Changes to mindpx-v2 for upstream Nuttx and hardfault logging

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -1,5 +1,7 @@
 include(nuttx/px4_impl_nuttx)
 
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
+
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 1)
@@ -62,6 +64,7 @@ set(config_module_list
 	systemcmds/perf
 	systemcmds/pwm
 	systemcmds/esc_calib
+	systemcmds/hardfault_log
 	systemcmds/reboot
 	systemcmds/topic_listener
 	systemcmds/top

nuttx-configs/mindpx-v2/include/board.h

@@ -147,11 +147,23 @@
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
  * otherwise frequency is 2xAPBx.
- * Note: TIM1,8 are on APB2, others on APB1
+ * Note: TIM1,8-11 are on APB2, others on APB1
  */
 
-#define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
-#define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
 
 /* SDIO dividers.  Note that slower clocking is required when DMA is disabled
  * in order to avoid RX overrun/TX underrun errors due to delayed responses

nuttx-configs/mindpx-v2/nsh/Make.defs

@@ -1,5 +1,5 @@
 ############################################################################
-# configs/mindpx-v2/nsh/Make.defs
+# nuttx-configs/mindpx-v2/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -35,14 +35,14 @@
 
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
-
 include $(TOPDIR)/PX4_Warnings.mk
+include $(TOPDIR)/PX4_Config.mk
 
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
 #
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
 
 include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
@@ -62,17 +62,19 @@ ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mfpu=fpv4-sp-d16 \
 			   -mfloat-abi=hard
 
+# Enable precise stack overflow tracking
 
-# enable precise stack overflow tracking
 ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
 INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
 endif
 
-# pull in *just* libm from the toolchain ... this is grody
+# Pull in *just* libm from the toolchain ... this is grody
+
 LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
 EXTRA_LIBS		+= $(LIBM)
 
-# use our linker script
+# Use our linker script
+
 LDSCRIPT		 = ld.script
 
 ifeq ($(WINTOOL),y)
@@ -94,18 +96,20 @@ else
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
     # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   endif
 endif
 
-# tool versions
+# Tool versions
+
 ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
 ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
 
-# optimisation flags
+# Optimization flags
+
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
@@ -127,7 +131,8 @@ ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
-# this seems to be the only way to add linker flags
+# This seems to be the only way to add linker flags
+
 EXTRA_LIBS		+= --warn-common \
 			   --gc-sections
 
@@ -146,8 +151,8 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
+# Produce partially-linked $1 from files in $2
 
-# produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"
 	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1

nuttx-configs/mindpx-v2/nsh/appconfig

@@ -1,52 +0,0 @@
-############################################################################
-# configs/px4fmu/nsh/appconfig
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# 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 NuttX 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.
-#
-############################################################################
-
-# Path to example in apps/examples containing the user_start entry point
-
-CONFIGURED_APPS	+= examples/nsh
-
-# The NSH application library
-CONFIGURED_APPS += nshlib
-CONFIGURED_APPS += system/readline
-
-ifeq ($(CONFIG_CAN),y)
-CONFIGURED_APPS += examples/can
-endif
-
-#ifeq ($(CONFIG_USBDEV),y)
-#ifeq ($(CONFIG_CDCACM),y)
-CONFIGURED_APPS += examples/cdcacm
-#endif
-#endif

nuttx-configs/mindpx-v2/src/Makefile

@@ -80,5 +80,9 @@ distclean: clean
 	$(call DELFILE, Make.dep)
 	$(call DELFILE, .depend)
 
+ifneq ($(BOARD_CONTEXT),y)
+context:
+endif
+
 -include Make.dep
 

src/drivers/boards/mindpx-v2/board_config.h

@@ -47,11 +47,6 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-#include <stm32.h>
-#include <arch/board/board.h>
-
-#define UDID_START		0x1FFF7A10
-
 /****************************************************************************************************
  * Definitions
  ****************************************************************************************************/
@@ -300,9 +295,9 @@
 
