sched/misc: Add support for coredump in assert

Add coredump support to collect the stacks and registers of all threads when asserting

Signed-off-by: chao an <anchao@xiaomi.com>

boards/Kconfig

@@ -4034,6 +4034,30 @@ config BOARD_CRASHDUMP
 		"machine state" in a place where on the next reset can write it
 		to more sophisticated storage in a sane operating environment.
 
+config BOARD_COREDUMP
+	bool "Enable Core Dump after assert"
+	default n
+	depends on ELF_COREDUMP
+	---help---
+		Enable to support for the dump core information after assert.
+
+if BOARD_COREDUMP
+
+config BOARD_COREDUMP_FULL
+	bool "Core Dump all thread registers and stacks"
+	default y
+	---help---
+		Enable to support for the dump all task registers and stacks.
+
+config BOARD_COREDUMP_COMPRESSION
+	bool "Enable Core Dump compression"
+	default y
+	select LIBC_LZF
+	---help---
+		Enable LZF compression algorithm for core dump content
+
+endif # BOARD_COREDUMP
+
 config BOARD_ENTROPY_POOL
 	bool "Enable Board level storing of entropy pool structure"
 	default n

sched/misc/assert.c

@@ -25,6 +25,7 @@
 #include <nuttx/config.h>
 
 #include <nuttx/arch.h>
+#include <nuttx/binfmt/binfmt.h>
 #include <nuttx/board.h>
 #include <nuttx/irq.h>
 #include <nuttx/tls.h>
@@ -71,6 +72,14 @@
 
 static uint8_t g_last_regs[XCPTCONTEXT_SIZE];
 
+#ifdef CONFIG_BOARD_COREDUMP
+static struct lib_syslogstream_s  g_syslogstream;
+static struct lib_hexdumpstream_s g_hexstream;
+#  ifdef CONFIG_BOARD_COREDUMP_COMPRESSION
+static struct lib_lzfoutstream_s  g_lzfstream;
+#  endif
+#endif
+
 static FAR const char *g_policy[4] =
 {
   "FIFO", "RR", "SPORADIC"
@@ -459,6 +468,53 @@ static void show_tasks(void)
 #endif
 }
 
+/****************************************************************************
+ * Name: dump_core
+ ****************************************************************************/
+
+#ifdef CONFIG_BOARD_COREDUMP
+static void dump_core(pid_t pid)
+{
+  FAR void *stream;
+  int logmask;
+
+  logmask = setlogmask(LOG_ALERT);
+
+  _alert("Start coredump:\n");
+
+  /* Initialize hex output stream */
+
+  lib_syslogstream(&g_syslogstream, LOG_EMERG);
+
+  stream = &g_syslogstream;
+
+  lib_hexdumpstream(&g_hexstream, stream);
+
+  stream = &g_hexstream;
+
+#  ifdef CONFIG_BOARD_COREDUMP_COMPRESSION
+
+  /* Initialize LZF compression stream */
+
+  lib_lzfoutstream(&g_lzfstream, stream);
+  stream = &g_lzfstream;
+
+#  endif
+
+  /* Do core dump */
+
+  core_dump(NULL, stream, pid);
+
+#  ifdef CONFIG_BOARD_COREDUMP_COMPRESSION
+  _alert("Finish coredump (Compression Enabled).\n");
+#  else
+  _alert("Finish coredump.\n");
+#  endif
+
+  setlogmask(logmask);
+}
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -550,6 +606,16 @@ void _assert(FAR const char *filename, int linenum,
 
 #ifdef CONFIG_BOARD_CRASHDUMP
       board_crashdump(up_getsp(), rtcb, filename, linenum, msg);
+
+#elif defined(CONFIG_BOARD_COREDUMP)
+      /* Dump core information */
+
+#  ifdef CONFIG_BOARD_COREDUMP_FULL
+      dump_core(INVALID_PROCESS_ID);
+#  else
+      dump_core(rtcb->pid);
+#  endif
+
 #endif
 
       /* Flush any buffered SYSLOG data */