Hard Fault Logging - one issue remians reduse memory foot print

1 files changed, 718 insertions, 0 deletions

diff --git a/src/systemcmds/hardfault_log/hardfault_log.c b/src/systemcmds/hardfault_log/hardfault_log.c
new file mode 100644
index 000000000..e8f37335b
--- /dev/null
+++ b/src/systemcmds/hardfault_log/hardfault_log.c
@@ -0,0 +1,718 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <string.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <stm32_bbsram.h>
+
+#include <systemlib/px4_macros.h>
+#include <systemlib/visibility.h>
+#include <systemlib/hardfault_log.h>
+#include <lib/version/version.h>
+
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+__EXPORT int hardfault_log_main(int argc, char *argv[]);
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+static int genfault(int fault);
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+/****************************************************************************
+ * genfault
+ ****************************************************************************/
+
+static int genfault(int fault)
+{
+
+  /* Pointer to System Control Block's  System Control Register */
+
+  uint32_t *pCCR = (uint32_t *)0xE000ED14;
+
+  static volatile int k = 0;
+
+  switch(fault)
+  {
+  case 0:
+
+    /* Enable divide by 0 fault generation */
+
+    *pCCR |= 0x10;
+
+    k =  1 / fault;
+
+    /* This is not going to happen
+     * Enable divide by 0 fault generation
+     */
+
+    *pCCR &= ~0x10;
+    break;
+
+  case 1:
+      ASSERT( fault== 0);
+      /* This is not going to happen */
+      break;
+
+  case 2:
+      printf("null %s\n",NULL);
+      /* This is not going to happen */
+      break;
+
+  case 3:
+    {
+      char marker[20];
+      strncpy(marker, "<-- ", sizeof(marker));
+      printf("nill %s\n","");
+      printf("nill fault==3 %s\n",(fault==3) ? "3" : "");
+      printf("nill fault!=3 %s\n",(fault!=3) ? "3" : "");
+      printf("0x%08x 0x%08x%s\n", fault, -fault, (fault==3) ? "" : marker);
+      printf("0x%08x 0x%08x%s\n", fault, -fault, (fault!=3) ? "" : marker);
+      printf("0x%08x 0x%08x%s\n", fault, -fault, fault==3 ? "" : marker);
+      printf("0x%08x 0x%08x%s\n", fault, -fault, fault!=3 ? "" : marker);
+    }
+      /* This is not going to happen */
+      break;
+
+  default:
+    break;
+
+  }
+  UNUSED(k);
+  return OK;
+}
+
+
+/****************************************************************************
+ * format_fault_time
+ ****************************************************************************/
+/* Ensure Size is the same foe formats or rewrite this */
+CCASSERT(TIME_FMT_LEN==HEADER_TIME_FMT_LEN);
+static int format_fault_time(char *format, struct timespec *ts, char *buffer, unsigned int maxsz)
+{
+  int ret = -EINVAL;
+  if (buffer != NULL && format != NULL) {
+      ret = -ENOMEM;
+      if (maxsz >= TIME_FMT_LEN + 1 ) {
+          struct tm tt;
+          time_t time_sec = ts->tv_sec + (ts->tv_nsec / 1e9);
+          gmtime_r(&time_sec, &tt);
+          if (TIME_FMT_LEN == strftime(buffer, maxsz, format , &tt)) {
+              ret = OK;
+          }
+      }
+  }
+  return ret;
+}
+
+/****************************************************************************
+ * format_fault_file_name
+ ****************************************************************************/
+
+static int format_fault_file_name(struct timespec *ts, char *buffer, unsigned int maxsz)
+{
+        char fmtbuff[ TIME_FMT_LEN + 1];
+        int ret = -EINVAL;
+
+        if (buffer) {
+
+            ret = -ENOMEM;
+            unsigned int plen = LOG_PATH_BASE_LEN;
+            if (maxsz >= LOG_PATH_LEN) {
+                strncpy(buffer, LOG_PATH_BASE, plen);
+                maxsz -= plen;
+                int rv = format_fault_time(TIME_FMT,ts, fmtbuff, arraySize(fmtbuff));
+                if (rv == OK) {
+                    int n = snprintf(&buffer[plen], maxsz , LOG_NAME_FMT, fmtbuff);
+                    if (n == (int) LOG_NAME_LEN + TIME_FMT_LEN) {
+                        ret = OK;
+                    }
+                }
+            }
+        }
+        return ret;
+}
+
+/****************************************************************************
+ * identify
+ ****************************************************************************/
+static void identify(char *caller)
+{
+    if (caller) {
+        syslog(LOG_INFO, "[%s] ", caller);
+    }
+}
+
+
+/****************************************************************************
+ * hardfault_get_desc
+ ****************************************************************************/
+static int hardfault_get_desc(char *caller, struct bbsramd_s *desc, bool silent)
+{
+  int ret = -ENOENT;
+  int fd = open(HARDFAULT_PATH, O_RDONLY);
+  if (fd < 0 ) {
+      if (!silent) {
+          identify(caller);
+          syslog(LOG_INFO, "Failed to open Fault Log file [%s] (%d)\n", HARDFAULT_PATH, fd);
+      }
+  } else {
+      ret = -EIO;
+      int rv = ioctl(fd, STM32_BBSRAM_GETDESC_IOCTL, (unsigned long)((uintptr_t)desc));
+      if (rv >= 0) {
+          ret = fd;
+      } else {
+          identify(caller);
+          syslog(LOG_INFO, "Failed to get Fault Log descriptor (%d)\n",rv);
+      }
+  }
+  return ret;
+}
+
+/****************************************************************************
+ * write_stack_detail
+ ****************************************************************************/
+static void write_stack_detail(int size, uint32_t topaddr, uint32_t spaddr,
+                             uint32_t botaddr, char *sp_name, char *buffer, int max, int fd)
+{
+
+  int n = 0;
+  n =   snprintf(&buffer[n], max-n, " %s stack:\n",sp_name);
+  n +=  snprintf(&buffer[n], max-n, "  top:    0x%08x\n", topaddr);
+  n +=  snprintf(&buffer[n], max-n, "  sp:     0x%08x\n", spaddr);
+  write(fd, buffer,n);
+  n = 0;
+  n +=  snprintf(&buffer[n], max-n, "  bottom: 0x%08x\n", botaddr);
+  n +=  snprintf(&buffer[n], max-n, "  size:   0x%08x\n", size);
+  write(fd, buffer,n);
+#ifndef CONFIG_STACK_COLORATION
+  FAR struct tcb_s tcb;
+  tcb.stack_alloc_ptr = (void*) botaddr;
+  tcb.adj_stack_size = size;
+  n = snprintf(buffer, max,         "  used:   %08x\n", up_check_tcbstack(&tcb));
+  write(fd, buffer,n);
+#endif
+}
+
+/****************************************************************************
+ * write_stack
+ ****************************************************************************/
+static void write_stack(stack_word_t *swindow, int winsize, uint32_t wtopaddr,
+                        uint32_t topaddr, uint32_t spaddr, uint32_t botaddr,
+                        char *sp_name, char *buffer, int max, int fd)
+{
+   char marker[30];
+   for (int i = winsize; i >= 0; i--) {
+       if (wtopaddr == topaddr) {
+           strncpy(marker, "<-- ", sizeof(marker));
+           strncat(marker, sp_name, sizeof(marker));
+           strncat(marker, " top", sizeof(marker));
+       } else if (wtopaddr == spaddr) {
+           strncpy(marker, "<-- ", sizeof(marker));
+           strncat(marker, sp_name, sizeof(marker));
+       } else if (wtopaddr == botaddr) {
+           strncpy(marker, "<-- ", sizeof(marker));
+           strncat(marker, sp_name, sizeof(marker));
+           strncat(marker, " bottom", sizeof(marker));
+       } else {
+           marker[0] = '\0';
+       }
+       int n = snprintf(buffer, max,"0x%08x 0x%08x%s\n", wtopaddr, swindow[i], marker);
+       write(fd, buffer,n);
+       wtopaddr--;
+    }
+}
+
+/****************************************************************************
+ * write_registers
+ ****************************************************************************/
+static void write_registers(fullcontext_s* fc, char *buffer, int max, int fd)
+{
+    int n = snprintf(buffer, max, " r0:0x%08x r1:0x%08x  r2:0x%08x  r3:0x%08x  r4:0x%08x  r5:0x%08x r6:0x%08x r7:0x%08x\n",
+                 fc->context.proc.xcp.regs[REG_R0],  fc->context.proc.xcp.regs[REG_R1],
+                 fc->context.proc.xcp.regs[REG_R2],  fc->context.proc.xcp.regs[REG_R3],
+                 fc->context.proc.xcp.regs[REG_R4],  fc->context.proc.xcp.regs[REG_R5],
+                 fc->context.proc.xcp.regs[REG_R6],  fc->context.proc.xcp.regs[REG_R7]);
+
+    write(fd, buffer,n);
+    n  = snprintf(buffer, max, " r8:0x%08x r9:0x%08x r10:0x%08x r11:0x%08x r12:0x%08x  sp:0x%08x lr:0x%08x pc:0x%08x\n",
+                  fc->context.proc.xcp.regs[REG_R8],  fc->context.proc.xcp.regs[REG_R9],
+                  fc->context.proc.xcp.regs[REG_R10], fc->context.proc.xcp.regs[REG_R11],
+                  fc->context.proc.xcp.regs[REG_R12], fc->context.proc.xcp.regs[REG_R13],
+                  fc->context.proc.xcp.regs[REG_R14], fc->context.proc.xcp.regs[REG_R15]);
+
+    write(fd, buffer,n);
+
+#ifdef CONFIG_ARMV7M_USEBASEPRI
+    n = snprintf(buffer, max, " xpsr:0x%08x basepri:0x%08x control:0x%08x\n",
+                 fc->context.proc.xcp.regs[REG_XPSR],  fc->context.proc.xcp.regs[REG_BASEPRI],
+                 getcontrol());
+#else
+    n = snprintf(buffer, max, " xpsr:0x%08x primask:0x%08x control:0x%08x\n",
+                 fc->context.proc.xcp.regs[REG_XPSR],  fc->context.proc.xcp.regs[REG_PRIMASK],
+                 getcontrol());
+#endif
+    write(fd, buffer,n);
+
+#ifdef REG_EXC_RETURN
+    n = snprintf(buffer, max, " exe return:0x%08x\n", fc->context.proc.xcp.regs[REG_EXC_RETURN]);
+    write(fd, buffer,n);
+#endif
+}
+
+/****************************************************************************
+ * write_registers_info
+ ****************************************************************************/
+static int write_registers_info(int fdout, fullcontext_s *fc, char *buffer,
+    int sz)
+{
+  int ret = -ENOENT;
+  if (fc->info.stuff & eRegs) {
+      int n = snprintf(buffer, sz, " Processor registers: from 0x%08x\n", fc->info.current_regs);
+      write(fdout, buffer,n);
+      write_registers(fc, buffer, sz, fdout);
+      ret = OK;
+  }
+  return ret;
+}
+
+/****************************************************************************
+ * write_interrupt_stack_info
+ ****************************************************************************/
+static int write_interrupt_stack_info(int fdout, fullcontext_s *fc, char *buffer,
+    unsigned int sz)
+{
+  int ret = -ENOENT;
+  if (fc->info.stuff & eIntStack) {
+      write_stack_detail(fc->context.stack.istacksize,
+                         fc->context.stack.itopofstack,
+                         fc->context.stack.current_sp,
+                         fc->context.stack.itopofstack - fc->context.stack.istacksize,
+                         "IRQ",
+                         buffer, sz, fdout);
+      ret = OK;
+  }
+  return ret;
+}
+
+/****************************************************************************
+ * write_user_stack_info
+ ****************************************************************************/
+static int write_user_stack_info(int fdout, fullcontext_s *fc, char *buffer,
+    unsigned int sz)
+{
+  int ret = -ENOENT;
+  if (fc->info.stuff & eUserStack) {
+      write_stack_detail(fc->context.stack.ustacksize,
+                         fc->context.stack.utopofstack,
+                         fc->context.proc.xcp.regs[REG_R13],
+                         fc->context.stack.utopofstack - fc->context.stack.ustacksize,
+                         "User",
+                         buffer, sz, fdout);
+      ret = OK;
+  }
+  return ret;
+}
+
+/****************************************************************************
+ * write_dump_info
+ ****************************************************************************/
+static void write_dump_info(int fdout, fullcontext_s *fc, struct timespec *ts,
+                            char *buffer, unsigned int sz)
+{
+  char fmtbuff[ TIME_FMT_LEN + 1];
+  format_fault_time(HEADER_TIME_FMT, ts, fmtbuff, sizeof(fmtbuff));
+
+  bool isFault = (fc->info.current_regs != 0 || fc->context.proc.pid == 0);
+  int n;
+  n = snprintf(buffer, sz, "System fault Occurred on: %s\n", fmtbuff);
+  write(fdout, buffer, n);
+  if (isFault) {
+      n = snprintf(buffer, sz, " Type:Hard Fault");
+  } else {
+      n = snprintf(buffer, sz, " Type:Assertion failed");
+  }
+  write(fdout, buffer, n);
+
+#ifdef CONFIG_TASK_NAME_SIZE
+    n = snprintf(buffer, sz, " in file:%s at line: %d running task: %s\n",
+                 fc->info.filename, fc->info.lineno, fc->context.proc.name);
+#else
+    n = snprintf(buffer, sz, " in file:%s at line: %d \n",
+                 fc->info.filename, fc->info.lineno);
+#endif
+    write(fdout, buffer, n);
+    n = snprintf(buffer, sz, " FW git-hash: %s\n", FW_GIT);
+    write(fdout, buffer, n);
+    n = snprintf(buffer, sz, " Build datetime: %s %s\n", __DATE__, __TIME__);
+    write(fdout, buffer, n);
+
+}
+
+/****************************************************************************
+ * write_dump_time
+ ****************************************************************************/
+static void write_dump_time(char *caller, char *tag, int fdout,
+                            struct timespec *ts, char *buffer, unsigned int sz)
+{
+  char fmtbuff[ TIME_FMT_LEN + 1];
+  format_fault_time(HEADER_TIME_FMT, ts, fmtbuff, sizeof(fmtbuff));
+  int n = snprintf(buffer, sz, "[%s] -- %s %s Fault Log --\n",caller, fmtbuff, tag);
+  write(fdout, buffer, n);
+}
+/****************************************************************************
+ * write_dump_footer
+ ****************************************************************************/
+static void write_dump_header(char * caller, int fdout, struct timespec *ts,
+                              char *buffer, unsigned int sz)
+{
+  write_dump_time(caller, "Begin", fdout, ts, buffer, sz);
+}
+/****************************************************************************
+ * write_dump_footer
+ ****************************************************************************/
+static void write_dump_footer(char * caller, int fdout, struct timespec *ts,
+    char *buffer, unsigned int sz)
+{
+  write_dump_time(caller, "END", fdout, ts, buffer, sz);
+}
+/****************************************************************************
+ * write_intterupt_satck
+ ****************************************************************************/
+static int write_intterupt_stack(int fdout, fullcontext_s *fc, char *buffer,
+                                 unsigned int sz)
+{
+  int ret = -ENOENT;
+  if ((fc->info.stuff & eIntStack) != 0) {
+      int winsize = arraySize(fc->istack);
+      int wtopaddr = fc->context.stack.current_sp + winsize/2;
+      write_stack(fc->istack, winsize, wtopaddr,
+                  fc->context.stack.itopofstack,
+                  fc->context.stack.current_sp,
+                  fc->context.stack.itopofstack - fc->context.stack.istacksize,
+                  "Interrupt sp", buffer, sz, fdout);
+      ret = OK;
+  }
+
+  return ret;
+}
+
+
+/****************************************************************************
+ * write_user_stack
+ ****************************************************************************/
+static int write_user_stack(int fdout, fullcontext_s *fc, char *buffer,
+                            unsigned int sz)
+{
+  int ret = -ENOENT;
+  if ((fc->info.stuff & eUserStack) != 0) {
+      int winsize = arraySize(fc->ustack);
+      int wtopaddr = fc->context.proc.xcp.regs[REG_R13] + winsize/2;
+      write_stack(fc->ustack, winsize, wtopaddr,
+                  fc->context.stack.utopofstack,
+                  fc->context.proc.xcp.regs[REG_R13],
+                  fc->context.stack.utopofstack - fc->context.stack.ustacksize,
+                  "User sp", buffer, sz, fdout);
+      ret = OK;
+  }
+
+  return ret;
+}
+
+/****************************************************************************
+ * commit
+ ****************************************************************************/
+static int hardfault_commit(char *caller)
+{
+  int ret = -ENOENT;
+  int state = -1;
+  struct bbsramd_s desc;
+  char path[LOG_PATH_LEN+1];
+  ret = hardfault_get_desc(caller, &desc, false);
+  if (ret >= 0) {
+        int fd = ret;
+        state = (desc.lastwrite.tv_sec || desc.lastwrite.tv_nsec) ?  OK : 1;
+        int rv = close(fd);
+        if (rv < 0) {
+            identify(caller);
+            syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n",rv);
+        } else {
+            if (state != OK) {
+                identify(caller);
+                syslog(LOG_INFO, "Nothing to save\n",path);
+                ret = -ENOENT;
+            } else {
+              ret = format_fault_file_name(&desc.lastwrite, path, arraySize(path));
+              if (ret == OK) {
+                  int fdout = open(path, O_RDWR | O_CREAT);
+                  if (fdout > 0) {
+                      identify(caller);
+                      syslog(LOG_INFO, "Saving Fault Log file %s\n",path);
+                      ret = hardfault_write(caller, fdout, HARDFAULT_FILE_FORMAT, true);
+                      identify(caller);
+                      syslog(LOG_INFO, "Done saving Fault Log file\n");
+                      close(fdout);
+                  }
+
+              }
+            }
+        }
+  }
+  return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/****************************************************************************
+ * hardfault_rearm
+ ****************************************************************************/
+__EXPORT int hardfault_rearm(char *caller)
+{
+  int ret = OK;
+  int rv = unlink(HARDFAULT_PATH);
+   if (rv < 0) {
+       identify(caller);
+       syslog(LOG_INFO, "Failed to re arming Fault Log (%d)\n",rv);
+       ret = -EIO;
+   } else {
+       identify(caller);
+       syslog(LOG_INFO, "Fault Log is Armed\n");
+   }
+   return ret;
+}
+
+/****************************************************************************
+ * hardfault_check_status
+ ****************************************************************************/
+__EXPORT int hardfault_check_status(char *caller)
+{
+  int state = -1;
+  struct bbsramd_s desc;
+  int ret = hardfault_get_desc(caller, &desc, true);
+  if (ret < 0) {
+      identify(caller);
+      if (ret == -ENOENT) {
+        syslog(LOG_INFO, "Fault Log is Armed\n");
+      } else {
+          syslog(LOG_INFO, "Failed to open Fault Log file [%s] (%d)\n", HARDFAULT_PATH, ret);
+      }
+  } else {
+        int fd = ret;
+        state = (desc.lastwrite.tv_sec || desc.lastwrite.tv_nsec) ?  OK : 1;
+        int rv = close(fd);
+        if (rv < 0) {
+            identify(caller);
+            syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n",rv);
+        } else {
+            ret = state;
+            identify(caller);
+            syslog(LOG_INFO, "Fault Log info File No %d Length %d flags:0x%02x state:%d\n",
+                  (unsigned int)desc.fileno, (unsigned int) desc.len, (unsigned int)desc.flags, state);
+            if (state == OK) {
+                char buf[TIME_FMT_LEN + 1];
+                format_fault_time(HEADER_TIME_FMT, &desc.lastwrite, buf, arraySize(buf));
+                identify(caller);
+                syslog(LOG_INFO, "Fault Logged on %s - Valid\n",buf);
+            } else {
+                rv = hardfault_rearm(caller);
+                if (rv < 0) {
+                    ret = rv;
+                }
+            }
+        }
+    }
+  return ret;
+}
+
+/****************************************************************************
+ * hardfault_increment_reboot
+ ****************************************************************************/
+__EXPORT int hardfault_increment_reboot(char *caller, bool reset)
+{
+  int ret = -EIO;
+  int count = 0;
+  int fd = open(HARDFAULT_REBOOT_PATH, O_RDWR | O_CREAT);
+  if (fd < 0) {
+      identify(caller);
+      syslog(LOG_INFO, "Failed to open Fault reboot count file [%s] (%d)\n", HARDFAULT_REBOOT_PATH, ret);
+  } else {
+      if (!reset) {
+          read(fd, &count, sizeof(count));
+          lseek(fd, 0, SEEK_SET);
+          count++;
+      }
+      ret = write(fd, &count, sizeof(count));
+      close(fd);
+      ret = count;
+  }
+  return ret;
+}
+/****************************************************************************
+ * hardfault_write
+ ****************************************************************************/
+fullcontext_s dump;
+
+__EXPORT int hardfault_write(char *caller, int fd, int format, bool rearm)
+{
+    char line[200];
+    memset(&dump,0,sizeof(dump));
+    struct bbsramd_s desc;
+    int ret = hardfault_get_desc(caller, &desc, false);
+    if (ret >= 0) {
+        int hffd = ret;
+        ret = read(hffd, (char *)&dump, sizeof(dump));
+        if (ret < 0) {
+            identify(caller);
+            syslog(LOG_INFO, "Failed to read Fault Log file [%s] (%d)\n", HARDFAULT_PATH, ret);
+        } else {
+            ret = close(hffd);
+            if (ret < 0) {
+                identify(caller);
+                syslog(LOG_INFO, "Failed to Close Fault Log (%d)\n", ret);
+
+            } else {
+
+              switch(format) {
+                case HARDFAULT_DISPLAY_FORMAT:
+                  write_dump_header(caller, fd, &desc.lastwrite,line, arraySize(line));
+                  write_intterupt_stack(fd, &dump, line, arraySize(line));
+                  write_user_stack(fd, &dump, line, arraySize(line));
+                  write_dump_info(fd, &dump, &desc.lastwrite, line, arraySize(line));
+                  write_registers_info(fd, &dump, line, arraySize(line));
+                  write_interrupt_stack_info(fd, &dump, line, arraySize(line));
+                  write_user_stack_info(fd, &dump, line, arraySize(line));
+                  break;
+
+                case HARDFAULT_FILE_FORMAT:
+                  write_dump_header(caller, fd, &desc.lastwrite,line, arraySize(line));
+                  write_dump_info(fd, &dump, &desc.lastwrite, line, arraySize(line));
+                  write_registers_info(fd, &dump, line, arraySize(line));
+                  write_interrupt_stack_info(fd, &dump, line, arraySize(line));
+                  write_user_stack_info(fd, &dump,line, arraySize(line));
+                  write_intterupt_stack(fd, &dump,line, arraySize(line));
+                  write_user_stack(fd, &dump, line, arraySize(line));
+                  break;
+
+                default:
+                  return -EINVAL;
+                  break;
+              }
+
+              write_dump_footer(caller, fd, &desc.lastwrite,line, arraySize(line));
+
+              if (rearm) {
+                  ret = hardfault_rearm(caller);
+
+              }
+           }
+        }
+    }
+    return ret;
+}
+
+/****************************************************************************
+ * Name: hardfault_log_main
+ ****************************************************************************/
+__EXPORT int hardfault_log_main(int argc, char *argv[])
+{
+        char *self = "hardfault_log";
+
+        if (!strcmp(argv[1], "check")) {
+
+            return hardfault_check_status(self);
+
+        } else if (!strcmp(argv[1], "rearm")) {
+
+            return hardfault_rearm(self);
+
+        } else if (!strcmp(argv[1], "fault")) {
+
+            int fault = 0;
+            if (argc > 2) {
+                fault = atol(argv[2]);
+            }
+            return genfault(fault);
+
+        } else  if (!strcmp(argv[1], "commit")) {
+
+            return hardfault_commit(self);
+
+        } else  if (!strcmp(argv[1], "count")) {
+
+            return hardfault_increment_reboot(self,false);
+
+          } else  if (!strcmp(argv[1], "reset")) {
+
+              return hardfault_increment_reboot(self,true);
+
+          }
+
+        fprintf(stderr, "unrecognised command, try 'check' ,'rearm' , 'fault', 'count', 'reset' or 'commit'\n");
+        return -EINVAL;
+}