 #define BOARD_NAME "MINDPX_V2"
 
-/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * system_power interface, and therefore provides the true logic
+ * this board support the ADC system_power interface, and therefore
- * GPIO BOARD_ADC_xxxx macros.
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
  */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_BRICK_VALID   (1)
@@ -359,24 +354,6 @@ extern void stm32_usbinitialize(void);
 
 #define board_peripheral_reset(ms)
 
-/****************************************************************************
- * Name: nsh_archinitialize
- *
- * Description:
- *   Perform architecture specific initialization for NSH.
- *
- *   CONFIG_NSH_ARCHINIT=y :
- *     Called from the NSH library
- *
- *   CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
- *   CONFIG_NSH_ARCHINIT=n :
- *     Called from board_initialize().
- *
- ****************************************************************************/
-
-#ifdef CONFIG_NSH_LIBRARY
-int nsh_archinitialize(void);
-#endif
 
 #include "../common/board_common.h"
 

src/drivers/boards/mindpx-v2/mindpx2_init.c

@@ -35,10 +35,10 @@
  * @file mindpx2_init.c
  *
  * MINDPX-specific early startup code.  This file implements the
- * nsh_archinitialize() function that is called early by nsh during startup.
+ * board_app_initialize() function that is called early by nsh during startup.
  *
  * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
  */
 
 /****************************************************************************
@@ -49,16 +49,18 @@
 
 #include <stdbool.h>
 #include <stdio.h>
+#include <string.h>
 #include <debug.h>
 #include <errno.h>
 
 #include <nuttx/arch.h>
-#include <nuttx/spi.h>
+#include <nuttx/board.h>
-#include <nuttx/i2c.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
-#include <nuttx/gran.h>
+#include <nuttx/mm/gran.h>
 
 #include <stm32.h>
 #include "board_config.h"
@@ -69,9 +71,14 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_led.h>
 
+#include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
 #include <systemlib/perf_counter.h>
 
+#include <systemlib/hardfault_log.h>
+
+#include <systemlib/systemlib.h>
+
 /****************************************************************************
  * Pre-Processor Definitions
  ****************************************************************************/
@@ -82,13 +89,13 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lowsyslog(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #  else
 #    define message(...) printf(__VA_ARGS__)
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lowsyslog
+#    define message syslog
 #  else
 #    define message printf
 #  endif
@@ -126,29 +133,12 @@ __END_DECLS
 __EXPORT void
 stm32_boardinitialize(void)
 {
-	/* configure SPI interfaces */
-	stm32_spiinitialize();
-
 	/* configure LEDs */
-	up_ledinit();
-}
 
-/****************************************************************************
+	board_autoled_initialize();
- * Name: nsh_archinitialize
- *
- * Description:
- *   Perform architecture specific initialization
- *
- ****************************************************************************/
 
-static struct spi_dev_s *spi1;
-static struct spi_dev_s *spi2;
-static struct spi_dev_s *spi4;
-static struct sdio_dev_s *sdio;
-
-__EXPORT int nsh_archinitialize(void)
-{
 	/* configure ADC pins */
+
 	px4_arch_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
 	px4_arch_configgpio(GPIO_ADC1_IN10);	/* BATT_CURRENT_SENS */
 	px4_arch_configgpio(GPIO_ADC1_IN12);	/* BATT_VOLTAGE_SENS */
@@ -158,12 +148,7 @@ __EXPORT int nsh_archinitialize(void)
 	px4_arch_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
 
 	/* configure power supply control/sense pins */
-	// px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN);
+
-	// px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
-	// px4_arch_configgpio(GPIO_VDD_BRICK_VALID);
-	// px4_arch_configgpio(GPIO_VDD_SERVO_VALID);
-	// px4_arch_configgpio(GPIO_VDD_5V_HIPOWER_OC);
-	// px4_arch_configgpio(GPIO_VDD_5V_PERIPH_OC);
 	px4_arch_configgpio(GPIO_SBUS_INV);
 	px4_arch_configgpio(GPIO_RC_OUT);	/* Serial RC output pin */
 	px4_arch_gpiowrite(GPIO_RC_OUT, 1);	/* set it high to pull RC input up */
@@ -179,7 +164,67 @@ __EXPORT int nsh_archinitialize(void)
 	px4_arch_configgpio(GPIO_GPIO6_OUTPUT);
 	px4_arch_configgpio(GPIO_GPIO7_OUTPUT);
 
