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/*
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file chdebug.c
* @brief ChibiOS/RT Debug code.
*
* @addtogroup debug
* @details Debug APIs and services:
* - Runtime system state and call protocol check. The following
* panic messages can be generated:
* - SV#1, misplaced @p chSysDisable().
* - Called from an ISR.
* - Called from a critical zone.
* .
* - SV#2, misplaced @p chSysSuspend()
* - Called from an ISR.
* - Called from a critical zone.
* .
* - SV#3, misplaced @p chSysEnable().
* - Called from an ISR.
* - Called from a critical zone.
* .
* - SV#4, misplaced @p chSysLock().
* - Called from an ISR.
* - Called from a critical zone.
* .
* - SV#5, misplaced @p chSysUnlock().
* - Called from an ISR.
* - Not called from a critical zone.
* .
* - SV#6, misplaced @p chSysLockFromISR().
* - Not called from an ISR.
* - Called from a critical zone.
* .
* - SV#7, misplaced @p chSysUnlockFromISR().
* - Not called from an ISR.
* - Not called from a critical zone.
* .
* - SV#8, misplaced @p CH_IRQ_PROLOGUE().
* - Not called at ISR begin.
* - Called from a critical zone.
* .
* - SV#9, misplaced @p CH_IRQ_EPILOGUE().
* - @p CH_IRQ_PROLOGUE() missing.
* - Not called at ISR end.
* - Called from a critical zone.
* .
* - SV#10, misplaced I-class function.
* - I-class function not called from within a critical zone.
* .
* - SV#11, misplaced S-class function.
* - S-class function not called from within a critical zone.
* - Called from an ISR.
* .
* - Trace buffer.
* - Parameters check.
* - Kernel assertions.
* - Kernel panics.
* .
* @note Stack checks are not implemented in this module but in the port
* layer in an architecture-dependent way.
* @{
*/
#include "ch.h"
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local functions. */
/*===========================================================================*/
#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_NONE) || defined(__DOXYGEN__)
/**
* @brief Writes a time stamp and increases the trace buffer pointer.
*
* @notapi
*/
NOINLINE static void trace_next(void) {
ch.dbg.trace_buffer.ptr->time = chVTGetSystemTimeX();
#if PORT_SUPPORTS_RT == TRUE
ch.dbg.trace_buffer.ptr->rtstamp = chSysGetRealtimeCounterX();
#else
ch.dbg.trace_buffer.ptr->rtstamp = (rtcnt_t)0;
#endif
/* Trace hook, useful in order to interface debug tools.*/
CH_CFG_TRACE_HOOK(ch.dbg.trace_buffer.ptr);
if (++ch.dbg.trace_buffer.ptr >=
&ch.dbg.trace_buffer.buffer[CH_DBG_TRACE_BUFFER_SIZE]) {
ch.dbg.trace_buffer.ptr = &ch.dbg.trace_buffer.buffer[0];
}
}
#endif
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
#if (CH_DBG_SYSTEM_STATE_CHECK == TRUE) || defined(__DOXYGEN__)
/**
* @brief Guard code for @p chSysDisable().
*
* @notapi
*/
void _dbg_check_disable(void) {
if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#1");
}
}
/**
* @brief Guard code for @p chSysSuspend().
*
* @notapi
*/
void _dbg_check_suspend(void) {
if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#2");
}
}
/**
* @brief Guard code for @p chSysEnable().
*
* @notapi
*/
void _dbg_check_enable(void) {
if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#3");
}
}
/**
* @brief Guard code for @p chSysLock().
*
* @notapi
*/
void _dbg_check_lock(void) {
if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#4");
}
_dbg_enter_lock();
}
/**
* @brief Guard code for @p chSysUnlock().
*
* @notapi
*/
void _dbg_check_unlock(void) {
if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
chSysHalt("SV#5");
}
_dbg_leave_lock();
}
/**
* @brief Guard code for @p chSysLockFromIsr().
