void shutdown_worker(void *arg)
{
PX4_DEBUG("shutdown worker (%i)", shutdown_counter);
bool done = true;
pthread_mutex_lock(&shutdown_mutex);
for (int i = 0; i < max_shutdown_hooks; ++i) {
if (shutdown_hooks[i]) {
if (!shutdown_hooks[i]()) {
done = false;
}
}
}
if ((done && shutdown_lock_counter == 0) || ++shutdown_counter > shutdown_timeout_ms / 10) {
if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
PX4_WARN("Reboot NOW.");
px4_systemreset(shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER);
} else {
PX4_WARN("Shutdown NOW. Good Bye.");
board_shutdown();
}
pthread_mutex_unlock(&shutdown_mutex); // must NEVER come here
} else {
pthread_mutex_unlock(&shutdown_mutex);
work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, nullptr, USEC2TICK(10000));
}
}
bool handleRestartRequest(uavcan::NodeID request_source) override
{
::syslog(LOG_INFO, "UAVCAN: Restarting by request from %i\n", int(request_source.get()));
::usleep(20 * 1000 * 1000);
px4_systemreset(false);
return true; // Will never be executed BTW
}
int px4_shutdown_request(bool reboot, bool to_bootloader)
{
int ret = 0;
pthread_mutex_lock(&shutdown_mutex);
// FIXME: if shutdown_lock_counter > 0, we should wait, but unfortunately we don't have work queues
if (reboot) {
px4_systemreset(to_bootloader);
} else {
ret = board_shutdown();
}
pthread_mutex_unlock(&shutdown_mutex);
return ret;
}
int reboot_main(int argc, char *argv[])
{
int ch;
bool to_bootloader = false;
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
switch (ch) {
case 'b':
to_bootloader = true;
break;
default:
PX4_ERR("usage: reboot [-b]\n"
" -b reboot into the bootloader");
}
}
px4_systemreset(to_bootloader);
}
static void cb_reboot(const uavcan::TimerEvent &)
{
px4_systemreset(false);
}
__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
{
/* We need a chunk of ram to save the complete context in.
* Since we are going to reboot we will use &_sdata
* which is the lowest memory and the amount we will save
* _should be_ below any resources we need herein.
* Unfortunately this is hard to test. See dead below
*/
fullcontext_s *pdump = (fullcontext_s *)&_sdata;
(void)enter_critical_section();
struct tcb_s *rtcb = (struct tcb_s *)tcb;
/* Zero out everything */
memset(pdump, 0, sizeof(fullcontext_s));
/* Save Info */
pdump->info.lineno = lineno;
if (filename) {
int offset = 0;
unsigned int len = strlen((char *)filename) + 1;
if (len > sizeof(pdump->info.filename)) {
offset = len - sizeof(pdump->info.filename) ;
}
strncpy(pdump->info.filename, (char *)&filename[offset], sizeof(pdump->info.filename));
}
/* Save the value of the pointer for current_regs as debugging info.
* It should be NULL in case of an ASSERT and will aid in cross
* checking the validity of system memory at the time of the
* fault.