+	/* configure SPI interfaces */
+
+	stm32_spiinitialize();
+
+	stm32_configgpio(GPIO_I2C2_SCL);
+	stm32_configgpio(GPIO_I2C2_SDA);
+
+	stm32_configgpio(GPIO_I2C1_SCL);
+	stm32_configgpio(GPIO_I2C1_SDA);
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
+static struct sdio_dev_s *sdio;
+
+__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 */
@@ -210,6 +255,138 @@ __EXPORT int nsh_archinitialize(void)
 		       (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_AMBER);
@@ -220,7 +397,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	if (!spi4) {
 		message("[boot] FAILED to initialize SPI port 4\n");
-		up_ledon(LED_AMBER);
+		board_autoled_on(LED_AMBER);
 		return -ENODEV;
 	}
 
@@ -236,11 +413,11 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Get the SPI port for the FRAM */
 
-	spi1 = px4_spibus_initialize(1);
+	spi1 = stm32_spibus_initialize(1);
 
 	if (!spi1) {
 		message("[boot] FAILED to initialize SPI port 1\n");
-		up_ledon(LED_AMBER);
+		board_autoled_on(LED_AMBER);
 		return -ENODEV;
 	}
 
@@ -289,3 +466,157 @@ __EXPORT int nsh_archinitialize(void)
 
 	return OK;
 }
+
+static void copy_reverse(stack_word_t *dest, stack_word_t *src, int size)
+{
+	while (size--) {
+		*dest++ = *src--;
+	}
+}
+
+__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
+}

src/drivers/boards/mindpx-v2/mindpx2_led.c

@@ -64,14 +64,14 @@ __EXPORT void led_init()
 {
 	/* Configure LED1 GPIO for output */
 
-	px4_arch_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED1);
 }
 
 __EXPORT void led_on(int led)
 {
 	if (led == 1) {
 		/* Pull down to switch on */
-		px4_arch_gpiowrite(GPIO_LED1, false);
+		stm32_gpiowrite(GPIO_LED1, false);
 	}
 }
 
@@ -79,18 +79,18 @@ __EXPORT void led_off(int led)
 {
 	if (led == 1) {
 		/* Pull up to switch off */
-		px4_arch_gpiowrite(GPIO_LED1, true);
+		stm32_gpiowrite(GPIO_LED1, true);
 	}
 }
 
 __EXPORT void led_toggle(int led)
 {
 	if (led == 1) {
-		if (px4_arch_gpioread(GPIO_LED1)) {
+		if (stm32_gpioread(GPIO_LED1)) {
-			px4_arch_gpiowrite(GPIO_LED1, false);
+			stm32_gpiowrite(GPIO_LED1, false);
 
 		} else {
-			px4_arch_gpiowrite(GPIO_LED1, true);
+			stm32_gpiowrite(GPIO_LED1, true);
 		}
 	}
 }

src/drivers/boards/mindpx-v2/mindpx_can.c

@@ -46,7 +46,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/can.h>
+#include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
@@ -74,21 +74,6 @@
 #  define CAN_PORT 2
 #endif
 
