From 79d5860a2bf1374c243b551ce73b0e298c29d364 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 7 Apr 2024 11:07:57 +1000
Subject: [PATCH] AP_BoardConfig: force user to ack crashdump or get prearm
 failure

---
 libraries/AP_BoardConfig/AP_BoardConfig.cpp   | 29 +++++++++++++++++++
 libraries/AP_BoardConfig/AP_BoardConfig.h     | 12 ++++++++
 .../AP_BoardConfig/AP_BoardConfig_config.h    |  4 +++
 3 files changed, 45 insertions(+)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 1457d86b6235d5..7e18e60f74c721 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -378,6 +378,16 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("IO_DSHOT", 28, AP_BoardConfig, state.io_dshot, 0),
 #endif
+
+#if AP_CRASHDUMP_ACK_ENABLED
+    // @Param: CRSHDMP_ACK
+    // @DisplayName: CrashDump Acknowledgement Required
+    // @Description: Must have value "1" if a crashdump is present on the system, or prearm failure will be raised.  Do not set this parameter unless the risks of doing so are fully understood.
+    // @Values: 0:Crash dump NOT acked,1:Crash dump acked
+    // @User: Advanced
+    AP_GROUPINFO("CRSHDMP_ACK", 30, AP_BoardConfig, crashdump_ack.acked, 0),
+#endif  // AP_CRASHDUMP_ACK_ENABLED
+
     AP_GROUPEND
 };
 
@@ -418,7 +428,26 @@ void AP_BoardConfig::init()
         printf("SDCard failed to start\n");
     }
 #endif
+
+#if AP_CRASHDUMP_ACK_ENABLED
+    crashdump_ack.check_reset();
+#endif
+}
+
+#if AP_CRASHDUMP_ACK_ENABLED
+void AP_BoardConfig::CrashDump::check_reset()
+{
+    // if there is no crash_dump.bin then clear the crash dump ack.
+    // This means on subsequent crash-dumps appearing the user must
+    // re-acknowledge.
+    int fd = AP::FS().open("@SYS/crash_dump.bin", O_RDONLY);
+    if (fd == -1) {
+        // no (or probably empty) crash_dump.bin, so clear ack:
+        acked.set_and_save_ifchanged(0);
+    }
+    AP::FS().close(fd);
 }
+#endif  // AP_CRASHDUMP_ACK_ENABLED
 
 // set default value for BRD_SAFETY_MASK
 void AP_BoardConfig::set_default_safety_ignore_mask(uint32_t mask)
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 938180a238bb95..b05407d0e8506d 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -27,6 +27,10 @@ class AP_BoardConfig {
     void init(void);
     void init_safety(void);
 
+#if AP_CRASHDUMP_ACK_ENABLED
+    bool crashdump_acknowledged() const { return crashdump_ack.acked; }
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
 
     // notify user of a fatal startup error related to available sensors. 
@@ -321,6 +325,14 @@ class AP_BoardConfig {
     AP_Int32 _options;
 
     AP_Int8  _alt_config;
+
+#if AP_CRASHDUMP_ACK_ENABLED
+    struct CrashDump {
+        void check_reset();
+        AP_Int8  acked;
+    } crashdump_ack;
+#endif  // AP_CRASHDUMP_ACK_ENABLED
+
 };
 
 namespace AP {
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_config.h b/libraries/AP_BoardConfig/AP_BoardConfig_config.h
index c85f95439af3f4..05a2b1985b7c41 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig_config.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_config.h
@@ -35,3 +35,7 @@
 #ifndef AP_SDCARD_STORAGE_ENABLED
 #define AP_SDCARD_STORAGE_ENABLED (HAL_MEM_CLASS >= HAL_MEM_CLASS_1000) && (AP_FILESYSTEM_POSIX_ENABLED || AP_FILESYSTEM_FATFS_ENABLED) && BOARD_FLASH_SIZE > 1024
 #endif
+
+#ifndef AP_CRASHDUMP_ACK_ENABLED
+#define AP_CRASHDUMP_ACK_ENABLED AP_CRASHDUMP_ENABLED && AP_FILESYSTEM_SYS_ENABLED
+#endif