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/*
* Startup.cpp
*
* Created on: 26 Mar 2018
* Author: David
*/
#include "Tasks.h"
#include "RepRap.h"
#include "Platform.h"
#include <malloc.h>
#ifdef RTOS
# include "FreeRTOS.h"
# include "task.h"
#endif
#if USE_CACHE
# include "cmcc/cmcc.h"
#endif
const uint8_t memPattern = 0xA5;
extern "C" char *sbrk(int i);
extern char _end;
#ifdef RTOS
// The main task currently runs GCodes, so it needs to be large enough to hold the matrices used for auto calibration.
// The timer and idle tasks currently never do I/O, so they can be much smaller.
#if defined(LPC_NETWORKING)
constexpr unsigned int MainTaskStackWords = 1600-424;
#else
constexpr unsigned int MainTaskStackWords = 1600;
#endif
constexpr unsigned int IdleTaskStackWords = 60;
static Task<IdleTaskStackWords> idleTask;
static Task<MainTaskStackWords> mainTask;
static Mutex spiMutex;
static Mutex i2cMutex;
static Mutex mallocMutex;
extern "C" void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
{
*ppxIdleTaskTCBBuffer = idleTask.GetTaskMemory();
*ppxIdleTaskStackBuffer = idleTask.GetStackBase();
*pulIdleTaskStackSize = idleTask.GetStackSize();
}
#if configUSE_TIMERS
constexpr unsigned int TimerTaskStackWords = 60;
static Task<TimerTaskStackWords> timerTask;
extern "C" void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize)
{
*ppxTimerTaskTCBBuffer = timerTask.GetTaskMemory();
*ppxTimerTaskStackBuffer = timerTask.GetStackBase();
*pulTimerTaskStackSize = timerTask.GetStackSize();
}
#endif
extern "C" void MainTask(void * pvParameters);
// We need to make malloc/free thread safe, else sprintf and related I/O functions are liable to crash.
// We must use a recursive mutex for it.
extern "C" void __malloc_lock ( struct _reent *_r )
{
if (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) // don't take mutex if scheduler not started or suspended
{
mallocMutex.Take();
}
}
extern "C" void __malloc_unlock ( struct _reent *_r )
{
if (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) // don't release mutex if scheduler not started or suspended
{
mallocMutex.Release();
}
}
#endif
// Application entry point
extern "C" void AppMain()
{
// Fill the free memory with a pattern so that we can check for stack usage and memory corruption
char* heapend = sbrk(0);
register const char * stack_ptr asm ("sp");
while (heapend + 16 < stack_ptr)
{
*heapend++ = memPattern;
}
// Trap integer divide-by-zero.
// We could also trap unaligned memory access, if we change the gcc options to not generate code that uses unaligned memory access.
SCB->CCR |= SCB_CCR_DIV_0_TRP_Msk;
#ifdef __LPC17xx__
// Setup LEDs, start off
pinMode(LED_PLAY, OUTPUT_LOW);
pinMode(LED1, OUTPUT_LOW);
pinMode(LED2, OUTPUT_LOW);
pinMode(LED3, OUTPUT_LOW);
pinMode(LED4, OUTPUT_LOW);
#else
// When doing a software reset, we disable the NRST input (User reset) to prevent the negative-going pulse that gets generated on it
// being held in the capacitor and changing the reset reason from Software to User. So enable it again here. We hope that the reset signal
// will have gone away by now.
