Hard Fault Logging - one issue remians reduse memory foot print

1 files changed, 383 insertions, 0 deletions

diff --git a/src/modules/systemlib/hardfault_log.h b/src/modules/systemlib/hardfault_log.h
new file mode 100644
index 000000000..2161103a1
--- /dev/null
+++ b/src/modules/systemlib/hardfault_log.h
@@ -0,0 +1,383 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+#pragma once
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <systemlib/px4_macros.h>
+#include <stm32_bbsram.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+#define FREEZE_STR(s) #s
+#define STRINGIFY(s) FREEZE_STR(s)
+#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 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
+
+/* 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 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_REAMINING (STM32_BBSRAM_SIZE-BBSRAM_USED)
+#if CONFIG_ARCH_INTERRUPTSTACK <= 3
+#  define BBSRAM_NUMBER_STACKS 1
+#else
+#  define BBSRAM_NUMBER_STACKS 2
+#endif
+#define BBSRAM_FIXED_ELEMENTS_SIZE (sizeof(context_s)+sizeof(info_s))
+#define BBSRAM_LEFTOVER (BBSRAM_REAMINING-BBSRAM_FIXED_ELEMENTS_SIZE)
+
+#define CONFIG_ISTACK_SIZE (BBSRAM_LEFTOVER/BBSRAM_NUMBER_STACKS/sizeof(stack_word_t))
+#define CONFIG_USTACK_SIZE (BBSRAM_LEFTOVER/BBSRAM_NUMBER_STACKS/sizeof(stack_word_t))
+
+/* The path to the Battery Backed up SRAM */
+#define BBSRAM_PATH "/fs/bbr"
+/* The sizes of the files to create (-1) use rest of BBSRAM memory */
+#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 */  \
+    0                  /* End of table marker */                  \
+}
+
+/* For Assert keep this much of the file name*/
+#define MAX_FILE_PATH_LENGTH 40
+
+
+/* Fixed size strings
+ * To change a format add the number of chars not represented by the format
+ * Specifier to the xxxx_NUM definei.e %Y is YYYY so add 2 and %s is -2
+ * Also xxxxTIME_FMT need to match in size. See CCASERT in hardfault_log.c
+ */
+#define LOG_PATH_BASE       "/fs/microsd/"
+#define LOG_PATH_BASE_LEN    ((arraySize(LOG_PATH_BASE))-1)
+
+#define LOG_NAME_FMT        "fault_%s.log"
+#define LOG_NAME_NUM         (     -2    )
+#define LOG_NAME_LEN         ((arraySize(LOG_NAME_FMT)-1) + LOG_NAME_NUM)
+
+#define TIME_FMT             "%Y_%m_%d_%H_%M_%S"
+#define TIME_FMT_NUM         (2+ 0+ 0+ 0+ 0+ 0)
+#define TIME_FMT_LEN         (((arraySize(TIME_FMT)-1) + TIME_FMT_NUM))
+
+#define LOG_PATH_LEN         ((LOG_PATH_BASE_LEN + LOG_NAME_LEN + TIME_FMT_LEN))
+
+#define HEADER_TIME_FMT      "%Y-%m-%d-%H:%M:%S"
+#define HEADER_TIME_FMT_NUM  (2+ 0+ 0+ 0+ 0+ 0)
+#define HEADER_TIME_FMT_LEN  (((arraySize(HEADER_TIME_FMT)-1) + HEADER_TIME_FMT_NUM))
+
+/* Select which format to use. On a terminal the details are at the bottom
+ * and in a file they are at the top
+ */
+#define HARDFAULT_DISPLAY_FORMAT 1
+#define HARDFAULT_FILE_FORMAT    0
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/* Used for stack frame storage */
+typedef uint32_t stack_word_t;
+
+typedef  struct {
+  int pid;                               /* Process ID */
+  struct xcptcontext xcp;                /* Interrupt register save area     */
+#if CONFIG_TASK_NAME_SIZE > 0
+  char name[CONFIG_TASK_NAME_SIZE+1];    /* Task name (with NULL terminator) */
+#endif
+} process_t;
+
+/* Stack related data */
+typedef struct {
+  uint32_t current_sp;   /* The stack the up_assert is running on
+                          * it may be either the user stack for an assertion
+                          *  failure or the interrupt stack in the case of a
+                          * hard fault
+                          */
+  uint32_t utopofstack;  /* Top of the user stack at the time of the
+                          * up_assert
+                          */
+  uint32_t ustacksize;   /* Size of the user stack at the time of the
+                          * up_assert
