Add crash logging and retrieval

main/CMakeLists.txt

@@ -17,7 +17,7 @@ else()
 endif()
 
 idf_component_register(SRCS ${ALL_SRCS}
-                       PRIV_REQUIRES esp_psram spi_flash nvs_flash esp_event rpc constants config rmt esp_driver_gptimer dataLink flatbuffers esp_driver_ledc oled app_update vl53l0x
+                       PRIV_REQUIRES esp_psram spi_flash nvs_flash esp_event rpc constants config rmt esp_driver_gptimer dataLink flatbuffers esp_driver_ledc oled app_update vl53l0x espcoredump
                        INCLUDE_DIRS "include")
 
 if(DEFINED SRC_BOARD AND SRC_BOARD)

main/RemoteDebugging.cpp

@@ -1,9 +1,13 @@
 
 #include <string>
 #include <iostream>
+#include <cstdio>
 #include "RemoteDebugging.h"
 #include "freertos/FreeRTOS.h"
 #include "esp_debug_helpers.h"
+#include "esp_core_dump.h"
+
+#define TAG "RemoteDebugging"
 
 std::string RemoteDebugging::get_task_manager() {
     std::string out;
@@ -22,6 +26,87 @@ std::string RemoteDebugging::get_logs() {
     return out;
 }
 
+std::string RemoteDebugging::get_coredump_summary() {
+    esp_err_t check_err = esp_core_dump_image_check();
+    if (check_err == ESP_ERR_NOT_FOUND) {
+        ESP_LOGW(TAG, "No core dump found in flash.");
+        return "No core dump found in flash.\n";
+    }
+    if (check_err == ESP_ERR_NOT_SUPPORTED) {
+        ESP_LOGW(TAG, "Core dump partition not found.");
+        return "Core dump partition not found.\n";
+    }
+    if (check_err == ESP_ERR_INVALID_CRC) {
+        ESP_LOGW(TAG, "Core dump flash is corrupted (checksum mismatch)");
+        return "Core dump in flash is corrupted (checksum mismatch).\n";
+    }
+    if (check_err != ESP_OK) {
+        ESP_LOGW(TAG, "Core dump check failed: 0x%x", check_err);
+        char buf[80];
+        snprintf(buf, sizeof(buf), "Core dump check failed: 0x%x\n", check_err);
+        return buf;
+    }
+
+    esp_core_dump_summary_t *summary = static_cast<esp_core_dump_summary_t *>(
+        malloc(sizeof(esp_core_dump_summary_t)));
+    if (!summary) {
+        ESP_LOGW(TAG, "Failed to allocate memory for core dump summary");
+        return "Failed to allocate memory for core dump summary.\n";
+    }
+
+    std::string out;
+    esp_err_t err = esp_core_dump_get_summary(summary);
+    if (err != ESP_OK) {
+        ESP_LOGW(TAG, "Failed to get core dump summary: 0x%x", err);
+        char buf[64];
+        snprintf(buf, sizeof(buf), "Failed to get core dump summary: 0x%x\n", err);
+        out = std::string(buf);
+        free(summary);
+        return out;
+    }
+
+    // Panic reason
+    char reason[200] = {};
+    if (esp_core_dump_get_panic_reason(reason, sizeof(reason)) == ESP_OK) {
+        ESP_LOGI(TAG, "Panic reason: %s", reason);
+        out += "Panic reason: ";
+        out += reason;
+        out += "\n";
+    }
+
+    // Faulting task and PC
+    char line[128];
+    snprintf(line, sizeof(line),
+             "Faulting task: %s (TCB: 0x%08" PRIx32 ")\n"
+             "Exception PC:  0x%08" PRIx32 "\n"
+             "Exception cause: %" PRIu32 "  vaddr: 0x%08" PRIx32 "\n",
+             summary->exc_task,
+             summary->exc_tcb,
+             summary->exc_pc,
+             summary->ex_info.exc_cause,
+             summary->ex_info.exc_vaddr);
+    out += line;
+
+    ESP_LOGI(TAG, "%s", line);
+
+    // Backtrace
+    out += "Backtrace:";
+    for (uint32_t i = 0; i < summary->exc_bt_info.depth && i < 16; i++) {
+        char bt_entry[16];
+        snprintf(bt_entry, sizeof(bt_entry), " 0x%08" PRIx32, summary->exc_bt_info.bt[i]);
+        out += bt_entry;
+    }
+    if (summary->exc_bt_info.corrupted) {
+        out += " (corrupted)";
+    }
+    out += "\n";
+
+    ESP_LOGI(TAG, "Backtrace: %s", out);
+
+    free(summary);
+    return out;
+}
+
 void RemoteDebugging::register_calls(MessagingInterface &messaging_interface) {
     messaging_interface.register_function(2, [](const uint8_t *parameters, size_t parameter_size, Writer& writer) {
         auto out = get_task_manager();
@@ -36,6 +121,10 @@ void RemoteDebugging::register_calls(MessagingInterface &messaging_interface) {
     messaging_interface.register_function(69, [](const uint8_t *parameters, size_t parameter_size, Writer& writer) {
         uint8_t out = esp_reset_reason();
         std::vector<uint8_t> vec{out};
+    });
+    messaging_interface.register_function(13, [](const uint8_t *parameters, size_t parameter_size, Writer& writer) {
+        auto out = get_coredump_summary();
+        std::vector<uint8_t> vec(out.begin(), out.end());
         writer.write(vec);
     });
 }