# ifndef RSTC_MR_KEY_PASSWD
// Definition of RSTC_MR_KEY_PASSWD is missing in the SAM3X ASF files
# define RSTC_MR_KEY_PASSWD (0xA5u << 24)
# endif
RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD | RSTC_MR_URSTEN; // ignore any signal on the NRST pin for now so that the reset reason will show as Software
#endif
#if USE_CACHE
// Enable the cache
cmcc_config g_cmcc_cfg;
cmcc_get_config_defaults(&g_cmcc_cfg);
cmcc_init(CMCC, &g_cmcc_cfg);
EnableCache();
#endif
#ifdef RTOS
// Add the FreeRTOS internal tasks to the task list
idleTask.AddToList();
#if configUSE_TIMERS
timerTask.AddToList();
#endif
// Create the startup task
mainTask.Create(MainTask, "MAIN", nullptr, TaskBase::SpinPriority);
vTaskStartScheduler(); // doesn't return
}
extern "C" void MainTask(void *pvParameters)
{
mallocMutex.Create("Malloc");
spiMutex.Create("SPI");
i2cMutex.Create("I2C");
#endif
reprap.Init();
for (;;)
{
reprap.Spin();
}
}
extern "C" uint32_t _estack; // this is defined in the linker script
#if __LPC17xx__
// These are defined in Linker Scripts for LPC
extern "C" unsigned int __AHB0_block_start;
extern "C" unsigned int __AHB0_dyn_start;
extern "C" unsigned int __AHB0_end;
extern "C" unsigned long __StackLimit;
extern "C" unsigned long __StackTop;
extern "C" size_t xPortGetTotalHeapSize( void );
volatile uint8_t sysTickLed = 0;
#endif
namespace Tasks
{
#ifdef RTOS
static void GetHandlerStackUsage(uint32_t* maxStack, uint32_t* neverUsed)
{
const char * const ramend = (const char *)&_estack;
const char * const heapend = sbrk(0);
const char * stack_lwm = heapend;
while (stack_lwm < ramend && *stack_lwm == memPattern)
{
++stack_lwm;
}
if (maxStack != nullptr) { *maxStack = ramend - stack_lwm; }
if (neverUsed != nullptr) { *neverUsed = stack_lwm - heapend; }
}
#else
// Return the system stack usage and amount of memory that has never been used, in bytes
static void GetStackUsage(uint32_t* currentStack, uint32_t* maxStack, uint32_t* neverUsed)
{
const char * const ramend = (const char *)&_estack;
const char * const heapend = sbrk(0);
const char * stack_lwm = heapend;
register const char * stack_ptr asm ("sp");
while (stack_lwm < stack_ptr && *stack_lwm == memPattern)
{
++stack_lwm;
}
if (currentStack != nullptr) { *currentStack = ramend - stack_ptr; }
if (maxStack != nullptr) { *maxStack = ramend - stack_lwm; }
if (neverUsed != nullptr) { *neverUsed = stack_lwm - heapend; }
}
#endif
uint32_t GetNeverUsedRam()
{
uint32_t neverUsedRam;
#ifdef RTOS
GetHandlerStackUsage(nullptr, &neverUsedRam);
#else
GetStackUsage(nullptr, nullptr, &neverUsedRam);
#endif
return neverUsedRam;
}
// Write data about the current task (if RTOS) or the system
void Diagnostics(MessageType mtype)
{
Platform& p = reprap.GetPlatform();
#ifdef RTOS
p.Message(mtype, "=== RTOS ===\n");
#else
p.Message(mtype, "=== System ===\n");
#endif
// Print memory stats
{
const char * const ramstart =
#if SAME70
(char *) 0x20400000;
#elif SAM4E || SAM4S
(char *) 0x20000000;
#elif SAM3XA
(char *) 0x20070000;
#elif __LPC17xx__
(char *) 0x10000000;
#else
# error Unsupported processor
#endif
p.MessageF(mtype, "Static ram: %d\n", &_end - ramstart);
const struct mallinfo mi = mallinfo();
p.MessageF(mtype, "Dynamic ram: %d of which %d recycled\n", mi.uordblks, mi.fordblks);
uint32_t maxStack, neverUsed;
#ifdef RTOS
GetHandlerStackUsage(&maxStack, &neverUsed);
p.MessageF(mtype, "Exception stack ram used: %" PRIu32 "\n", maxStack);
#else
uint32_t currentStack;
Tasks::GetStackUsage(¤tStack, &maxStack, &neverUsed);
p.MessageF(mtype, "Stack ram used: %" PRIu32 " current, %" PRIu32 " maximum\n", currentStack, maxStack);
