Add hardfault log progmem flash backend

boards/nxp/mr-canhubk3/fmu.px4board

@@ -43,6 +43,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -71,6 +71,7 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=14539
 CONFIG_BUILTIN=y
 CONFIG_DEBUG_BUSFAULT=y
@@ -247,6 +248,7 @@ CONFIG_S32K3XX_LPUART9=y
 CONFIG_S32K3XX_LPUART_INVERT=y
 CONFIG_S32K3XX_LPUART_SINGLEWIRE=y
 CONFIG_S32K3XX_PROGMEM=y
+CONFIG_S32K3XX_PROGMEM_SIZE=120
 CONFIG_S32K3XX_QSPI=y
 CONFIG_S32K3XX_WKPUINTS=y
 CONFIG_SCHED_HPWORK=y

boards/nxp/mr-canhubk3/src/board_config.h

@@ -38,6 +38,7 @@ __BEGIN_DECLS
 #include "hardware/s32k344_pinmux.h"
 #include "s32k3xx_periphclocks.h"
 #include "s32k3xx_pin.h"
+#include "s32k3xx_progmem.h"
 #include <arch/board/board.h>
 
 /****************************************************************************
@@ -92,6 +93,23 @@ __BEGIN_DECLS
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
+/*
+ * Hardfault log to progmem
+ */
+#define PROGMEM_CRASHDUMP        1
+#define SAVE_CRASHDUMP           1
+#define PROGMEM_DUMP_BASE        ((CONFIG_S32K3XX_PROGMEM_SIZE * 1024) + S32K3XX_PROGMEM_START_ADDR)
+#define PROGMEM_DUMP_SIZE        ((DFLASH_SIZE - CONFIG_S32K3XX_PROGMEM_SIZE) * 1024)
+#define PROGMEM_DUMP_ALIGNMENT   (S32K3XX_PROGMEM_WRITE_SIZE)
+#define PROGMEM_DUMP_UNIT_SIZE   (S32K3XX_PROGMEM_DFLASH_WRITE_UNIT_SIZE)
+#define PROGMEM_DUMP_HEADER_PAD  (108)
+#define PROGMEM_DUMP_ERASE_VALUE (0xFF)
+#define PROGMEM_DUMP_STACK_SIZE  (6656)
+#define BOARD_CRASHDUMP_BSS      1
+
+/* Reboot and ulog we store on a wear-level filesystem */
+#define HARDFAULT_REBOOT_PATH "/mnt/progmem/reboot"
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/

boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c

@@ -309,5 +309,7 @@ int s32k3xx_bringup(void)
 #  endif /* CONFIG_S32K3XX_FLEXCAN5 */
 #endif /* CONFIG_NETDEV_LATEINIT */
 
+	board_hardfault_init(2, true);
+
 	return ret;
 }