hardfault_log:Add Fault Status registers

platforms/nuttx/src/px4/common/board_crashdump.c

@@ -53,6 +53,7 @@
 
 #include "up_internal.h"
 #include <systemlib/hardfault_log.h>
+#include "nvic.h"
 
 #if defined(CONFIG_STM32F7_BBSRAM) && defined(CONFIG_STM32F7_SAVE_CRASHDUMP)
 #  define HAS_BBSRAM CONFIG_STM32F7_BBSRAM
@@ -287,6 +288,16 @@ __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint
 
 	pdump->info.pid = rtcb->pid;
 
+	pdump->info.fault_regs.cfsr  = getreg32(NVIC_CFAULTS);
+	pdump->info.fault_regs.hfsr  = getreg32(NVIC_HFAULTS);
+	pdump->info.fault_regs.dfsr  = getreg32(NVIC_DFAULTS);
+	pdump->info.fault_regs.mmfsr = getreg32(NVIC_MEMMANAGE_ADDR);
+	pdump->info.fault_regs.bfsr  = getreg32(NVIC_BFAULT_ADDR);
+	pdump->info.fault_regs.afsr  = getreg32(NVIC_AFAULTS);
+#if defined(CONFIG_ARCH_CORTEXM7)
+	pdump->info.fault_regs.abfsr = getreg32(NVIC_ABFSR);
+#endif
+	pdump->info.flags |= eFaultRegPresent;
 
 	/* 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

src/lib/systemlib/hardfault_log.h

@@ -229,17 +229,31 @@ typedef enum {
 	eRegsPresent          = 0x01,
 	eUserStackPresent     = 0x02,
 	eIntStackPresent      = 0x04,
+	eFaultRegPresent      = 0x08,
 	eInvalidUserStackPtr  = 0x20,
 	eInvalidIntStackPrt   = 0x40,
 } fault_flags_t;
 
+typedef struct {
+	uint32_t              cfsr;  /* 0x0d28 Configurable fault status register */
+	uint32_t              hfsr;  /* 0x0d2c Hard fault status register */
+	uint32_t              dfsr;  /* 0x0d30 Debug fault status register */
+	uint32_t              mmfsr; /* 0x0d34 Mem manage address register */
+	uint32_t              bfsr;  /* 0x0d38 Bus fault address register */
+	uint32_t              afsr;  /* 0x0d3c Auxiliary fault status register */
+#if defined(CONFIG_ARCH_CORTEXM7)
+	uint32_t              abfsr; /* 0x0fa8 Auxiliary Bus Fault Status Register */
+#endif
+
+} fault_regs_s;
+
 typedef struct {
 	fault_flags_t         flags;                  /* What is in the dump */
 	uintptr_t             current_regs;           /* Used to validate the dump */
 	int                   lineno;                 /* __LINE__ to up_assert */
 	int                   pid;                    /* Process ID */
-	uint32_t              regs[XCPTCONTEXT_REGS]; /* Interrupt register save
+	uint32_t              regs[XCPTCONTEXT_REGS]; /* Interrupt register save area */
-											 * area */
+	fault_regs_s          fault_regs;             /* NVIC status */
 	stack_t               stacks;                 /* Stack info */
 #if CONFIG_TASK_NAME_SIZE > 0
 	char                  name[CONFIG_TASK_NAME_SIZE + 1]; /* Task name (with NULL

src/systemcmds/hardfault_log/hardfault_log.c

@@ -392,6 +392,31 @@ static int write_registers(uint32_t regs[], char *buffer, int max, int fd)
 	return OK;
 }
 
+/****************************************************************************
+ * write_registers
+ ****************************************************************************/
+static int write_fault_registers(fault_regs_s *fault_regs, char *buffer, int max, int fd)
+{
+#if defined(CONFIG_ARCH_CORTEXM7)
+	const char fmt[] =  " cfsr:0x%08x hfsr:0x%08x  dfsr:0x%08x  mmfsr:0x%08x  bfsr:0x%08x afsr:0x%08x abfsr:0x%08x \n";
+#else
+	const char fmt[] =  " cfsr:0x%08x hfsr:0x%08x  dfsr:0x%08x  mmfsr:0x%08x  bfsr:0x%08x afsr:0x%08x\n";
+#endif
+	int n = snprintf(buffer, max, fmt,
+			 fault_regs->cfsr, fault_regs->hfsr, fault_regs->dfsr,
+#if defined(CONFIG_ARCH_CORTEXM7)
+			 fault_regs->mmfsr, fault_regs->bfsr, fault_regs->afsr, fault_regs->abfsr);
+#else
+			 fault_regs->mmfsr, fault_regs->bfsr, fault_regs->afsr);
+#endif
+
+	if (n != write(fd, buffer, n)) {
+		return -EIO;
+	}
+
+	return OK;
+}
+
 /****************************************************************************
  * write_registers_info
  ****************************************************************************/
@@ -408,6 +433,15 @@ static int write_registers_info(int fdout, info_s *pi, char *buffer, int sz)
 		}
 	}
 
+	if (pi->flags & eFaultRegPresent) {
+		ret = -EIO;
+		int n = snprintf(buffer, sz, " Fault status registers: from NVIC\n");
+
+		if (n == write(fdout, buffer, n)) {
+			ret = write_fault_registers(&pi->fault_regs, buffer, sz, fdout);
+		}
+	}
+
 	return ret;
 }