*/
pdump->info.current_regs = (uintptr_t) CURRENT_REGS;
/* Save Context */
#if CONFIG_TASK_NAME_SIZE > 0
strncpy(pdump->info.name, rtcb->name, CONFIG_TASK_NAME_SIZE);
#endif
pdump->info.pid = rtcb->pid;
/* If current_regs is not NULL then we are in an interrupt context
* and the user context is in current_regs else we are running in
* the users context
*/
if (CURRENT_REGS) {
pdump->info.stacks.interrupt.sp = currentsp;
pdump->info.flags |= (eRegsPresent | eUserStackPresent | eIntStackPresent);
memcpy(pdump->info.regs, (void *)CURRENT_REGS, sizeof(pdump->info.regs));
pdump->info.stacks.user.sp = pdump->info.regs[REG_R13];
} else {
/* users context */
pdump->info.flags |= eUserStackPresent;
pdump->info.stacks.user.sp = currentsp;
}
if (pdump->info.pid == 0) {
pdump->info.stacks.user.top = g_idle_topstack - 4;
pdump->info.stacks.user.size = CONFIG_IDLETHREAD_STACKSIZE;
} else {
pdump->info.stacks.user.top = (uint32_t) rtcb->adj_stack_ptr;
pdump->info.stacks.user.size = (uint32_t) rtcb->adj_stack_size;;
}
#if CONFIG_ARCH_INTERRUPTSTACK > 3
/* Get the limits on the interrupt stack memory */
pdump->info.stacks.interrupt.top = (uint32_t)&g_intstackbase;
pdump->info.stacks.interrupt.size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
/* If In interrupt Context save the interrupt stack data centered
* about the interrupt stack pointer
*/
if ((pdump->info.flags & eIntStackPresent) != 0) {
stack_word_t *ps = (stack_word_t *) pdump->info.stacks.interrupt.sp;
copy_reverse(pdump->istack, &ps[arraySize(pdump->istack) / 2], arraySize(pdump->istack));
}
/* Is it Invalid? */
if (!(pdump->info.stacks.interrupt.sp <= pdump->info.stacks.interrupt.top &&
pdump->info.stacks.interrupt.sp > pdump->info.stacks.interrupt.top - pdump->info.stacks.interrupt.size)) {
pdump->info.flags |= eInvalidIntStackPrt;
}
#endif
/* If In interrupt context or User save the user stack data centered
* about the user stack pointer
*/
if ((pdump->info.flags & eUserStackPresent) != 0) {
stack_word_t *ps = (stack_word_t *) pdump->info.stacks.user.sp;
copy_reverse(pdump->ustack, &ps[arraySize(pdump->ustack) / 2], arraySize(pdump->ustack));
}
/* Is it Invalid? */
if (!(pdump->info.stacks.user.sp <= pdump->info.stacks.user.top &&
pdump->info.stacks.user.sp > pdump->info.stacks.user.top - pdump->info.stacks.user.size)) {
pdump->info.flags |= eInvalidUserStackPtr;
}
int rv = stm32_bbsram_savepanic(HARDFAULT_FILENO, (uint8_t *)pdump, sizeof(fullcontext_s));
/* Test if memory got wiped because of using _sdata */
if (rv == -ENXIO) {
char *dead = "Memory wiped - dump not saved!";
while (*dead) {
up_lowputc(*dead++);
}
} else if (rv == -ENOSPC) {
/* hard fault again */
up_lowputc('!');
}
#if defined(CONFIG_BOARD_RESET_ON_CRASH)
px4_systemreset(false);
#endif
}
int
test_mount(int argc, char *argv[])
{
const unsigned iterations = 2000;
const unsigned alignments = 10;
const char *cmd_filename = "/fs/microsd/mount_test_cmds.txt";
/* check if microSD card is mounted */
struct stat buffer;
if (stat(PX4_ROOTFSDIR "/fs/microsd/", &buffer)) {
PX4_ERR("no microSD card mounted, aborting file test");
return 1;
}
/* list directory */
DIR *d;
struct dirent *dir;
d = opendir(PX4_ROOTFSDIR "/fs/microsd");
if (d) {
while ((dir = readdir(d)) != NULL) {
//printf("%s\n", dir->d_name);
}
closedir(d);
PX4_INFO("directory listing ok (FS mounted and readable)");
} else {
/* failed opening dir */
PX4_ERR("FAILED LISTING MICROSD ROOT DIRECTORY");
if (stat(cmd_filename, &buffer) == OK) {
(void)unlink(cmd_filename);
}
return 1;
}
/* read current test status from file, write test instructions for next round */
/* initial values */
int it_left_fsync = fsync_tries;
int it_left_abort = abort_tries;
int cmd_fd;
if (stat(cmd_filename, &buffer) == OK) {
