#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
#include <nuttx/compiler.h>
#include <nuttx/arch.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <stdio.h>
#include <stdint.h>
#include <stddef.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/hardfault_log.h>
#include <lib/version/version.h>

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Macros
#define	OUT_BUFFER_LEN 200

Functions
__EXPORT int	hardfault_log_main (int argc, char *argv[])

static int	genfault (int fault)

	CCASSERT (TIME_FMT_LEN==HEADER_TIME_FMT_LEN)

static int	format_fault_time (char format, struct timespec ts, char *buffer, unsigned int maxsz)

static int	format_fault_file_name (struct timespec ts, char buffer, unsigned int maxsz)

static void	identify (const char *caller)

static int	hardfault_get_desc (char caller, struct bbsramd_s desc, bool silent)

static int	write_stack_detail (bool inValid, _stack_s si, char sp_name, char *buffer, int max, int fd)

static int	read_stack (int fd, stack_word_t *words, int num)

static int	write_stack (bool inValid, int winsize, uint32_t wtopaddr, uint32_t topaddr, uint32_t spaddr, uint32_t botaddr, char sp_name, char buffer, int max, int infd, int outfd)

static int	write_registers (uint32_t regs[], char *buffer, int max, int fd)

static int	write_registers_info (int fdout, info_s pi, char buffer, int sz)

static int	write_interrupt_stack_info (int fdout, info_s pi, char buffer, unsigned int sz)

static int	write_user_stack_info (int fdout, info_s pi, char buffer, unsigned int sz)

static int	write_dump_info (int fdout, info_s info, struct bbsramd_s desc, char *buffer, unsigned int sz)

static int	write_dump_time (char caller, char tag, int fdout, struct timespec ts, char buffer, unsigned int sz)

static int	write_dump_header (char caller, int fdout, struct timespec ts, char *buffer, unsigned int sz)

static int	write_dump_footer (char caller, int fdout, struct timespec ts, char *buffer, unsigned int sz)

static int	write_intterupt_stack (int fdin, int fdout, info_s pi, char buffer, unsigned int sz)

static int	write_user_stack (int fdin, int fdout, info_s pi, char buffer, unsigned int sz)

static int	hardfault_append_to_ulog (const char *caller, int fdin)
	Append hardfault data to the stored ULog file (the log path is stored in BBSRAM). More...

static int	hardfault_commit (char *caller)

static int	hardfault_dowrite (char caller, int infd, int outfd, struct bbsramd_s desc, int format)

__EXPORT int	hardfault_rearm (char *caller)

__EXPORT int	hardfault_check_status (char *caller)

__EXPORT int	hardfault_increment_reboot (char *caller, bool reset)

__EXPORT int	hardfault_write (char *caller, int fd, int format, bool rearm)

static void	print_usage (void)

Macro Definition Documentation

◆ OUT_BUFFER_LEN

#define OUT_BUFFER_LEN 200

Definition at line 71 of file hardfault_log.c.

Referenced by hardfault_dowrite().

Function Documentation

◆ CCASSERT()

CCASSERT ( TIME_FMT_LEN = =HEADER_TIME_FMT_LEN )

Referenced by genfault().

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◆ format_fault_file_name()

static int format_fault_file_name	(	struct timespec *	ts,
		char *	buffer,
		unsigned int	maxsz
	)

static

Definition at line 164 of file hardfault_log.c.

References arraySize, format_fault_time(), LOG_NAME_FMT, LOG_NAME_LEN, LOG_PATH_BASE, LOG_PATH_BASE_LEN, LOG_PATH_LEN, OK, TIME_FMT, and TIME_FMT_LEN.

Referenced by hardfault_commit().

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◆ format_fault_time()

static int format_fault_time	(	char *	format,
		struct timespec *	ts,
		char *	buffer,
		unsigned int	maxsz
	)

static

Definition at line 139 of file hardfault_log.c.

References OK, and TIME_FMT_LEN.

Referenced by format_fault_file_name(), hardfault_check_status(), write_dump_info(), and write_dump_time().

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◆ genfault()

static int genfault ( int fault )

static

Definition at line 94 of file hardfault_log.c.

References CCASSERT(), HEADER_TIME_FMT_LEN, OK, TIME_FMT_LEN, and UNUSED.

Referenced by hardfault_log_main().

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◆ hardfault_append_to_ulog()

static int hardfault_append_to_ulog	(	const char *	caller,
		int	fdin
	)

static

Append hardfault data to the stored ULog file (the log path is stored in BBSRAM).

Parameters

caller
fdin	file descriptor for plain-text hardhault log to read from

Returns: 0 on success, -errno otherwise

Definition at line 592 of file hardfault_log.c.

References fd, HARDFAULT_MAX_ULOG_FILE_LEN, HARDFAULT_ULOG_PATH, identify(), read(), and write().