main/include/RemoteDebugging.h

@@ -17,6 +17,7 @@ class RemoteDebugging {
 public:
     static std::string get_task_manager();
     static std::string get_logs();
+    static std::string get_coredump_summary();
     static int custom_log_write(const char *data, va_list args);
     static void register_calls(MessagingInterface &messaging_interface);
 private:

partitions.csv

@@ -0,0 +1,8 @@
+# Name,   Type, SubType, Offset,   Size, Flags
+# Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap,,,,
+nvs,      data, nvs,     ,        0x6000,
+otadata,  data, ota,     ,        0x2000,
+phy_init, data, phy,     ,        0x1000,
+ota_0,    app,  ota_0,   ,        1648K,
+ota_1,    app,  ota_1,   ,        1648K,
+coredump,data,coredump,,64k,

sdkconfig

@@ -586,10 +586,10 @@ CONFIG_ESPTOOLPY_MONITOR_BAUD=115200
 # CONFIG_PARTITION_TABLE_SINGLE_APP is not set
 # CONFIG_PARTITION_TABLE_SINGLE_APP_LARGE is not set
 # CONFIG_PARTITION_TABLE_TWO_OTA is not set
-CONFIG_PARTITION_TABLE_TWO_OTA_LARGE=y
-# CONFIG_PARTITION_TABLE_CUSTOM is not set
+# CONFIG_PARTITION_TABLE_TWO_OTA_LARGE is not set
+CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
-CONFIG_PARTITION_TABLE_FILENAME="partitions_two_ota_large.csv"
+CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_OFFSET=0x8000
 CONFIG_PARTITION_TABLE_MD5=y
 # end of Partition Table
@@ -1307,6 +1307,26 @@ CONFIG_ESP_WIFI_ENTERPRISE_SUPPORT=y
 # CONFIG_ESP_WIFI_ENT_FREE_DYNAMIC_BUFFER is not set
 # end of Wi-Fi
 
+#
+# Core dump
+#
+CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH=y
+# CONFIG_ESP_COREDUMP_ENABLE_TO_UART is not set
+# CONFIG_ESP_COREDUMP_ENABLE_TO_NONE is not set
+# CONFIG_ESP_COREDUMP_DATA_FORMAT_BIN is not set
+CONFIG_ESP_COREDUMP_DATA_FORMAT_ELF=y
+CONFIG_ESP_COREDUMP_CHECKSUM_CRC32=y
+# CONFIG_ESP_COREDUMP_CHECKSUM_SHA256 is not set
+# CONFIG_ESP_COREDUMP_CAPTURE_DRAM is not set
+CONFIG_ESP_COREDUMP_CHECK_BOOT=y
+CONFIG_ESP_COREDUMP_ENABLE=y
+CONFIG_ESP_COREDUMP_LOGS=y
+CONFIG_ESP_COREDUMP_MAX_TASKS_NUM=64
+# CONFIG_ESP_COREDUMP_FLASH_NO_OVERWRITE is not set
+CONFIG_ESP_COREDUMP_USE_STACK_SIZE=y
+CONFIG_ESP_COREDUMP_STACK_SIZE=1792
+# end of Core dump
+
 #
 # FreeRTOS
 #
@@ -1356,7 +1376,7 @@ CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS=y
 # CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK is not set
 # CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is not set
 CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER=y
-CONFIG_FREERTOS_ISR_STACKSIZE=1536
+CONFIG_FREERTOS_ISR_STACKSIZE=2096
 CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y
 # CONFIG_FREERTOS_FPU_IN_ISR is not set
 CONFIG_FREERTOS_TICK_SUPPORT_SYSTIMER=y
@@ -2121,6 +2141,16 @@ CONFIG_WPA_MBEDTLS_TLS_CLIENT=y
 # CONFIG_WPA_WPS_SOFTAP_REGISTRAR is not set
 # CONFIG_WPA_WPS_STRICT is not set
 # CONFIG_WPA_DEBUG_PRINT is not set
+CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH=y
+# CONFIG_ESP32_ENABLE_COREDUMP_TO_UART is not set
+# CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE is not set
+# CONFIG_ESP32_COREDUMP_DATA_FORMAT_BIN is not set
+CONFIG_ESP32_COREDUMP_DATA_FORMAT_ELF=y
+CONFIG_ESP32_COREDUMP_CHECKSUM_CRC32=y
+# CONFIG_ESP32_COREDUMP_CHECKSUM_SHA256 is not set
+CONFIG_ESP32_ENABLE_COREDUMP=y
+CONFIG_ESP32_CORE_DUMP_MAX_TASKS_NUM=64
+CONFIG_ESP32_CORE_DUMP_STACK_SIZE=1792
 CONFIG_TIMER_TASK_PRIORITY=1
 CONFIG_TIMER_TASK_STACK_DEPTH=2048
 CONFIG_TIMER_QUEUE_LENGTH=10