*
* @notapi
*/
void _dbg_check_lock_from_isr(void) {
if ((ch.dbg.isr_cnt <= (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#6");
}
_dbg_enter_lock();
}
/**
* @brief Guard code for @p chSysUnlockFromIsr().
*
* @notapi
*/
void _dbg_check_unlock_from_isr(void) {
if ((ch.dbg.isr_cnt <= (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
chSysHalt("SV#7");
}
_dbg_leave_lock();
}
/**
* @brief Guard code for @p CH_IRQ_PROLOGUE().
*
* @notapi
*/
void _dbg_check_enter_isr(void) {
port_lock_from_isr();
if ((ch.dbg.isr_cnt < (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#8");
}
ch.dbg.isr_cnt++;
port_unlock_from_isr();
}
/**
* @brief Guard code for @p CH_IRQ_EPILOGUE().
*
* @notapi
*/
void _dbg_check_leave_isr(void) {
port_lock_from_isr();
if ((ch.dbg.isr_cnt <= (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#9");
}
ch.dbg.isr_cnt--;
port_unlock_from_isr();
}
/**
* @brief I-class functions context check.
* @details Verifies that the system is in an appropriate state for invoking
* an I-class API function. A panic is generated if the state is
* not compatible.
*
* @api
*/
void chDbgCheckClassI(void) {
if ((ch.dbg.isr_cnt < (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
chSysHalt("SV#10");
}
}
/**
* @brief S-class functions context check.
* @details Verifies that the system is in an appropriate state for invoking
* an S-class API function. A panic is generated if the state is
* not compatible.
*
* @api
*/
void chDbgCheckClassS(void) {
if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
chSysHalt("SV#11");
}
}
#endif /* CH_DBG_SYSTEM_STATE_CHECK == TRUE */
#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_NONE) || defined(__DOXYGEN__)
/**
* @brief Trace circular buffer subsystem initialization.
* @note Internal use only.
*/
void _dbg_trace_init(void) {
unsigned i;
ch.dbg.trace_buffer.suspended = 0U;
ch.dbg.trace_buffer.size = CH_DBG_TRACE_BUFFER_SIZE;
ch.dbg.trace_buffer.ptr = &ch.dbg.trace_buffer.buffer[0];
for (i = 0U; i < CH_DBG_TRACE_BUFFER_SIZE; i++) {
ch.dbg.trace_buffer.buffer[i].type = CH_TRACE_TYPE_UNUSED;
}
}
#if ((CH_DBG_TRACE_MASK & CH_DBG_TRACE_MASK_SWITCH) != 0) || \
defined(__DOXYGEN__)
/**
* @brief Inserts in the circular debug trace buffer a context switch record.
*
* @param[in] otp the thread being switched out
*
* @notapi
*/
void _dbg_trace_switch(thread_t *otp) {
if ((ch.dbg.trace_buffer.suspended & CH_TRACE_SUSPEND_SWITCH) == 0U) {
ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_SWITCH;
ch.dbg.trace_buffer.ptr->state = (uint8_t)otp->state;
ch.dbg.trace_buffer.ptr->u.sw.ntp = currp;
ch.dbg.trace_buffer.ptr->u.sw.wtobjp = otp->u.wtobjp;
trace_next();
}
}
#endif /* (CH_DBG_TRACE_MASK & CH_DBG_TRACE_MASK_SWITCH) != 0 */
#if ((CH_DBG_TRACE_MASK & CH_DBG_TRACE_MASK_ISR) != 0) || \
defined(__DOXYGEN__)
/**
* @brief Inserts in the circular debug trace buffer an ISR-enter record.
*
* @param[in] isr name of the isr
*
* @notapi
*/
void _dbg_trace_isr_enter(const char *isr) {
if ((ch.dbg.trace_buffer.suspended & CH_TRACE_SUSPEND_ISR_ENTER) == 0U) {
port_lock_from_isr();
ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_ISR_ENTER;
ch.dbg.trace_buffer.ptr->state = 0U;
ch.dbg.trace_buffer.ptr->u.isr.name = isr;
trace_next();
port_unlock_from_isr();
}
}
/**
* @brief Inserts in the circular debug trace buffer an ISR-leave record.
