Add support for dumping board-specific information on assertion. From David Sidrane

16 files changed, 116 insertions, 0 deletions

diff --git a/nuttx/arch/arm/src/arm/up_assert.c b/nuttx/arch/arm/src/arm/up_assert.c
index d706c1bb3..427799d98 100644
--- a/nuttx/arch/arm/src/arm/up_assert.c
+++ b/nuttx/arch/arm/src/arm/up_assert.c
@@ -352,6 +352,12 @@ void up_assert(const uint8_t *filename, int lineno)
   lldbg("Assertion failed at file:%s line: %d\n",
         filename, lineno);
 #endif
+
   up_dumpstate();
+
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/arm/src/armv6-m/up_assert.c b/nuttx/arch/arm/src/armv6-m/up_assert.c
index 160ced2f9..7b143d819 100644
--- a/nuttx/arch/arm/src/armv6-m/up_assert.c
+++ b/nuttx/arch/arm/src/armv6-m/up_assert.c
@@ -369,5 +369,10 @@ void up_assert(const uint8_t *filename, int lineno)
 #endif
 
   up_dumpstate();
+
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/arm/src/armv7-a/arm_assert.c b/nuttx/arch/arm/src/armv7-a/arm_assert.c
index 3ee0e2ffe..501119d3a 100644
--- a/nuttx/arch/arm/src/armv7-a/arm_assert.c
+++ b/nuttx/arch/arm/src/armv7-a/arm_assert.c
@@ -367,5 +367,10 @@ void up_assert(const uint8_t *filename, int lineno)
         filename, lineno);
 #endif
   up_dumpstate();
+
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/arm/src/armv7-m/up_assert.c b/nuttx/arch/arm/src/armv7-m/up_assert.c
index f663802e0..56c6b4457 100644
--- a/nuttx/arch/arm/src/armv7-m/up_assert.c
+++ b/nuttx/arch/arm/src/armv7-m/up_assert.c
@@ -378,5 +378,10 @@ void up_assert(const uint8_t *filename, int lineno)
 #endif
 
   up_dumpstate();
+
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/arm/src/common/up_createstack.c b/nuttx/arch/arm/src/common/up_createstack.c
index a7a49a9b7..460e1b235 100644
--- a/nuttx/arch/arm/src/common/up_createstack.c
+++ b/nuttx/arch/arm/src/common/up_createstack.c
@@ -46,6 +46,7 @@
 
 #include <nuttx/kmalloc.h>
 #include <nuttx/arch.h>
+#include <nuttx/board.h>
 #include <arch/board/board.h>
 
 #include "up_arch.h"
diff --git a/nuttx/arch/avr/src/common/up_assert.c b/nuttx/arch/avr/src/common/up_assert.c
index 3ee369767..402556eb3 100644
--- a/nuttx/arch/avr/src/common/up_assert.c
+++ b/nuttx/arch/avr/src/common/up_assert.c
@@ -175,6 +175,10 @@ void up_assert(const uint8_t *filename, int lineno)
 
   up_dumpstate();
 
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
 #ifdef CONFIG_ARCH_USBDUMP
   /* Dump USB trace data */
 
diff --git a/nuttx/arch/hc/src/m9s12/m9s12_assert.c b/nuttx/arch/hc/src/m9s12/m9s12_assert.c
index 479dfb005..efc5d6492 100644
--- a/nuttx/arch/hc/src/m9s12/m9s12_assert.c
+++ b/nuttx/arch/hc/src/m9s12/m9s12_assert.c
@@ -337,5 +337,10 @@ void up_assert(const uint8_t *filename, int lineno)
 #endif
 
   up_dumpstate();
+
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/mips/src/mips32/up_assert.c b/nuttx/arch/mips/src/mips32/up_assert.c
index f768f5d6a..29cd6d737 100644
--- a/nuttx/arch/mips/src/mips32/up_assert.c
+++ b/nuttx/arch/mips/src/mips32/up_assert.c
@@ -181,5 +181,9 @@ void up_assert(const uint8_t *filename, int lineno)
   (void)usbtrace_enumerate(assert_tracecallback, NULL);
 #endif
 
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/rgmp/src/nuttx.c b/nuttx/arch/rgmp/src/nuttx.c
index dc5478bd2..893ee5cc9 100644
--- a/nuttx/arch/rgmp/src/nuttx.c
+++ b/nuttx/arch/rgmp/src/nuttx.c
@@ -487,6 +487,10 @@ void up_assert(const uint8_t *filename, int line)
 {
     fprintf(stderr, "Assertion failed at file:%s line: %d\n", filename, line);
 
+#ifdef CONFIG_BOARD_CRASHDUMP
+    board_crashdump(up_getsp(), g_readytorun.head, filename, line);
+#endif
+
     // in interrupt context or idle task means kernel error
     // which will stop the OS
     // if in user space just terminate the task
diff --git a/nuttx/arch/sh/src/common/up_assert.c b/nuttx/arch/sh/src/common/up_assert.c
index 2814083d6..127f79d5e 100644
--- a/nuttx/arch/sh/src/common/up_assert.c
+++ b/nuttx/arch/sh/src/common/up_assert.c
@@ -169,5 +169,9 @@ void up_assert(const uint8_t *filename, int lineno)
   (void)usbtrace_enumerate(assert_tracecallback, NULL);
 #endif
 
