px4 hardfault_log: Add SSARC dump backend support

platforms/nuttx/src/px4/common/board_crashdump.c

@@ -60,10 +60,15 @@
 #include <px4_platform/progmem_dump.h>
 #endif
 
-#ifdef HAS_BBSRAM
-#  define REBOOTS_COUNT 32000
-#elif defined(HAS_PROGMEM)
+#ifdef HAS_SSARC
+#include <ssarc_dump.h>
+#endif
+
+
+#if defined(HAS_PROGMEM)
 #  define REBOOTS_COUNT 32
+#else
+#  define REBOOTS_COUNT 32000
 #endif
 
 int board_hardfault_init(int display_to_console, bool allow_prompt)
@@ -94,9 +99,21 @@ int board_hardfault_init(int display_to_console, bool allow_prompt)
 
 	progmem_dump_initialize(PROGMEM_PATH, filesizes);
 
+#elif defined(HAS_SSARC)
+
+	/* NB. the use of the console requires the hrt running
+	 * to poll the DMA
+	 */
+
+	/* Using progmem */
+
+	int filesizes[SSARC_DUMP_FILE_COUNT + 1] = SSARC_DUMP_FILE_SIZES;
+
+	ssarc_dump_initialize(SSARC_DUMP_PATH, filesizes);
+
 #endif // HAS_PROGMEM
 
-#if defined(SAVE_CRASHDUMP) && (defined(HAS_BBSRAM) || defined(HAS_PROGMEM))
+#if defined(SAVE_CRASHDUMP) && (defined(HAS_BBSRAM) || defined(HAS_PROGMEM) || defined(HAS_SSARC))
 
 	/* Panic Logging in Battery Backed Up Files */
 

src/lib/systemlib/hardfault_log.h

@@ -147,7 +147,57 @@ typedef struct progmem_s dump_s;
 		PROGMEM_SIZE_FN3,   /* For the Panic Log use rest of space */  \
 		0                  /* End of table marker */                  \
 	}
-#else /* HAS_PROGMEM */
+#elif defined(HAS_SSARC)
+
+typedef struct ssarc_s dump_s;
+
+#define HARDFAULT_REBOOT_FILENO 0
+#define HARDFAULT_REBOOT_PATH SSARC_DUMP_PATH "" STRINGIFY(HARDFAULT_REBOOT_FILENO)
+#define HARDFAULT_ULOG_FILENO 3
+#define HARDFAULT_ULOG_PATH SSARC_DUMP_PATH "" STRINGIFY(HARDFAULT_ULOG_FILENO)
+#define HARDFAULT_FILENO 4
+#define HARDFAULT_PATH SSARC_DUMP_PATH "" STRINGIFY(HARDFAULT_FILENO)
+
+#define HARDFAULT_MAX_ULOG_FILE_LEN 64 /* must be large enough to store the full path to the log file */
+
+#define SSARC_DUMP_SIZE_FN0 ((((sizeof(int)) / PX4_SSARC_BLOCK_DATA) + 1) * PX4_SSARC_BLOCK_DATA)
+#define SSARC_DUMP_SIZE_FN1 (((384 / PX4_SSARC_BLOCK_DATA) + 1) * PX4_SSARC_BLOCK_DATA)     /* greater then 2.5 times the size of vehicle_status_s */
+#define SSARC_DUMP_SIZE_FN2 (((384 / PX4_SSARC_BLOCK_DATA) + 1) * PX4_SSARC_BLOCK_DATA)     /* greater then 2.5 times the size of vehicle_status_s */
+#define SSARC_DUMP_SIZE_FN3 (((HARDFAULT_MAX_ULOG_FILE_LEN / PX4_SSARC_BLOCK_DATA) + 1) * PX4_SSARC_BLOCK_DATA)
+#define SSARC_DUMP_SIZE_FN4 -1
+
+/* The following guides in the amount of the user and interrupt stack
+ * data we can save. The amount of storage left will dictate the actual
+ * number of entries of the user stack data saved. If it is too big
+ * It will be truncated by the call to savepanic
+ */
+#define SSARC_DUMP_HEADER_SIZE PX4_SSARC_HEADER_SIZE + 32 /* This is an assumption */
+#define SSARC_DUMP_USED ((5*SSARC_DUMP_HEADER_SIZE)+(SSARC_DUMP_SIZE_FN0+SSARC_DUMP_SIZE_FN1+SSARC_DUMP_SIZE_FN2+SSARC_DUMP_SIZE_FN3))
+#define SSARC_DUMP_REMAINING (PX4_SSARC_DUMP_SIZE-SSARC_DUMP_USED)
+#if CONFIG_ARCH_INTERRUPTSTACK <= 3
+#  define SSARC_DUMP_NUMBER_STACKS 1
+#else
+#  define SSARC_DUMP_NUMBER_STACKS 2
+#endif
+#define SSARC_DUMP_FIXED_ELEMENTS_SIZE (sizeof(info_s))
+#define SSARC_DUMP_LEFTOVER (SSARC_DUMP_REMAINING-SSARC_DUMP_FIXED_ELEMENTS_SIZE)
+
+#define CONFIG_ISTACK_SIZE (SSARC_DUMP_LEFTOVER/SSARC_DUMP_NUMBER_STACKS/sizeof(stack_word_t))
+#define CONFIG_USTACK_SIZE (SSARC_DUMP_LEFTOVER/SSARC_DUMP_NUMBER_STACKS/sizeof(stack_word_t))
+
+#define SSARC_DUMP_FILE_COUNT 5
+/* The path to the Battery Backed up SRAM */
+#define SSARC_DUMP_PATH "/fs/ssarc"
+/* The sizes of the files to create (-1) use rest of BBSRAM memory */
+#define SSARC_DUMP_FILE_SIZES { \
+		SSARC_DUMP_SIZE_FN0,   /* For Time stamp only */                  \
+		SSARC_DUMP_SIZE_FN1,   /* For Current Flight Parameters Copy A */ \
+		SSARC_DUMP_SIZE_FN2,   /* For Current Flight Parameters Copy B */ \
+		SSARC_DUMP_SIZE_FN3,   /* For the latest ULog file path */        \
+		SSARC_DUMP_SIZE_FN4,   /* For the Panic Log use rest of space */  \
+		0                  /* End of table marker */                  \
+	}
+#else /* HAS_SSARC */
 
 #define CONFIG_ISTACK_SIZE 0
 #define CONFIG_USTACK_SIZE 0

src/systemcmds/hardfault_log/hardfault_log.c

@@ -66,6 +66,10 @@
 #include <px4_platform/progmem_dump.h>
 #endif
 
+#ifdef HAS_SSARC
+#include <ssarc_dump.h>
+#endif
+
 #include "chip.h"
 
 #if defined(CONSTRAINED_FLASH_NO_HELP)