+                          */
+
+#if CONFIG_ARCH_INTERRUPTSTACK > 3
+
+  uint32_t itopofstack;   /* Top of the interrupt stack at the time of the
+                           * up_assert
+                           */
+  uint32_t istacksize;    /* Size of the interrupt stack at the time of the
+                           * up_assert
+                           */
+#endif
+
+} stack_t;
+
+/* Not Used for reference only */
+
+typedef struct
+{
+  uint32_t r0;
+  uint32_t r1;
+  uint32_t r2;
+  uint32_t r3;
+  uint32_t r4;
+  uint32_t r5;
+  uint32_t r6;
+  uint32_t r7;
+  uint32_t r8;
+  uint32_t r9;
+  uint32_t r10;
+  uint32_t r11;
+  uint32_t r12;
+  uint32_t sp;
+  uint32_t lr;
+  uint32_t pc;
+  uint32_t xpsr;
+  uint32_t d0;
+  uint32_t d1;
+  uint32_t d2;
+  uint32_t d3;
+  uint32_t d4;
+  uint32_t d5;
+  uint32_t d6;
+  uint32_t d7;
+  uint32_t d8;
+  uint32_t d9;
+  uint32_t d10;
+  uint32_t d11;
+  uint32_t d12;
+  uint32_t d13;
+  uint32_t d14;
+  uint32_t d15;
+  uint32_t fpscr;
+  uint32_t sp_main;
+  uint32_t sp_process;
+  uint32_t apsr;
+  uint32_t ipsr;
+  uint32_t epsr;
+  uint32_t primask;
+  uint32_t basepri;
+  uint32_t faultmask;
+  uint32_t control;
+  uint32_t s0;
+  uint32_t s1;
+  uint32_t s2;
+  uint32_t s3;
+  uint32_t s4;
+  uint32_t s5;
+  uint32_t s6;
+  uint32_t s7;
+  uint32_t s8;
+  uint32_t s9;
+  uint32_t s10;
+  uint32_t s11;
+  uint32_t s12;
+  uint32_t s13;
+  uint32_t s14;
+  uint32_t s15;
+  uint32_t s16;
+  uint32_t s17;
+  uint32_t s18;
+  uint32_t s19;
+  uint32_t s20;
+  uint32_t s21;
+  uint32_t s22;
+  uint32_t s23;
+  uint32_t s24;
+  uint32_t s25;
+  uint32_t s26;
+  uint32_t s27;
+  uint32_t s28;
+  uint32_t s29;
+  uint32_t s30;
+  uint32_t s31;
+} proc_regs_s;
+
+
+/* Flags to identify what is in the dump */
+typedef enum {
+  eRegs         = 0x01,
+  eUserStack    = 0x02,
+  eIntStack     = 0x04,
+  eStackUnknown = 0x08,
+  eStackValid   = eUserStack | eIntStack,
+} stuff_t;
+
+typedef struct {
+  stuff_t stuff;                       /* What is in the dump */
+  uintptr_t current_regs;              /* Used to validate the dump */
+  int lineno;                          /* __LINE__ to up_assert */
+  char filename[MAX_FILE_PATH_LENGTH]; /* Last MAX_FILE_PATH_LENGTH of chars in
+                                        * __FILE__ to up_assert
+                                        */
+} info_s;
+
+typedef struct {                        /* The Context data */
+  stack_t     stack;
+  process_t   proc;
+} context_s;
+
+typedef struct {
+  info_s    info;                       /* Then info */
+  context_s context;                    /* The Context data */
+#if CONFIG_ARCH_INTERRUPTSTACK > 3      /* The amount of stack data is compile time
+                                         * sized backed on what is left after the
+                                         * other BBSRAM files are defined
+                                         * The order is such that only the
+                                         * ustack should be truncated
+                                         */
+  stack_word_t istack[CONFIG_USTACK_SIZE];
+#endif
+  stack_word_t ustack[CONFIG_ISTACK_SIZE];
+} fullcontext_s;
+
+/****************************************************************************
+ * 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);
+
+/****************************************************************************
+ * 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);
+
+/****************************************************************************
+ * 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);
+
+/****************************************************************************
+ * 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);
+
+#if defined(__cplusplus)
+extern "C"
+}
+#endif
+