*
* @param[in] isr name of the isr
*
* @notapi
*/
void _dbg_trace_isr_leave(const char *isr) {
if ((ch.dbg.trace_buffer.suspended & CH_TRACE_SUSPEND_ISR_LEAVE) == 0U) {
port_lock_from_isr();
ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_ISR_LEAVE;
ch.dbg.trace_buffer.ptr->state = 0U;
ch.dbg.trace_buffer.ptr->u.isr.name = isr;
trace_next();
port_unlock_from_isr();
}
}
#endif /* (CH_DBG_TRACE_MASK & CH_DBG_TRACE_MASK_ISR) != 0 */
#if ((CH_DBG_TRACE_MASK & CH_DBG_TRACE_MASK_HALT) != 0) || \
defined(__DOXYGEN__)
/**
* @brief Inserts in the circular debug trace buffer an halt record.
*
* @param[in] reason the halt error string
*
* @notapi
*/
void _dbg_trace_halt(const char *reason) {
if ((ch.dbg.trace_buffer.suspended & CH_TRACE_SUSPEND_HALT) == 0U) {
ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_HALT;
ch.dbg.trace_buffer.ptr->state = 0;
ch.dbg.trace_buffer.ptr->u.halt.reason = reason;
trace_next();
}
}
#endif /* (CH_DBG_TRACE_MASK & CH_DBG_TRACE_MASK_HALT) != 0 */
#if ((CH_DBG_TRACE_MASK & CH_DBG_TRACE_MASK_USER) != 0) || \
defined(__DOXYGEN__)
/**
* @brief Adds an user trace record to the trace buffer.
*
* @param[in] up1 user parameter 1
* @param[in] up2 user parameter 2
*
* @iclass
*/
void chDbgWriteTraceI(void *up1, void *up2) {
chDbgCheckClassI();
if ((ch.dbg.trace_buffer.suspended & CH_TRACE_SUSPEND_SWITCH) == 0U) {
ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_USER;
ch.dbg.trace_buffer.ptr->state = 0;
ch.dbg.trace_buffer.ptr->u.user.up1 = up1;
ch.dbg.trace_buffer.ptr->u.user.up2 = up2;
trace_next();
}
}
/**
* @brief Adds an user trace record to the trace buffer.
*
* @param[in] up1 user parameter 1
* @param[in] up2 user parameter 2
*
* @api
*/
void chDbgWriteTrace(void *up1, void *up2) {
chSysLock();
chDbgWriteTraceI(up1, up2);
chSysUnlock();
}
#endif /* (CH_DBG_TRACE_MASK & CH_DBG_TRACE_MASK_USER) != 0 */
/**
* @brief Suspends one or more trace events.
*
* @paramin mask mask of the trace events to be suspended
*
* @iclass
*/
void chDbgSuspendTraceI(uint16_t mask) {
chDbgCheckClassI();
ch.dbg.trace_buffer.suspended |= mask;
}
/**
* @brief Suspends one or more trace events.
*
* @paramin mask mask of the trace events to be suspended
*
* @api
*/
void chDbgSuspendTrace(uint16_t mask) {
chSysLock();
chDbgSuspendTraceI(mask);
chSysUnlock();
}
/**
* @brief Resumes one or more trace events.
*
* @paramin mask mask of the trace events to be resumed
*
* @iclass
*/
void chDbgResumeTraceI(uint16_t mask) {
chDbgCheckClassI();
ch.dbg.trace_buffer.suspended &= ~mask;
}
/**
* @brief Resumes one or more trace events.
*
* @paramin mask mask of the trace events to be resumed
*
* @api
*/
void chDbgResumeTrace(uint16_t mask) {
chSysLock();
chDbgResumeTraceI(mask);
chSysUnlock();
}
#endif /* CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_NONE */
/** @} */
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