path: root/src/Tasks.cpp

/*
 * 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

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.
constexpr unsigned int MainTaskStackWords = 2100;

static Task<MainTaskStackWords> mainTask;
static Mutex spiMutex;
static Mutex mallocMutex;

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;

	// 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

#if USE_CACHE
	// Enable the cache
	struct cmcc_config g_cmcc_cfg;
	cmcc_get_config_defaults(&g_cmcc_cfg);
	cmcc_init(CMCC, &g_cmcc_cfg);
	EnableCache();
#endif

#ifdef RTOS
	// Create the startup task
	mainTask.Create(MainTask, "MAIN", nullptr, TaskBase::SpinPriority);
	vTaskStartScheduler();			// doesn't return
}

extern "C" void MainTask(void *pvParameters)
{
	mallocMutex.Create();
	spiMutex.Create();
#endif
	reprap.Init();
	for (;;)
	{
		reprap.Spin();
	}
}

extern "C" uint32_t _estack;		// this is defined in the linker script

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;
#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(&currentStack, &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 RTOS
		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, "Task %s %s, free stack %u\n",
				taskDetails.pcTaskName, stateText, (unsigned int)(taskDetails.usStackHighWaterMark * sizeof(StackType_t)));
		}
#endif
	}

	const Mutex *GetSpiMutex()
	{
#ifdef RTOS
		return &spiMutex;
#else
		return nullptr;
#endif
	}
}

#ifdef RTOS

static StaticTask_t xIdleTaskTCB;
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];

extern "C" void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer,
                                    StackType_t **ppxIdleTaskStackBuffer,
                                    uint32_t *pulIdleTaskStackSize )
{
    /* Pass out a pointer to the StaticTask_t structure in which the Idle task's state will be stored. */
    *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;

    /* Pass out the array that will be used as the Idle task's stack. */
    *ppxIdleTaskStackBuffer = uxIdleTaskStack;

    /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer. */
    *pulIdleTaskStackSize = ARRAY_SIZE(uxIdleTaskStack);
}

static StaticTask_t xTimerTaskTCB;
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];

extern "C" void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer,
                                     StackType_t **ppxTimerTaskStackBuffer,
                                     uint32_t *pulTimerTaskStackSize )
{
    /* Pass out a pointer to the StaticTask_t structure in which the Timer task's state will be stored. */
    *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;

    /* Pass out the array that will be used as the Timer task's stack. */
    *ppxTimerTaskStackBuffer = uxTimerTaskStack;

    /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer. */
    *pulTimerTaskStackSize = ARRAY_SIZE(uxTimerTaskStack);
}

#endif

// Exception handlers
extern "C"
{
	// This intercepts the 1ms system tick. It must return 'false', otherwise the Arduino core tick handler will be bypassed.
	int sysTickHook()
	{
		reprap.Tick();
		return 0;
	}

	// 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)
	{
	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5);
	}

	// The fault handler implementation calls a function called hardFaultDispatcher()
	void HardFault_Handler() __attribute__((naked));
	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)
	{
	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::wdtFault, pulFaultStackAddress + 5);
	}

	void WDT_Handler() __attribute__((naked));
	void WDT_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_wdt_address_const                         \n"
	        " bx r2                                                     \n"
	        " handler_wdt_address_const: .word wdtFaultDispatcher       \n"
	    );
	}

	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));
	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__ ((alias("OtherFault_Handler")));

#ifdef RTOS
	// FreeRTOS hooks that we need to provide
	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));
	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"
	    );
	}

	void assertCalledDispatcher(const uint32_t *pulFaultStackAddress)
	{
	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::assertCalled, pulFaultStackAddress);
	}

	void vAssertCalled(uint32_t line, const char *file) __attribute((naked));
	void vAssertCalled(uint32_t line, const char *file)
	{
	    __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"
	    );
	}
#endif

}

// End