text: /****************************************************************************
   * arch/arm/src/armv7-a/arm_assert.c
   *
   *   Copyright (C) 2013-2014 Gregory Nutt. All rights reserved.
   *   Author: Gregory Nutt <gnutt@nuttx.org>
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name NuttX nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /****************************************************************************
   * Included Files
   ****************************************************************************/
  
  #include <nuttx/config.h>
  
  /* Output debug info if stack dump is selected -- even if debug is not
   * selected.
   */
  
  #ifdef CONFIG_ARCH_STACKDUMP
  # undef  CONFIG_DEBUG
  # undef  CONFIG_DEBUG_VERBOSE
  # define CONFIG_DEBUG 1
  # define CONFIG_DEBUG_VERBOSE 1
  #endif
  
  #include <stdint.h>
  #include <stdlib.h>
  #include <assert.h>
  #include <debug.h>
  
  #include <nuttx/irq.h>
  #include <nuttx/arch.h>
  #include <nuttx/usb/usbdev_trace.h>
  
  #include <arch/board/board.h>
  
  #include "up_arch.h"
  #include "sched/sched.h"
  #include "up_internal.h"
  
  /****************************************************************************
   * Pre-processor Definitions
   ****************************************************************************/
  /* USB trace dumping */
  
  #ifndef CONFIG_USBDEV_TRACE
  #  undef CONFIG_ARCH_USBDUMP
  #endif
  
  /* The following is just intended to keep some ugliness out of the mainline
   * code.  We are going to print the task name if:
   *
   *  CONFIG_TASK_NAME_SIZE > 0 &&    <-- The task has a name
   *  (defined(CONFIG_DEBUG)    ||    <-- And the debug is enabled (lldbg used)
   *   defined(CONFIG_ARCH_STACKDUMP) <-- Or lowsyslog() is used
   */
  
  #undef CONFIG_PRINT_TASKNAME
  #if CONFIG_TASK_NAME_SIZE > 0 && (defined(CONFIG_DEBUG) || defined(CONFIG_ARCH_STACKDUMP))
  #  define CONFIG_PRINT_TASKNAME 1
  #endif
  
  /****************************************************************************
   * Private Data
   ****************************************************************************/
  
  /****************************************************************************
   * Private Functions
   ****************************************************************************/
  
  /****************************************************************************
   * Name: up_getsp
   ****************************************************************************/
  
  /* I don't know if the builtin to get SP is enabled */
  
  static inline uint32_t up_getsp(void)
  {
    uint32_t sp;
    __asm__
    (
      "\tmov %0, sp\n\t"
      : "=r"(sp)
    );
    return sp;
  }
  
  /****************************************************************************
   * Name: up_stackdump
   ****************************************************************************/
  
  #ifdef CONFIG_ARCH_STACKDUMP
  static void up_stackdump(uint32_t sp, uint32_t stack_base)
  {
    uint32_t stack ;
  
    for (stack = sp & ~0x1f; stack < stack_base; stack += 32)
      {
        uint32_t *ptr = (uint32_t*)stack;
        lldbg("%08x: %08x %08x %08x %08x %08x %08x %08x %08x\n",
               stack, ptr[0], ptr[1], ptr[2], ptr[3],
               ptr[4], ptr[5], ptr[6], ptr[7]);
      }
  }
  #else
  #  define up_stackdump(sp,stack_base)
  #endif
  
  /****************************************************************************
   * Name: up_registerdump
   ****************************************************************************/
  
  #ifdef CONFIG_ARCH_STACKDUMP
  static inline void up_registerdump(void)
  {
    /* Are user registers available from interrupt processing? */
  
    if (current_regs)
      {
        int regs;
  
        /* Yes.. dump the interrupt registers */
  
        for (regs = REG_R0; regs <= REG_R15; regs += 8)
          {
            uint32_t *ptr = (uint32_t*)&current_regs[regs];
            lldbg("R%d: %08x %08x %08x %08x %08x %08x %08x %08x\n",
                   regs, ptr[0], ptr[1], ptr[2], ptr[3],
                   ptr[4], ptr[5], ptr[6], ptr[7]);
          }
  
        lldbg("CPSR: %08x\n", current_regs[REG_CPSR]);
      }
  }
  #else
  # define up_registerdump()
  #endif
  
  /****************************************************************************
   * Name: assert_tracecallback
   ****************************************************************************/
  
  #ifdef CONFIG_ARCH_USBDUMP
  static int usbtrace_syslog(FAR const char *fmt, ...)
  {
    va_list ap;
    int ret;
  
    /* Let vsyslog do the real work */
  
    va_start(ap, fmt);
    ret = lowvsyslog(LOG_INFO, fmt, ap);
    va_end(ap);
    return ret;
  }
  
  static int assert_tracecallback(FAR struct usbtrace_s *trace, FAR void *arg)
  {
    usbtrace_trprintf(usbtrace_syslog, trace->event, trace->value);
    return 0;
  }
  #endif
  
  /****************************************************************************
   * Name: up_dumpstate
   ****************************************************************************/
  
