drivers: boards: Share board_crashdump() implementation

2026-10-22 07:13:33 +08:00 · 2017-01-23 22:10:38 +01:00
parent 0b3fa7bfbb
commit 163bcc4bbc
21 changed files with 175 additions and 1538 deletions
@@ -0,0 +1,165 @@
+#include <px4_config.h>
+#include <px4_tasks.h>
+
+#include <stdio.h>
+#include <string.h>
+
+#include <nuttx/board.h>
+
+#include "board_config.h"
+
+#include <systemlib/hardfault_log.h>
+
+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)
+{
+	/* 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
+}