/* command file exists, read off state */
cmd_fd = open(cmd_filename, O_RDWR | O_NONBLOCK);
char buf[64];
int ret = read(cmd_fd, buf, sizeof(buf));
if (ret > 0) {
int count = 0;
ret = sscanf(buf, "TEST: %u %u %n", &it_left_fsync, &it_left_abort, &count);
} else {
buf[0] = '\0';
}
if (it_left_fsync > fsync_tries) {
it_left_fsync = fsync_tries;
}
if (it_left_abort > abort_tries) {
it_left_abort = abort_tries;
}
PX4_INFO("Iterations left: #%d / #%d of %d / %d\n(%s)", it_left_fsync, it_left_abort,
fsync_tries, abort_tries, buf);
int it_left_fsync_prev = it_left_fsync;
/* now write again what to do next */
if (it_left_fsync > 0) {
it_left_fsync--;
}
if (it_left_fsync == 0 && it_left_abort > 0) {
it_left_abort--;
/* announce mode switch */
if (it_left_fsync_prev != it_left_fsync && it_left_fsync == 0) {
PX4_INFO("\n SUCCESSFULLY PASSED FSYNC'ED WRITES, CONTINUTING WITHOUT FSYNC");
fsync(fileno(stdout));
fsync(fileno(stderr));
usleep(20000);
}
}
if (it_left_abort == 0) {
(void)unlink(cmd_filename);
return 0;
}
} else {
/* this must be the first iteration, do something */
cmd_fd = open(cmd_filename, O_TRUNC | O_WRONLY | O_CREAT, PX4_O_MODE_666);
PX4_INFO("First iteration of file test\n");
}
char buf[64];
(void)sprintf(buf, "TEST: %d %d ", it_left_fsync, it_left_abort);
lseek(cmd_fd, 0, SEEK_SET);
write(cmd_fd, buf, strlen(buf) + 1);
fsync(cmd_fd);
/* perform tests for a range of chunk sizes */
unsigned chunk_sizes[] = {32, 64, 128, 256, 512, 600, 1200};
for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
printf("\n\n====== FILE TEST: %u bytes chunks (%s) ======\n", chunk_sizes[c],
(it_left_fsync > 0) ? "FSYNC" : "NO FSYNC");
printf("unpower the system immediately (within 0.5s) when the hash (#) sign appears\n");
fsync(fileno(stdout));
fsync(fileno(stderr));
usleep(50000);
for (unsigned a = 0; a < alignments; a++) {
printf(".");
uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
/* fill write buffer with known values */
for (unsigned i = 0; i < sizeof(write_buf); i++) {
/* this will wrap, but we just need a known value with spacing */
write_buf[i] = i + 11;
}
uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
int fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
for (unsigned i = 0; i < iterations; i++) {
int wret = write(fd, write_buf + a, chunk_sizes[c]);
if (wret != (int)chunk_sizes[c]) {
PX4_ERR("WRITE ERROR!");
if ((0x3 & (uintptr_t)(write_buf + a))) {
PX4_ERR("memory is unaligned, align shift: %d", a);
}
return 1;
}
if (it_left_fsync > 0) {
fsync(fd);
} else {
printf("#");
fsync(fileno(stdout));
fsync(fileno(stderr));
}
}
if (it_left_fsync > 0) {
printf("#");
}
printf(".");
fsync(fileno(stdout));
fsync(fileno(stderr));
usleep(200000);
px4_close(fd);
fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
/* read back data for validation */
for (unsigned i = 0; i < iterations; i++) {
int rret = read(fd, read_buf, chunk_sizes[c]);
if (rret != (int)chunk_sizes[c]) {
PX4_ERR("READ ERROR!");
return 1;
}
/* compare value */
bool compare_ok = true;
for (unsigned j = 0; j < chunk_sizes[c]; j++) {
if (read_buf[j] != write_buf[j + a]) {
PX4_WARN("COMPARISON ERROR: byte %d, align shift: %d", j, a);
compare_ok = false;
break;
}
}
if (!compare_ok) {
PX4_ERR("ABORTING FURTHER COMPARISON DUE TO ERROR");
return 1;
}
}
int ret = unlink(PX4_ROOTFSDIR "/fs/microsd/testfile");
px4_close(fd);
if (ret) {
px4_close(cmd_fd);
PX4_ERR("UNLINKING FILE FAILED");
return 1;
}
}
}
fsync(fileno(stdout));
fsync(fileno(stderr));
usleep(20000);
px4_close(cmd_fd);
/* we always reboot for the next test if we get here */
PX4_INFO("Iteration done, rebooting..");
fsync(fileno(stdout));
fsync(fileno(stderr));
usleep(50000);
px4_systemreset(false);
/* never going to get here */
return 0;
}