예제 #1
0
/****************************************************************************
 * 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;
}
예제 #2
0
__EXPORT int board_app_initialize(uintptr_t arg)
{

#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)

	/* run C++ ctors before we go any further */

	up_cxxinitialize();

#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
#	endif

#else
#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif

	/* configure the high-resolution time/callout interface */
	hrt_init();

	/* configure the DMA allocator */

	if (board_dma_alloc_init() < 0) {
		message("DMA alloc FAILED");
	}

	/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
	cpuload_initialize_once();
#endif

	/* set up the serial DMA polling */
	static struct hrt_call serial_dma_call;
	struct timespec ts;

	/*
	 * Poll at 1ms intervals for received bytes that have not triggered
	 * a DMA event.
	 */
	ts.tv_sec = 0;
	ts.tv_nsec = 1000000;

	hrt_call_every(&serial_dma_call,
		       ts_to_abstime(&ts),
		       ts_to_abstime(&ts),
		       (hrt_callout)stm32_serial_dma_poll,
		       NULL);

#if defined(CONFIG_STM32_BBSRAM)

	/* NB. the use of the console requires the hrt running
	 * to poll the DMA
	 */

	/* Using Battery Backed Up SRAM */

	int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;

	stm32_bbsraminitialize(BBSRAM_PATH, filesizes);

#if defined(CONFIG_STM32_SAVE_CRASHDUMP)

	/* Panic Logging in Battery Backed Up Files */

	/*
	 * In an ideal world, if a fault happens in flight the
	 * system save it to BBSRAM will then reboot. Upon
	 * rebooting, the system will log the fault to disk, recover
	 * the flight state and continue to fly.  But if there is
	 * a fault on the bench or in the air that prohibit the recovery
	 * or committing the log to disk, the things are too broken to
	 * fly. So the question is:
	 *
	 * Did we have a hard fault and not make it far enough
	 * through the boot sequence to commit the fault data to
	 * the SD card?
	 */

	/* Do we have an uncommitted hard fault in BBSRAM?
	 *  - this will be reset after a successful commit to SD
	 */
	int hadCrash = hardfault_check_status("boot");

	if (hadCrash == OK) {

		message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
			" while booting to halt the system!\n");

		/* Yes. So add one to the boot count - this will be reset after a successful
		 * commit to SD
		 */

		int reboots = hardfault_increment_reboot("boot", false);

		/* Also end the misery for a user that holds for a key down on the console */

		int bytesWaiting;
		ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));

		if (reboots > 2 || bytesWaiting != 0) {

			/* Since we can not commit the fault dump to disk. Display it
			 * to the console.
			 */

			hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);

			message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
				reboots,
				(bytesWaiting == 0 ? "" : " Due to Key Press\n"));


			/* For those of you with a debugger set a break point on up_assert and
			 * then set dbgContinue = 1 and go.
			 */

			/* Clear any key press that got us here */

			static volatile bool dbgContinue = false;
			int c = '>';

			while (!dbgContinue) {

				switch (c) {

				case EOF:


				case '\n':
				case '\r':
				case ' ':
					continue;

				default:

					putchar(c);
					putchar('\n');

					switch (c) {

					case 'D':
					case 'd':
						hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
						break;

					case 'C':
					case 'c':
						hardfault_rearm("boot");
						hardfault_increment_reboot("boot", true);
						break;

					case 'B':
					case 'b':
						dbgContinue = true;
						break;

					default:
						break;
					} // Inner Switch

					message("\nEnter B - Continue booting\n" \
						"Enter C - Clear the fault log\n" \
						"Enter D - Dump fault log\n\n?>");
					fflush(stdout);

					if (!dbgContinue) {
						c = getchar();
					}

					break;

				} // outer switch
			} // for

		} // inner if
	} // outer if

#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM

	/* initial LED state */
	drv_led_start();
	led_off(LED_RED);
	led_off(LED_GREEN);
	led_off(LED_BLUE);

	/* Configure SPI-based devices */

	spi1 = stm32_spibus_initialize(1);

	if (!spi1) {
		message("[boot] FAILED to initialize SPI port 1\n");
		board_autoled_on(LED_RED);
		return -ENODEV;
	}

	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
	SPI_SETFREQUENCY(spi1, 10000000);
	SPI_SETBITS(spi1, 8);
	SPI_SETMODE(spi1, SPIDEV_MODE3);
	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
	SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
	up_udelay(20);

	/* Get the SPI port for the FRAM */

	spi2 = stm32_spibus_initialize(2);

	if (!spi2) {
		message("[boot] FAILED to initialize SPI port 2\n");
		board_autoled_on(LED_RED);
		return -ENODEV;
	}

	/* Default SPI2 to 12MHz and de-assert the known chip selects.
	 * MS5611 has max SPI clock speed of 20MHz
	 */