Referenced by hardfault_commit().

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◆ hardfault_check_status()

__EXPORT int hardfault_check_status ( char * caller )

Definition at line 985 of file hardfault_log.c.

References arraySize, fd, format_fault_time(), hardfault_get_desc(), HARDFAULT_PATH, hardfault_rearm(), HEADER_TIME_FMT, identify(), OK, state, and TIME_FMT_LEN.

Referenced by hardfault_log_main().

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◆ hardfault_commit()

static int hardfault_commit ( char * caller )

static

Definition at line 787 of file hardfault_log.c.

References arraySize, fd, format_fault_file_name(), hardfault_append_to_ulog(), HARDFAULT_FILE_FORMAT, hardfault_get_desc(), hardfault_write(), identify(), LOG_PATH_LEN, OK, and state.

Referenced by hardfault_log_main().

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◆ hardfault_dowrite()

static int hardfault_dowrite	(	char *	caller,
		int	infd,
		int	outfd,
		struct bbsramd_s *	desc,
		int	format
	)

static

Definition at line 862 of file hardfault_log.c.

References HARDFAULT_DISPLAY_FORMAT, HARDFAULT_FILE_FORMAT, HARDFAULT_PATH, identify(), lps22hb::info(), OK, OUT_BUFFER_LEN, read(), write_dump_footer(), write_dump_header(), write_dump_info(), write_interrupt_stack_info(), write_intterupt_stack(), write_registers_info(), write_user_stack(), and write_user_stack_info().

Referenced by hardfault_write().

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◆ hardfault_get_desc()

static int hardfault_get_desc	(	char *	caller,
		struct bbsramd_s *	desc,
		bool	silent
	)

static

Definition at line 206 of file hardfault_log.c.

References fd, HARDFAULT_PATH, and identify().

Referenced by hardfault_check_status(), hardfault_commit(), and hardfault_write().

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◆ hardfault_increment_reboot()

__EXPORT int hardfault_increment_reboot	(	char *	caller,
		bool	reset
	)

Definition at line 1038 of file hardfault_log.c.

References fd, HARDFAULT_REBOOT_PATH, identify(), OK, read(), and write().

Referenced by hardfault_log_main().

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◆ hardfault_log_main()

__EXPORT int hardfault_log_main	(	int	argc,
		char *	argv[]
	)

Definition at line 1162 of file hardfault_log.c.

References genfault(), hardfault_check_status(), hardfault_commit(), hardfault_increment_reboot(), hardfault_rearm(), and print_usage().

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◆ hardfault_rearm()

__EXPORT int hardfault_rearm ( char * caller )

Definition at line 964 of file hardfault_log.c.

References HARDFAULT_PATH, identify(), and OK.

Referenced by hardfault_check_status(), hardfault_log_main(), and hardfault_write().

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◆ hardfault_write()

__EXPORT int hardfault_write	(	char *	caller,
		int	fd,
		int	format,
		bool	rearm
	)

Definition at line 1085 of file hardfault_log.c.

References HARDFAULT_DISPLAY_FORMAT, hardfault_dowrite(), HARDFAULT_FILE_FORMAT, hardfault_get_desc(), hardfault_rearm(), identify(), and OK.

Referenced by hardfault_commit().

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◆ identify()

static void identify ( const char * caller )

static

Definition at line 195 of file hardfault_log.c.

Referenced by hardfault_append_to_ulog(), hardfault_check_status(), hardfault_commit(), hardfault_dowrite(), hardfault_get_desc(), hardfault_increment_reboot(), hardfault_rearm(), and hardfault_write().

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◆ print_usage()

static void print_usage ( void )

static

Definition at line 1137 of file hardfault_log.c.

Referenced by hardfault_log_main().

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◆ read_stack()

static int read_stack	(	int	fd,
		stack_word_t *	words,
		int	num
	)

static

Definition at line 275 of file hardfault_log.c.

References read().

Referenced by write_stack().

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◆ write_dump_footer()

static int write_dump_footer	(	char *	caller,
		int	fdout,
		struct timespec *	ts,
		char *	buffer,
		unsigned int	sz
	)

static

Definition at line 536 of file hardfault_log.c.

References write_dump_time().

Referenced by hardfault_dowrite().

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◆ write_dump_header()

static int write_dump_header	(	char *	caller,
		int	fdout,
		struct timespec *	ts,
		char *	buffer,
		unsigned int	sz
	)

static

Definition at line 528 of file hardfault_log.c.

References write_dump_time().

Referenced by hardfault_dowrite().

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◆ write_dump_info()

static int write_dump_info	(	int	fdout,
		info_s *	info,
		struct bbsramd_s *	desc,
		char *	buffer,
		unsigned int	sz
	)

static

Definition at line 450 of file hardfault_log.c.