-/* Debug ***************************************************************************/
-/* Non-standard debug that may be enabled just for testing CAN */
-
-#ifdef CONFIG_DEBUG_CAN
-#  define candbg    dbg
-#  define canvdbg   vdbg
-#  define canlldbg  lldbg
-#  define canllvdbg llvdbg
-#else
-#  define candbg(x...)
-#  define canvdbg(x...)
-#  define canlldbg(x...)
-#  define canllvdbg(x...)
-#endif
-
 /************************************************************************************
  * Private Functions
  ************************************************************************************/
@@ -120,7 +105,7 @@ int can_devinit(void)
 		can = stm32_caninitialize(CAN_PORT);
 
 		if (can == NULL) {
-			candbg("ERROR:  Failed to get CAN interface\n");
+			canerr("ERROR:  Failed to get CAN interface\n");
 			return -ENODEV;
 		}
 
@@ -129,7 +114,7 @@ int can_devinit(void)
 		ret = can_register("/dev/can0", can);
 
 		if (ret < 0) {
-			candbg("ERROR: can_register failed: %d\n", ret);
+			canerr("ERROR: can_register failed: %d\n", ret);
 			return ret;
 		}
 

src/drivers/boards/mindpx-v2/mindpx_spi.c

@@ -47,7 +47,7 @@
 #include <stdbool.h>
 #include <debug.h>
 
-#include <nuttx/spi.h>
+#include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
 
 #include <up_arch.h>
@@ -80,10 +80,6 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	 * required for some peripheral
 	 * state machines
 	 */
-	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 
 	px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
 	px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
@@ -92,13 +88,12 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 #endif
 
 #ifdef CONFIG_STM32_SPI1
-	px4_arch_configgpio(GPIO_SPI_CS_FRAM);
+	stm32_configgpio(GPIO_SPI_CS_FRAM);
-	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
 	px4_arch_configgpio(GPIO_SPI_CS_EXT0);
-	px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
 #endif
 }
 
@@ -109,22 +104,23 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_ACCEL_MAG:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
+
 		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
@@ -133,10 +129,10 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
 
 	default:
@@ -152,7 +148,7 @@ __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* there can only be one device on this bus, so always select it */
-	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+	stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
 }
 
 __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -164,6 +160,7 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 #ifdef CONFIG_STM32_SPI2
 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
+
 	px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
 }
 
@@ -176,6 +173,7 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void board_spi_reset(int ms)
 {
 	/* disable SPI bus */
+
 	px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
 	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
 	px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
@@ -205,8 +203,8 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
 
 	//        /* set the sensor rail off */
-	//        px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+	//        stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
-	//        px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
+	//        stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
 	//
 	/* wait for the sensor rail to reach GND */
 	usleep(ms * 1000);
@@ -215,7 +213,7 @@ __EXPORT void board_spi_reset(int ms)
 	//        /* re-enable power */
 	//
 	//        /* switch the sensor rail back on */
-	//        px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
+	//        stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
 	//
 	/* wait a bit before starting SPI, different times didn't influence results */
 	usleep(100);
@@ -231,15 +229,16 @@ __EXPORT void board_spi_reset(int ms)
 	* required for some peripheral
 	* state machines
 	*/
-	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 
-	px4_arch_configgpio(GPIO_SPI4_SCK);
+	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	px4_arch_configgpio(GPIO_SPI4_MISO);
+	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-	px4_arch_configgpio(GPIO_SPI4_MOSI);
+	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+
+	stm32_configgpio(GPIO_SPI4_SCK);
+	stm32_configgpio(GPIO_SPI4_MISO);
+	stm32_configgpio(GPIO_SPI4_MOSI);
 
 	// XXX bring up the EXTI pins again
 	// px4_arch_configgpio(GPIO_GYRO_DRDY);

src/drivers/boards/mindpx-v2/mindpx_usb.c

@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	px4_arch_configgpio(GPIO_OTGFS_VBUS);
+	stm32_configgpio(GPIO_OTGFS_VBUS);
 	/* XXX We only support device mode
-	px4_arch_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_PWRON);
-	px4_arch_configgpio(GPIO_OTGFS_OVER);
+	stm32_configgpio(GPIO_OTGFS_OVER);
 	*/
 #endif
 }
@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
 
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
-	ulldbg("resume: %d\n", resume);
+	uinfo("resume: %d\n", resume);
 }