all";
|
static const char sz_ver_all_str[] = "all";
|
||||||
static const char mcu_ver_str[] = "mcu";
|
static const char mcu_ver_str[] = "mcu";
|
||||||
static const char mcu_uid_str[] = "uid";
|
static const char mcu_uid_str[] = "uid";
|
||||||
|
|
||||||
const char *px4_git_version = PX4_GIT_VERSION_STR;
|
const char *px4_git_version = PX4_GIT_VERSION_STR;
|
||||||
const uint64_t px4_git_version_binary = PX4_GIT_VERSION_BINARY;
|
const uint64_t px4_git_version_binary = PX4_GIT_VERSION_BINARY;
|
||||||
|
#if !defined(CONFIG_CDCACM_PRODUCTID)
|
||||||
|
# define CONFIG_CDCACM_PRODUCTID 0
|
||||||
|
#endif
|
||||||
const char *px4_git_tag = PX4_GIT_TAG_STR;
|
const char *px4_git_tag = PX4_GIT_TAG_STR;
|
||||||
|
|
||||||
#if defined(__PX4_NUTTX)
|
#if defined(__PX4_NUTTX)
|
||||||
__EXPORT const char *os_git_tag = "6.27";
|
__EXPORT const char *os_git_tag = "7.18";
|
||||||
__EXPORT const uint32_t px4_board_version = CONFIG_CDCACM_PRODUCTID;
|
__EXPORT const uint32_t px4_board_version = CONFIG_CDCACM_PRODUCTID;
|
||||||
#else
|
#else
|
||||||
__EXPORT const char *os_git_tag = "";
|
__EXPORT const char *os_git_tag = "";
|
||||||
|
|
@ -178,7 +182,7 @@ static void usage(const char *reason)
|
||||||
printf("%s\n", reason);
|
printf("%s\n", reason);
|
||||||
}
|
}
|
||||||
|
|
||||||
printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu|uid}\n\n");
|
printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu|uid|uri}\n\n");
|
||||||
}
|
}
|
||||||
|
|
||||||
__EXPORT int ver_main(int argc, char *argv[]);
|
__EXPORT int ver_main(int argc, char *argv[]);
|
||||||
|
|
@ -239,6 +243,13 @@ int ver_main(int argc, char *argv[])
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (show_all || !strncmp(argv[1], sz_ver_buri_str, sizeof(sz_ver_buri_str))) {
|
||||||
|
printf("Build uri: %s\n", FW_BUILD_URI);
|
||||||
|
ret = 0;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
|
if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
|
||||||
printf("Toolchain: %s\n", __VERSION__);
|
printf("Toolchain: %s\n", __VERSION__);
|
||||||
ret = 0;
|
ret = 0;
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue