BBSRAM: add another partition and store the last ulog path

nuttx-configs/aerocore/nsh/defconfig

@@ -428,7 +428,7 @@ CONFIG_STM32_I2CTIMEOMS=10
 CONFIG_STM32_I2CTIMEOTICKS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 # CONFIG_STM32_BBSRAM is not set
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 # CONFIG_STM32_SAVE_CRASHDUMP is not set
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/aerofc-v1/nsh/defconfig

@@ -529,7 +529,7 @@ CONFIG_STM32_I2CTIMEOMS=10
 CONFIG_STM32_I2CTIMEOTICKS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 # CONFIG_STM32_BBSRAM is not set
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 # CONFIG_STM32_SAVE_CRASHDUMP is not set
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/auav-x21/nsh/defconfig

@@ -542,7 +542,7 @@ CONFIG_STM32_I2CTIMEOTICKS=10
 #
 CONFIG_SDIO_DMAPRIO=0x00010000
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/crazyflie/nsh/defconfig

@@ -507,7 +507,7 @@ CONFIG_STM32_I2CTIMEOMS=10
 CONFIG_STM32_I2CTIMEOTICKS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/mindpx-v2/nsh/defconfig

@@ -551,7 +551,7 @@ CONFIG_STM32_I2CTIMEOTICKS=10
 #
 CONFIG_SDIO_DMAPRIO=0x00010000
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/px4-stm32f4discovery/nsh/defconfig

@@ -518,7 +518,7 @@ CONFIG_STM32_I2CTIMEOMS=10
 CONFIG_STM32_I2CTIMEOTICKS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -517,7 +517,7 @@ CONFIG_STM32_I2CTIMEOMS=10
 CONFIG_STM32_I2CTIMEOTICKS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 # CONFIG_STM32_BBSRAM is not set
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 # CONFIG_STM32_SAVE_CRASHDUMP is not set
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -542,7 +542,7 @@ CONFIG_STM32_I2CTIMEOTICKS=10
 #
 CONFIG_SDIO_DMAPRIO=0x00010000
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/px4fmu-v3/nsh/defconfig

@@ -542,7 +542,7 @@ CONFIG_STM32_I2CTIMEOTICKS=10
 #
 CONFIG_SDIO_DMAPRIO=0x00010000
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/px4fmu-v4/nsh/defconfig

@@ -535,7 +535,7 @@ CONFIG_STM32_I2CTIMEOTICKS=10
 #
 CONFIG_SDIO_DMAPRIO=0x00010000
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/px4fmu-v4pro/nsh/defconfig

@@ -546,7 +546,7 @@ CONFIG_STM32_I2CTIMEOTICKS=10
 #
 CONFIG_SDIO_DMAPRIO=0x00010000
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

nuttx-configs/tap-v1/nsh/defconfig

@@ -524,7 +524,7 @@ CONFIG_STM32_I2CTIMEOMS=10
 CONFIG_STM32_I2CTIMEOTICKS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=4
+CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_SAVE_CRASHDUMP=y
 # CONFIG_STM32_HAVE_RTC_COUNTER is not set
 # CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set

src/modules/logger/log_writer_file.cpp

@@ -38,6 +38,9 @@
 
 #include <mathlib/mathlib.h>
 #include <px4_posix.h>
+#ifdef __PX4_NUTTX
+#include <systemlib/hardfault_log.h>
+#endif /* __PX4_NUTTX */
 
 namespace px4
 {
@@ -87,26 +90,37 @@ void LogWriterFile::start_log(const char *filename)
 		PX4_ERR("Can't open log file %s, errno: %d", filename, errno);
 		_should_run = false;
 		return;
+	}
 
-	} else {
+	if (_buffer == nullptr) {
+		_buffer = new uint8_t[_buffer_size];
 
 		if (_buffer == nullptr) {
-			_buffer = new uint8_t[_buffer_size];
-
-			if (_buffer == nullptr) {
-				PX4_ERR("Can't create log buffer");
-				::close(_fd);
-				_fd = -1;
-				_should_run = false;
-				return;
-			}
+			PX4_ERR("Can't create log buffer");
+			::close(_fd);
+			_fd = -1;
+			_should_run = false;
+			return;
 		}
-
-		PX4_INFO("Opened log file: %s", filename);
-		_should_run = true;
-		_running = true;
 	}
 
+#ifdef __PX4_NUTTX
+	// register the current file with the hardfault handler: if the system crashes,
+	// the hardfault handler will append the crash log to that file on the next reboot.
+	// Note that we don't deregister it when closing the log, so that crashes after disarming
+	// are appended as well (the same holds for crashes before arming, which can be a bit misleading)
+	int ret = hardfault_store_ulog_filename(filename);
+
+	if (ret) {
+		PX4_ERR("Failed to register ULog file to the hardfault handler (%i)", ret);
+	}
+
+#endif /* __PX4_NUTTX */
+
+	PX4_INFO("Opened log file: %s", filename);
+	_should_run = true;
+	_running = true;
+
 	// Clear buffer and counters
 	_head = 0;
 	_count = 0;

src/modules/systemlib/hardfault_log.h

@@ -37,20 +37,25 @@
  ****************************************************************************/
 #include <systemlib/px4_macros.h>
 #include <stm32_bbsram.h>
+#include <board_config.h>
 