	// XXX start with 10.4 MHz and go up to 20 once validated
	SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
	SPI_SETBITS(spi2, 8);
	SPI_SETMODE(spi2, SPIDEV_MODE3);
	SPI_SELECT(spi2, SPIDEV_FLASH, false);
	SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);

#ifdef CONFIG_MMCSD
	/* First, get an instance of the SDIO interface */

	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);

	if (!sdio) {
		message("[boot] Failed to initialize SDIO slot %d\n",
			CONFIG_NSH_MMCSDSLOTNO);
		return -ENODEV;
	}

	/* Now bind the SDIO interface to the MMC/SD driver */
	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);

	if (ret != OK) {
		message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
		return ret;
	}

	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
	sdio_mediachange(sdio, true);

#endif

	return OK;
}
예제 #3
0
__EXPORT int board_app_initialize(uintptr_t arg)
{
	int result;

#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)

	/* run C++ ctors before we go any further */

	up_cxxinitialize();

#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
#	endif

#else
#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif

	/* configure the high-resolution time/callout interface */
	hrt_init();

	/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
	cpuload_initialize_once();
#endif

	/* set up the serial DMA polling */
	static struct hrt_call serial_dma_call;
	struct timespec ts;

	/*
	 * Poll at 1ms intervals for received bytes that have not triggered
	 * a DMA event.
	 */
	ts.tv_sec = 0;
	ts.tv_nsec = 1000000;

	hrt_call_every(&serial_dma_call,
		       ts_to_abstime(&ts),
		       ts_to_abstime(&ts),
		       (hrt_callout)stm32_serial_dma_poll,
		       NULL);
#if defined(CONFIG_STM32_BBSRAM)

	/* NB. the use of the console requires the hrt running
	 * to poll the DMA
	 */

	/* Using Battery Backed Up SRAM */

	int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;

	stm32_bbsraminitialize(BBSRAM_PATH, filesizes);

#if defined(CONFIG_STM32_SAVE_CRASHDUMP)

	/* Panic Logging in Battery Backed Up Files */

	/*
	 * In an ideal world, if a fault happens in flight the
	 * system save it to BBSRAM will then reboot. Upon
	 * rebooting, the system will log the fault to disk, recover
	 * the flight state and continue to fly.  But if there is
	 * a fault on the bench or in the air that prohibit the recovery
	 * or committing the log to disk, the things are too broken to
	 * fly. So the question is:
	 *
	 * Did we have a hard fault and not make it far enough
	 * through the boot sequence to commit the fault data to
	 * the SD card?
	 */

	/* Do we have an uncommitted hard fault in BBSRAM?
	 *  - this will be reset after a successful commit to SD
	 */
	int hadCrash = hardfault_check_status("boot");

	if (hadCrash == OK) {

		message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
			" while booting to halt the system!\n");

		/* Yes. So add one to the boot count - this will be reset after a successful
		 * commit to SD
		 */

		int reboots = hardfault_increment_reboot("boot", false);

		/* Also end the misery for a user that holds for a key down on the console */

		int bytesWaiting;
		ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));

		if (reboots > 2 || bytesWaiting != 0) {

			/* Since we can not commit the fault dump to disk. Display it
			 * to the console.
			 */

			hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);

			message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
				reboots,
				(bytesWaiting == 0 ? "" : " Due to Key Press\n"));


			/* For those of you with a debugger set a break point on up_assert and
			 * then set dbgContinue = 1 and go.
			 */

			/* Clear any key press that got us here */

			static volatile bool dbgContinue = false;
			int c = '>';

			while (!dbgContinue) {

				switch (c) {

				case EOF:


				case '\n':
				case '\r':
				case ' ':
					continue;

				default:

					putchar(c);
					putchar('\n');

					switch (c) {

					case 'D':
					case 'd':
						hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
						break;

					case 'C':
					case 'c':
						hardfault_rearm("boot");
						hardfault_increment_reboot("boot", true);
						break;

					case 'B':
					case 'b':
						dbgContinue = true;
						break;

					default:
						break;
					} // Inner Switch

					message("\nEnter B - Continue booting\n" \
						"Enter C - Clear the fault log\n" \
						"Enter D - Dump fault log\n\n?>");
					fflush(stdout);

					if (!dbgContinue) {
						c = getchar();
					}

					break;

				} // outer switch
			} // for

		} // inner if
	} // outer if

#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM


	/* initial LED state */
	drv_led_start();
	led_off(LED_RED);
	led_off(LED_GREEN);
	led_off(LED_BLUE);
	led_off(LED_TX);
	led_off(LED_RX);



	result = board_i2c_initialize();

	if (result != OK) {
		led_on(LED_RED);
		return -ENODEV;
	}

	return OK;
}