#endif
p.MessageF(mtype, "Never used ram: %" PRIu32 "\n", neverUsed);
#ifdef __LPC17xx__
const uint32_t ahbStaticUsed = (uint32_t)&__AHB0_dyn_start -(uint32_t)&__AHB0_block_start;
const uint32_t totalMainUsage = (uint32_t)((&_end - ramstart) + mi.uordblks + maxStack);
p.MessageF(mtype, "AHB_RAM Static ram used : %" PRIu32 "\n", ahbStaticUsed);
p.Message(mtype, "=== Ram Totals ===\n");
p.MessageF(mtype, "Main SRAM : %" PRIu32 "/%" PRIu32 " (%" PRIu32 " free, %" PRIu32 " never used)\n", totalMainUsage, (uint32_t)32*1024, 32*1024-totalMainUsage, neverUsed );
p.MessageF(mtype, "RTOS Dynamic Heap : %" PRIi32 "/%" PRIu32 " (%d free, %d never used)\n", (uint32_t)(xPortGetTotalHeapSize()-xPortGetFreeHeapSize()),(uint32_t)xPortGetTotalHeapSize(), xPortGetFreeHeapSize(),xPortGetMinimumEverFreeHeapSize() );
//Print out the PWM and timers freq
uint16_t freqs[4];
GetTimerInfo(freqs);
p.MessageF(mtype, "\n=== LPC PWM ===\n");
p.MessageF(mtype, "Hardware PWM: %d Hz\nPWMTimer1: %d Hz\nPWMTimer2: %d Hz\nPWMTimer3: %d Hz\n", freqs[0], freqs[1], freqs[2], freqs[3]);
//Print out our Special Pins Available:
p.MessageF(mtype, "\n=== GPIO Special Pins available === (i.e. with M42)\nLogicalPin - PhysicalPin\n");
for (size_t i=0; i<ARRAY_SIZE(SpecialPinMap); i++)
{
if (SpecialPinMap[i] != NoPin)
{
const uint8_t portNumber = (SpecialPinMap[i]>>5); // Divide the pin number by 32 go get the PORT number
const uint8_t pinNumber = SpecialPinMap[i] & 0x1f; // lower 5-bits contains the bit number of a 32bit port
p.MessageF(mtype, " %d - P%d_%d ", (60+i), portNumber, pinNumber);
if (TimerPWMPinsArray[SpecialPinMap[i]])
{
const uint8_t tim = TimerPWMPinsArray[SpecialPinMap[i]] & 0x0F;
p.MessageF(mtype, "[Timer %s]", (tim&TimerPWM_1)?"1":(tim&TimerPWM_2)?"2":"3" );
}
else if ((g_APinDescription[SpecialPinMap[i]].ulPinAttribute & PIN_ATTR_PWM)==PIN_ATTR_PWM)
{
p.MessageF(mtype, "[HW PWM]");
}
p.MessageF(mtype, "\n");
}
}
#endif //end __LPC17xx__
} // end memory stats scope
#ifdef RTOS
p.Message(mtype, "Tasks:");
for (const TaskBase *t = TaskBase::GetTaskList(); t != nullptr; t = t->GetNext())
{
TaskStatus_t taskDetails;
vTaskGetInfo(t->GetHandle(), &taskDetails, pdTRUE, eInvalid);
const char* const stateText = (taskDetails.eCurrentState == eRunning) ? "running"
: (taskDetails.eCurrentState == eReady) ? "ready"
: (taskDetails.eCurrentState == eBlocked) ? "blocked"
: (taskDetails.eCurrentState == eSuspended) ? "suspended"
: "invalid";
p.MessageF(mtype, " %s(%s,%u)",
taskDetails.pcTaskName, stateText, (unsigned int)(taskDetails.usStackHighWaterMark * sizeof(StackType_t)));
}
p.Message(mtype, "\nOwned mutexes:");
for (const Mutex *m = Mutex::GetMutexList(); m != nullptr; m = m->GetNext())
{
const TaskHandle holder = m->GetHolder();
if (holder != nullptr)
{
p.MessageF(mtype, " %s(%s)", m->GetName(), pcTaskGetName(holder));
}
}
p.MessageF(mtype, "\n");
#endif
}
const Mutex *GetSpiMutex()
{
#ifdef RTOS
return &spiMutex;
#else
return nullptr;
#endif
}
const Mutex *GetI2CMutex()
{
#ifdef RTOS
return &i2cMutex;
#else
return nullptr;
#endif
}
}
// Exception handlers
extern "C"
{
// This intercepts the 1ms system tick
void sysTickHook()
{
reprap.Tick();
#ifdef __LPC17xx__
//blink the PLAY_LED to indicate systick is running
sysTickLed++; //uint8_t let it wrap around
if (sysTickLed == 255)
{
const bool state = GPIO_PinRead(LED_PLAY);
GPIO_PinWrite(LED_PLAY, !state);
}
#endif
}
// Exception handlers
// By default the Usage Fault, Bus Fault and Memory Management fault handlers are not enabled,
// so they escalate to a Hard Fault and we don't need to provide separate exception handlers for them.
void hardFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn));
void hardFaultDispatcher(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5);
}
// The fault handler implementation calls a function called hardFaultDispatcher()
void HardFault_Handler() __attribute__((naked, noreturn));
void HardFault_Handler()
{
__asm volatile
(
" tst lr, #4 \n" /* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
" ite eq \n" /* load the appropriate stack pointer into R0 */
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r2, handler_hf_address_const \n"
" bx r2 \n"
" handler_hf_address_const: .word hardFaultDispatcher \n"
);
}
void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn));
void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::wdtFault, pulFaultStackAddress + 5);
}
#if __LPC17xx__
void WDT_IRQHandler() __attribute__((naked, noreturn));
void WDT_IRQHandler(void)
{
LPC_WDT->WDMOD &=~((uint32_t)(1<<2)); //SD::clear timout flag before resetting to prevent the Smoothie bootloader going into DFU mode
#else
void WDT_Handler() __attribute__((naked, noreturn));
void WDT_Handler()
{
#endif
__asm volatile
(
" tst lr, #4 \n" /* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
" ite eq \n" /* load the appropriate stack pointer into R0 */
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r2, handler_wdt_address_const \n"
" bx r2 \n"
" handler_wdt_address_const: .word wdtFaultDispatcher \n"
);
}
void otherFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn));
void otherFaultDispatcher(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::otherFault, pulFaultStackAddress + 5);
}
// 2017-05-25: A user is getting 'otherFault' reports, so now we do a stack dump for those too.
// The fault handler implementation calls a function called otherFaultDispatcher()
void OtherFault_Handler() __attribute__((naked, noreturn));
void OtherFault_Handler()
{
__asm volatile
(
" tst lr, #4 \n" /* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
" ite eq \n" /* load the appropriate stack pointer into R0 */
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r2, handler_oflt_address_const \n"
" bx r2 \n"
" handler_oflt_address_const: .word otherFaultDispatcher \n"
);
}
// We could set up the following fault handlers to retrieve the program counter in the same way as for a Hard Fault,
// however these exceptions are unlikely to occur, so for now we just report the exception type.
void NMI_Handler () { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::NMI); }
void UsageFault_Handler () { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::usageFault); }
void DebugMon_Handler () __attribute__ ((noreturn,alias("OtherFault_Handler")));
#ifdef RTOS
// FreeRTOS hooks that we need to provide
void stackOverflowDispatcher(const uint32_t *pulFaultStackAddress, char* pcTaskName) __attribute((noreturn));
void stackOverflowDispatcher(const uint32_t *pulFaultStackAddress, char* pcTaskName)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::stackOverflow, pulFaultStackAddress);
}
void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) __attribute((naked, noreturn));
void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName)
{
// r0 = pxTask, r1 = pxTaskName
__asm volatile
(
" push {r0, r1, lr} \n" /* save parameters and call address on the stack */
" mov r0, sp \n"
" ldr r2, handler_sovf_address_const \n"
" bx r2 \n"
" handler_sovf_address_const: .word stackOverflowDispatcher \n"
);
}
#endif
void assertCalledDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn));
void assertCalledDispatcher(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::assertCalled, pulFaultStackAddress);
}
void vAssertCalled(uint32_t line, const char *file) __attribute((naked, noreturn));
void vAssertCalled(uint32_t line, const char *file)
{
#if false
debugPrintf("ASSERTION FAILED IN %s on LINE %d\n", file, line);
SERIAL_MAIN_DEVICE.flush();
#endif
__asm volatile
(
" push {r0, r1, lr} \n" /* save parameters and call address */
" mov r0, sp \n"
" ldr r2, handler_asrt_address_const \n"
" bx r2 \n"
" handler_asrt_address_const: .word assertCalledDispatcher \n"
);
}
#if __LPC17xx__
void applicationMallocFailedCalledDispatcher(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::assertCalled, pulFaultStackAddress);
}
void vApplicationMallocFailedHook( void ) __attribute((naked));
void vApplicationMallocFailedHook( void )
{
__asm volatile
(
" push {r0, r1, lr} \n" /* save parameters and call address */
" mov r0, sp \n"
" ldr r2, handler_amf_address_const \n"
" bx r2 \n"
" handler_amf_address_const: .word applicationMallocFailedCalledDispatcher \n"
);
}
#endif
} // end extern "C"
namespace std
{
// We need to define this function in order to use lambda functions with captures
void __throw_bad_function_call() { vAssertCalled(__LINE__, __FILE__); }
}
// End
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