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
-#define HARDFAULT_FILENO 3
-#define HARDFAULT_PATH BBSRAM_PATH""STRINGIFY(HARDFAULT_FILENO)
 #define HARDFAULT_REBOOT_FILENO 0
-#define HARDFAULT_REBOOT_PATH BBSRAM_PATH""STRINGIFY(HARDFAULT_REBOOT_FILENO)
+#define HARDFAULT_REBOOT_PATH BBSRAM_PATH "" STRINGIFY(HARDFAULT_REBOOT_FILENO)
+#define HARDFAULT_ULOG_FILENO 3
+#define HARDFAULT_ULOG_PATH BBSRAM_PATH "" STRINGIFY(HARDFAULT_ULOG_FILENO)
+#define HARDFAULT_FILENO 4
+#define HARDFAULT_PATH BBSRAM_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 BBSRAM_SIZE_FN0 (sizeof(int))
 #define BBSRAM_SIZE_FN1 384     /* greater then 2.5 times the size of vehicle_status_s */
 #define BBSRAM_SIZE_FN2 384     /* greater then 2.5 times the size of vehicle_status_s */
-#define BBSRAM_SIZE_FN3 -1
+#define BBSRAM_SIZE_FN3 HARDFAULT_MAX_ULOG_FILE_LEN
+#define BBSRAM_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
@@ -58,7 +63,7 @@
  * It will be truncated by the call to stm32_bbsram_savepanic
  */
 #define BBSRAM_HEADER_SIZE 20 /* This is an assumption */
-#define BBSRAM_USED ((4*BBSRAM_HEADER_SIZE)+(BBSRAM_SIZE_FN0+BBSRAM_SIZE_FN1+BBSRAM_SIZE_FN2))
+#define BBSRAM_USED ((4*BBSRAM_HEADER_SIZE)+(BBSRAM_SIZE_FN0+BBSRAM_SIZE_FN1+BBSRAM_SIZE_FN2+BBSRAM_SIZE_FN3))
 #define BBSRAM_REAMINING (PX4_BBSRAM_SIZE-BBSRAM_USED)
 #if CONFIG_ARCH_INTERRUPTSTACK <= 3
 #  define BBSRAM_NUMBER_STACKS 1
@@ -77,8 +82,9 @@
 #define BSRAM_FILE_SIZES { \
 		BBSRAM_SIZE_FN0,   /* For Time stamp only */                  \
 		BBSRAM_SIZE_FN1,   /* For Current Flight Parameters Copy A */ \
-		BBSRAM_SIZE_FN2,   /* For Current Flight Parameters Copy B*/  \
-		BBSRAM_SIZE_FN3,   /* For the Panic Log use rest of space */  \
+		BBSRAM_SIZE_FN2,   /* For Current Flight Parameters Copy B */ \
+		BBSRAM_SIZE_FN3,   /* For the latest ULog file path */        \
+		BBSRAM_SIZE_FN4,   /* For the Panic Log use rest of space */  \
 		0                  /* End of table marker */                  \
 	}
 
@@ -350,4 +356,24 @@ int hardfault_rearm(char *caller) weak_function;
  ****************************************************************************/
 int hardfault_increment_reboot(char *caller, bool reset) weak_function;
 
+
+/****************************************************************************
+ * Name: hardfault_store_ulog_filename
+ *
+ * Description:
+ *      Permanently store the current ulog file name. A crash dump will
+ *      be appended to this file (must be ULog).
+ *
+ *
+ * Inputs:
+ *   - log_file:  full path to the log file
+ *
+ *  Returned Value:
+ *
+ *    OK  or errno
+ *
+ *
+ ****************************************************************************/
+int hardfault_store_ulog_filename(const char *log_file);
+
 __END_DECLS

src/systemcmds/hardfault_log/hardfault_log.c

@@ -910,6 +910,35 @@ __EXPORT int hardfault_write(char *caller, int fd, int format, bool rearm)
 	return ret;
 }
 
+int hardfault_store_ulog_filename(const char *log_file)
+{
+	int fd = open(HARDFAULT_ULOG_PATH, O_TRUNC | O_WRONLY | O_CREAT);
+
+	if (fd < 0) {
+		return -errno;
+	}
+
+	int n = strlen(log_file);
+
+	if (n >= HARDFAULT_MAX_ULOG_FILE_LEN) {
+		syslog(LOG_INFO, "ULog file name too long (%s, %i>=%i)\n", log_file, n, HARDFAULT_MAX_ULOG_FILE_LEN);
+		return -EINVAL;
+	}
+
+	if (n + 1 != write(fd, log_file, n + 1)) {
+		close(fd);
+		return -errno;
+	}
+
+	int ret = close(fd);
+
+	if (ret != 0) {
+		return -errno;
+	}
+
+	return 0;
+}
+
 /****************************************************************************
  * Name: hardfault_log_main
  ****************************************************************************/