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/sim/src/up_head.c b/nuttx/arch/sim/src/up_head.c
index 128936183..24c764636 100644
--- a/nuttx/arch/sim/src/up_head.c
+++ b/nuttx/arch/sim/src/up_head.c
@@ -81,5 +81,10 @@ int main(int argc, char **argv, char **envp)
 void up_assert(const uint8_t *filename, int line)
 {
   fprintf(stderr, "Assertion failed at file:%s line: %d\n", filename, line);
+
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, line);
+#endif
+
   longjmp(sim_abort, 1);
 }
diff --git a/nuttx/arch/x86/src/common/up_assert.c b/nuttx/arch/x86/src/common/up_assert.c
index 0288702c3..a3b82d3b7 100644
--- a/nuttx/arch/x86/src/common/up_assert.c
+++ b/nuttx/arch/x86/src/common/up_assert.c
@@ -299,5 +299,10 @@ void up_assert(const uint8_t *filename, int lineno)
 #endif
 
   up_dumpstate();
+
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/z16/src/common/up_assert.c b/nuttx/arch/z16/src/common/up_assert.c
index 729a10bcb..55d985357 100644
--- a/nuttx/arch/z16/src/common/up_assert.c
+++ b/nuttx/arch/z16/src/common/up_assert.c
@@ -181,5 +181,9 @@ void up_assert(void)
   (void)usbtrace_enumerate(assert_tracecallback, NULL);
 #endif
 
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/z80/src/common/up_assert.c b/nuttx/arch/z80/src/common/up_assert.c
index 1ae825e4c..be886dc44 100644
--- a/nuttx/arch/z80/src/common/up_assert.c
+++ b/nuttx/arch/z80/src/common/up_assert.c
@@ -180,5 +180,9 @@ void up_assert(void)
   (void)usbtrace_enumerate(assert_tracecallback, NULL);
 #endif
 
+#ifdef CONFIG_BOARD_CRASHDUMP
+  board_crashdump(up_getsp(), g_readytorun.head, filename, lineno);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/configs/Kconfig b/nuttx/configs/Kconfig
index a3f04406c..58583c015 100644
--- a/nuttx/configs/Kconfig
+++ b/nuttx/configs/Kconfig
@@ -1043,6 +1043,31 @@ config ARCH_BOARD_CUSTOM_DIR
 		to some location outside of the NuttX source tree (like
 		"~/projects/myboard").
 
+config BOARD_CRASHDUMP
+	bool "Enable Board level logging of crash dumps"
+	default n
+	---help---
+		If selected up_asseert will call out to board_crashdump, in the case
+		of an assertion failure, prior to calling exit. Or in the
+		case of a hardfault prior to looping indefinitely. board_crashdump
+		then has a chance to save the state of the machine.
+
+		The purpose of board_crashdump is to save as much information as it can
+		about the cause of the fault and then most likely reset the system.
+
+		 N.B. There is limited system resources that can be used, who knows
+		 what memory is trashed? So all we can expect to do is save the
+		"machine state" in a place where on the next reset can write it
+		to more sophisticated storage in a sane operating environment.
+
+config BOARD_RESET_ON_CRASH
+	bool "Eanble Board Reset after the crashdump is saved"
+	default n
+	depends on BOARD_CRASHDUMP
+	---help---
+		If selected the board_crashdump should reset the machine after
+		saveing the state of the machine
+
 config BOARD_CUSTOM_LEDS
 	bool "Custom board LEDs"
 	default n
diff --git a/nuttx/include/nuttx/board.h b/nuttx/include/nuttx/board.h
index 55aa85b60..4c9e1731f 100644
--- a/nuttx/include/nuttx/board.h
+++ b/nuttx/include/nuttx/board.h
@@ -291,4 +291,34 @@ uint8_t board_buttons(void);
 xcpt_t board_button_irq(int id, xcpt_t irqhandler);
 #endif
 
+/****************************************************************************
+ * Name: board_crashdump
+ *
+ * Description:
+ *   If CONFIG_BOARD_CRASHDUMP is selected then up_asseert will call out to
+ *   board_crashdump prior to calling exit in the case of an assertion failure.
+ *   Or in the case of a hardfault looping indefinitely. board_crashdump then
+ *   has a chance to save the state of the machine. The provided
+ *   board_crashdump should save as much information as it can about the cause
+ *   of the fault and then most likely reset the system.
+ *
+ *   N.B. There are limited system resources that can be used by the provided
+ *   board_crashdump function. The tems from the fact that most critical/fatal
+ *   crashes are because of a hard fault or during interrupt processing.
+ *   In these cases, up_assert is running from the context of an interrupt
+ *   handlerand it is impossible to use any device driver in this context.
+ *
+ *   Also consider the following: Who knows what state the system is in? Is
+ *   memory trashed? Is the Heap intact? Therefore all we can expect to do in
+ *   board_crashdump is save the "machine state" in a place where on the next
+ *   reset we can write it to more sophisticated storage in a sane operating
+ *   environment.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BOARD_CRASHDUMP
+void board_crashdump(uint32_t currentsp, void *tcb, uint8_t *filename,
+                     int lineno);
+#endif
+
 #endif /* __INCLUDE_NUTTX_BOARD_H */