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https://github.com/liquidraver/ZephCore.git
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liquidraver
d5bd805710
- gps: servers honour gps_enabled at boot (was lost on reboot; zc.gps_set upgrades older prefs to on once); sleep lock only while acquiring; gps off works on boards without a power line (UART sleep); UI toggles and fixes handled on the main thread; configure only after a good init; observer parks its GPS; one interval clamp (clampGpsInterval); one nav-mode knob (room servers on Air530Z now stationary); GNSS UARTE from DT - gps: split into ZephyrGPSManager / gps_power / gps_module_cfg (+gps_internal.h); dead driver branches, gps_get_diag, sats_* removed - clock: ZephyrRTCClock writes the hardware RTC itself (clkreboot now resets it); MESH_EVENT_RTC_SAVE gone - power: one power-off path (zephcore_power_off, ZephyrBoard::powerOff), poweroff/shutdown CLI, get pwrmgt.*, crash record kept across reboot, battery reading cached 10 s, fuel gauge on the current API - telemetry: upstream SensorManager + CayenneLPP (rounded to nearest), one builder for all roles; per-sensor channels, MCU temp always, guest gating and inverse mask on servers; sensor list/get/set work; BME280/BMP280 also probed at 0x77 - CLI: gps in upstream's form, get gps detail, gps sync
128 lines
3.7 KiB
C
128 lines
3.7 KiB
C
/*
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* SPDX-License-Identifier: MIT
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*
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* Production reboot-on-fatal-error handler.
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*
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* Zephyr has no built-in Kconfig to auto-reboot on a fatal error — the
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* default k_sys_fatal_error_handler() (weak, in kernel/fatal.c) flushes the
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* log and calls arch_system_halt(), spinning forever. For unattended mesh
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* nodes that is the wrong behaviour: a transient stack overflow / CPU
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* exception / k_panic should recover the device rather than wedge it until a
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* manual power-cycle.
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*
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* When CONFIG_ZEPHCORE_RESET_ON_FATAL_ERROR=y (production default; debug.conf
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* forces it n so a debugger can inspect the halted core) we override the weak
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* handler to cold-reboot after flushing the panic log. When it is n the weak
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* default applies and there is no crash record.
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*
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* The handler also leaves {reason, pc, lr, thread} in RAM the boot does not
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* clear, so the next boot can say what crashed (get pwrmgt.bootreason, the
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* boot log) without a debugger: resolve pc with addr2line on the same build.
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*/
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#include <zephyr/kernel.h>
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#include <string.h>
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#include "boot_info.h"
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#if IS_ENABLED(CONFIG_ZEPHCORE_RESET_ON_FATAL_ERROR)
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#include <zephyr/init.h>
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#include <zephyr/fatal.h>
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#include <zephyr/sys/reboot.h>
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#include <zephyr/logging/log.h>
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#include <zephyr/logging/log_ctrl.h>
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LOG_MODULE_REGISTER(zephcore_fatal, CONFIG_ZEPHCORE_BOARD_LOG_LEVEL);
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#define CRASH_MAGIC 0x7A43F417u
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/* Survives the warm reboot on nRF; on ESP32 the bootloader in between may
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* reuse the RAM, which the magic and check reject. */
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static __noinit struct {
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uint32_t magic;
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struct zephcore_crash crash;
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uint32_t check;
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} s_record;
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static struct zephcore_crash s_last;
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static bool s_last_valid;
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static uint32_t record_check(void)
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{
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const uint32_t *w = (const uint32_t *)&s_record.crash;
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uint32_t sum = CRASH_MAGIC;
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for (size_t i = 0; i < sizeof(s_record.crash) / sizeof(uint32_t); i++) {
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sum = (sum << 5 | sum >> 27) ^ w[i];
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}
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return sum;
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}
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void k_sys_fatal_error_handler(unsigned int reason, const struct arch_esf *esf)
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{
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memset(&s_record.crash, 0, sizeof(s_record.crash));
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s_record.crash.reason = reason;
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if (esf != NULL) {
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#if defined(CONFIG_ARM)
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s_record.crash.pc = esf->basic.pc;
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s_record.crash.lr = esf->basic.lr;
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#elif defined(CONFIG_RISCV)
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s_record.crash.pc = (uint32_t)esf->mepc;
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s_record.crash.lr = (uint32_t)esf->ra;
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#endif
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}
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const char *name = k_thread_name_get(k_current_get());
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if (name != NULL) {
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strncpy(s_record.crash.thread, name, sizeof(s_record.crash.thread) - 1);
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}
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s_record.magic = CRASH_MAGIC;
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s_record.check = record_check();
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/* Put logging into panic (synchronous) mode and flush so the fault
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* reason actually reaches the console/RTT before we reset. */
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LOG_PANIC();
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LOG_ERR("Fatal error (reason %u) in %s pc 0x%08x lr 0x%08x — cold rebooting",
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reason, s_record.crash.thread, s_record.crash.pc, s_record.crash.lr);
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sys_reboot(SYS_REBOOT_COLD);
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CODE_UNREACHABLE;
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}
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/* POST_KERNEL, like the reset cause: take the record once, so it is reported
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* for the boot it caused and not again. */
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static int crash_record_init(void)
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{
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if (s_record.magic == CRASH_MAGIC && s_record.check == record_check()) {
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s_last = s_record.crash;
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s_last.thread[sizeof(s_last.thread) - 1] = '\0';
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s_last_valid = true;
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LOG_WRN("Last run crashed: reason %u in %s pc 0x%08x lr 0x%08x",
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s_last.reason, s_last.thread, s_last.pc, s_last.lr);
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}
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s_record.magic = 0;
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return 0;
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}
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SYS_INIT(crash_record_init, POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);
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bool zephcore_boot_crash(struct zephcore_crash *out)
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{
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if (!s_last_valid) {
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return false;
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}
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*out = s_last;
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return true;
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}
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#else
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bool zephcore_boot_crash(struct zephcore_crash *out)
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{
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ARG_UNUSED(out);
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return false;
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}
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#endif /* CONFIG_ZEPHCORE_RESET_ON_FATAL_ERROR */
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