  #ifdef CONFIG_ARCH_STACKDUMP
  static void up_dumpstate(void)
  {
    struct tcb_s *rtcb = (struct tcb_s*)g_readytorun.head;
    uint32_t sp   = up_getsp();
    uint32_t ustackbase;
    uint32_t ustacksize;
  #if CONFIG_ARCH_INTERRUPTSTACK > 3
    uint32_t istackbase;
    uint32_t istacksize;
  #endif
  #ifdef CONFIG_ARCH_KERNEL_STACK
    uint32_t kstackbase = 0;
  #endif
  
    /* Get the limits on the user stack memory */
  
    if (rtcb->pid == 0)
      {
        ustackbase = g_idle_topstack - 4;
        ustacksize = CONFIG_IDLETHREAD_STACKSIZE;
      }
    else
      {
        ustackbase = (uint32_t)rtcb->adj_stack_ptr;
        ustacksize = (uint32_t)rtcb->adj_stack_size;
      }
  
    lldbg("Current sp: %08x\n", sp);
  
  #if CONFIG_ARCH_INTERRUPTSTACK > 3
    /* Get the limits on the interrupt stack memory */
  
    istackbase = (uint32_t)&g_intstackbase;
    istacksize = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
  
    /* Show interrupt stack info */
  
    lldbg("Interrupt stack:\n");
    lldbg("  base: %08x\n", istackbase);
    lldbg("  size: %08x\n", istacksize);
  #ifdef CONFIG_STACK_COLORATION
    lldbg("  used: %08x\n", up_check_intstack());
  #endif
  #endif
  
    /* Show user stack info */
  
    lldbg("User stack:\n");
    lldbg("  base: %08x\n", ustackbase);
    lldbg("  size: %08x\n", ustacksize);
  #ifdef CONFIG_STACK_COLORATION
    lldbg("  used: %08x\n", up_check_tcbstack(rtcb));
  #endif
  
  #ifdef CONFIG_ARCH_KERNEL_STACK
    /* This this thread have a kernel stack allocated? */
  
    if (rtcb->xcp.kstack)
      {
        kstackbase = (uint32_t)rtcb->xcp.kstack + CONFIG_ARCH_KERNEL_STACKSIZE - 4;
  
        lldbg("Kernel stack:\n");
        lldbg("  base: %08x\n", kstackbase);
        lldbg("  size: %08x\n", CONFIG_ARCH_KERNEL_STACKSIZE);
      }
  #endif
  
  #if CONFIG_ARCH_INTERRUPTSTACK > 3
    /* Does the current stack pointer lie within the interrupt stack? */
  
    if (sp > istackbase - istacksize && sp < istackbase)
      {
        /* Yes.. dump the interrupt stack */
  
        lldbg("Interrupt Stack\n", sp);
        up_stackdump(sp, istackbase);
  
        /* Extract the user stack pointer which should lie
         * at the base of the interrupt stack.
         */
  
        sp = g_intstackbase;
        lldbg("User sp: %08x\n", sp);
      }
  #endif
  
    /* Dump the user stack if the stack pointer lies within the allocated user
     * stack memory.
     */
  
    if (sp > ustackbase - ustacksize && sp < ustackbase)
      {
        lldbg("User Stack\n", sp);
        up_stackdump(sp, ustackbase);
      }
  
  #ifdef CONFIG_ARCH_KERNEL_STACK
    /* Dump the user stack if the stack pointer lies within the allocated
     * kernel stack memory.
     */
  
    if (sp >= (uint32_t)rtcb->xcp.kstack && sp < kstackbase)
      {
        lldbg("Kernel Stack\n", sp);
        up_stackdump(sp, kstackbase);
      }
  #endif
  
    /* Then dump the registers (if available) */
  
    up_registerdump();
  
  #ifdef CONFIG_ARCH_USBDUMP
    /* Dump USB trace data */
  
    (void)usbtrace_enumerate(assert_tracecallback, NULL);
  #endif
  }
  #else
  # define up_dumpstate()
  #endif
  
  /****************************************************************************
   * Name: _up_assert
   ****************************************************************************/
  
  static void _up_assert(int errorcode) noreturn_function;
  static void _up_assert(int errorcode)
  {
    /* Are we in an interrupt handler or the idle task? */
  
    if (current_regs || ((struct tcb_s*)g_readytorun.head)->pid == 0)
      {
         (void)irqsave();
          for (;;)
            {
  #ifdef CONFIG_ARCH_LEDS
              board_led_on(LED_PANIC);
              up_mdelay(250);
              board_led_off(LED_PANIC);
              up_mdelay(250);
  #endif
            }
      }
    else
      {
        exit(errorcode);
      }
  }
  
  /****************************************************************************
   * Public Functions
   ****************************************************************************/
  
  /****************************************************************************
   * Name: up_assert
   ****************************************************************************/
  
  void up_assert(const uint8_t *filename, int lineno)
  {
  #ifdef CONFIG_PRINT_TASKNAME
    struct tcb_s *rtcb = (struct tcb_s*)g_readytorun.head;
  #endif
    board_led_on(LED_ASSERTION);
  
  #ifdef CONFIG_PRINT_TASKNAME
    lldbg("Assertion failed at file:%s line: %d task: %s\n",
          filename, lineno, rtcb->name);
  #else
    lldbg("Assertion failed at file:%s line: %d\n",
          filename, lineno);
  #endif
    up_dumpstate();
    _up_assert(EXIT_FAILURE);
  }
  