References info_s::current_regs, info_s::filename, format_fault_time(), HEADER_TIME_FMT, info_s::lineno, OK, info_s::pid, px4_build_uri(), px4_firmware_version_string(), TIME_FMT_LEN, and write().

Referenced by hardfault_dowrite().

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◆ write_dump_time()

static int write_dump_time	(	char *	caller,
		char *	tag,
		int	fdout,
		struct timespec *	ts,
		char *	buffer,
		unsigned int	sz
	)

static

Definition at line 511 of file hardfault_log.c.

References format_fault_time(), HEADER_TIME_FMT, OK, TIME_FMT_LEN, and write().

Referenced by write_dump_footer(), and write_dump_header().

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◆ write_interrupt_stack_info()

static int write_interrupt_stack_info	(	int	fdout,
		info_s *	pi,
		char *	buffer,
		unsigned int	sz
	)

static

Definition at line 417 of file hardfault_log.c.

References eIntStackPresent, eInvalidIntStackPrt, info_s::flags, info_s::stacks, and write_stack_detail().

Referenced by hardfault_dowrite().

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◆ write_intterupt_stack()

static int write_intterupt_stack	(	int	fdin,
		int	fdout,
		info_s *	pi,
		char *	buffer,
		unsigned int	sz
	)

static

Definition at line 544 of file hardfault_log.c.

References CONFIG_ISTACK_SIZE, eIntStackPresent, eInvalidIntStackPrt, info_s::flags, info_s::stacks, and write_stack().

Referenced by hardfault_dowrite().

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◆ write_registers()

static int write_registers	(	uint32_t	regs[],
		char *	buffer,
		int	max,
		int	fd
	)

static

Definition at line 348 of file hardfault_log.c.

References OK, and write().

Referenced by write_registers_info().

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◆ write_registers_info()

static int write_registers_info	(	int	fdout,
		info_s *	pi,
		char *	buffer,
		int	sz
	)

static

Definition at line 398 of file hardfault_log.c.

References info_s::current_regs, eRegsPresent, info_s::flags, info_s::regs, write(), and write_registers().

Referenced by hardfault_dowrite().

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◆ write_stack()

static int write_stack	(	bool	inValid,
		int	winsize,
		uint32_t	wtopaddr,
		uint32_t	topaddr,
		uint32_t	spaddr,
		uint32_t	botaddr,
		char *	sp_name,
		char *	buffer,
		int	max,
		int	infd,
		int	outfd
	)

static

Definition at line 285 of file hardfault_log.c.

References arraySize, OK, read_stack(), and write().

Referenced by write_intterupt_stack(), and write_user_stack().

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◆ write_stack_detail()

static int write_stack_detail	(	bool	inValid,
		_stack_s *	si,
		char *	sp_name,
		char *	buffer,
		int	max,
		int	fd
	)

static

Definition at line 236 of file hardfault_log.c.

References OK, _stack_s::size, _stack_s::sp, _stack_s::top, and write().

Referenced by write_interrupt_stack_info(), and write_user_stack_info().

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◆ write_user_stack()

static int write_user_stack	(	int	fdin,
		int	fdout,
		info_s *	pi,
		char *	buffer,
		unsigned int	sz
	)

static

Definition at line 567 of file hardfault_log.c.

References CONFIG_USTACK_SIZE, eInvalidUserStackPtr, eUserStackPresent, info_s::flags, _stack_s::size, _stack_s::sp, info_s::stacks, _stack_s::top, stack_t::user, and write_stack().

Referenced by hardfault_dowrite().

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◆ write_user_stack_info()

static int write_user_stack_info	(	int	fdout,
		info_s *	pi,
		char *	buffer,
		unsigned int	sz
	)

static

Definition at line 434 of file hardfault_log.c.

References eInvalidUserStackPtr, eUserStackPresent, info_s::flags, info_s::stacks, stack_t::user, and write_stack_detail().

Referenced by hardfault_dowrite().

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Macros

Functions

Macro Definition Documentation

◆ OUT_BUFFER_LEN

Function Documentation

◆ CCASSERT()

◆ format_fault_file_name()

◆ format_fault_time()

◆ genfault()

◆ hardfault_append_to_ulog()

◆ hardfault_check_status()

◆ hardfault_commit()

◆ hardfault_dowrite()

◆ hardfault_get_desc()

◆ hardfault_increment_reboot()

◆ hardfault_log_main()

◆ hardfault_rearm()

◆ hardfault_write()

◆ identify()

◆ print_usage()

◆ read_stack()

◆ write_dump_footer()

◆ write_dump_header()

◆ write_dump_info()

◆ write_dump_time()

◆ write_interrupt_stack_info()

◆ write_intterupt_stack()

◆ write_registers()

◆ write_registers_info()

◆ write_stack()

◆ write_stack_detail()

◆ write_user_stack()

◆ write_user_stack_info()