text: /****************************************************************************
   * arch/arm/src/armv8-m/arm_assert.c
   *
   * Licensed to the Apache Software Foundation (ASF) under one or more
   * contributor license agreements.  See the NOTICE file distributed with
   * this work for additional information regarding copyright ownership.  The
   * ASF licenses this file to you under the Apache License, Version 2.0 (the
   * "License"); you may not use this file except in compliance with the
   * License.  You may obtain a copy of the License at
   *
   *   http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
   * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
   * License for the specific language governing permissions and limitations
   * under the License.
   *
   ****************************************************************************/
  
  /****************************************************************************
   * Included Files
   ****************************************************************************/
  
  #include <nuttx/config.h>
  
  #include <stdint.h>
  #include <stdlib.h>
  #include <assert.h>
  #include <debug.h>
  
  #include <nuttx/irq.h>
  #include <nuttx/arch.h>
  #include <nuttx/board.h>
  #include <nuttx/syslog/syslog.h>
  #include <nuttx/usb/usbdev_trace.h>
  
  #include <arch/board/board.h>
  
  #include "sched/sched.h"
  #include "irq/irq.h"
  
  #include "arm_arch.h"
  #include "arm_internal.h"
  #include "chip.h"
  
  /****************************************************************************
   * Pre-processor Definitions
   ****************************************************************************/
  
  /* USB trace dumping */
  
  #ifndef CONFIG_USBDEV_TRACE
  #  undef CONFIG_ARCH_USBDUMP
  #endif
  
  #ifndef CONFIG_BOARD_RESET_ON_ASSERT
  #  define CONFIG_BOARD_RESET_ON_ASSERT 0
  #endif
  
  /****************************************************************************
   * Private Data
   ****************************************************************************/
  
  #ifdef CONFIG_ARCH_STACKDUMP
  static uint32_t s_last_regs[XCPTCONTEXT_REGS];
  #endif
  
  /****************************************************************************
   * Private Functions
   ****************************************************************************/
  
  /****************************************************************************
   * 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;
        _alert("%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_taskdump
   ****************************************************************************/
  
  #ifdef CONFIG_STACK_COLORATION
  static void up_taskdump(FAR struct tcb_s *tcb, FAR void *arg)
  {
    /* Dump interesting properties of this task */
  
  #if CONFIG_TASK_NAME_SIZE > 0
    _alert("%s: PID=%d Stack Used=%lu of %lu\n",
          tcb->name, tcb->pid, (unsigned long)up_check_tcbstack(tcb),
          (unsigned long)tcb->adj_stack_size);
  #else
    _alert("PID: %d Stack Used=%lu of %lu\n",
          tcb->pid, (unsigned long)up_check_tcbstack(tcb),
          (unsigned long)tcb->adj_stack_size);
  #endif
  }
  #endif
  
  /****************************************************************************
   * Name: up_showtasks
   ****************************************************************************/
  
  #ifdef CONFIG_STACK_COLORATION
  static inline void up_showtasks(void)
  {
    /* Dump interesting properties of each task in the crash environment */
  
    nxsched_foreach(up_taskdump, NULL);
  }
  #else
  #  define up_showtasks()
  #endif
  
  /****************************************************************************
   * Name: up_registerdump
   ****************************************************************************/
  
  #ifdef CONFIG_ARCH_STACKDUMP
  static inline void up_registerdump(void)
  {
    volatile uint32_t *regs = CURRENT_REGS;
  
    /* Are user registers available from interrupt processing? */
  
    if (regs == NULL)
      {
        /* No.. capture user registers by hand */
  
        arm_saveusercontext(s_last_regs);
        regs = s_last_regs;
      }
  
    /* Dump the interrupt registers */
  
    _alert("R0: %08x %08x %08x %08x %08x %08x %08x %08x\n",
          regs[REG_R0], regs[REG_R1], regs[REG_R2], regs[REG_R3],
          regs[REG_R4], regs[REG_R5], regs[REG_R6], regs[REG_R7]);
    _alert("R8: %08x %08x %08x %08x %08x %08x %08x %08x\n",
          regs[REG_R8],  regs[REG_R9],  regs[REG_R10], regs[REG_R11],
          regs[REG_R12], regs[REG_R13], regs[REG_R14], regs[REG_R15]);
  
  #ifdef CONFIG_ARMV8M_USEBASEPRI
    _alert("xPSR: %08x BASEPRI: %08x CONTROL: %08x\n",
          regs[REG_XPSR], regs[REG_BASEPRI], getcontrol());
  #else
    _alert("xPSR: %08x PRIMASK: %08x CONTROL: %08x\n",
          regs[REG_XPSR], regs[REG_PRIMASK], getcontrol());
  #endif
  
  #ifdef REG_EXC_RETURN
    _alert("EXC_RETURN: %08x\n", regs[REG_EXC_RETURN]);
  #endif
  }
  #else
  # define up_registerdump()
  #endif
  
  /****************************************************************************
   * Name: assert_tracecallback
   ****************************************************************************/
  
  #ifdef CONFIG_ARCH_USBDUMP
  static int usbtrace_syslog(FAR const char *fmt, ...)
  {
    va_list ap;
  
    /* Let vsyslog do the real work */
  
    va_start(ap, fmt);
    vsyslog(LOG_EMERG, fmt, ap);
    va_end(ap);
    return OK;
  }
  
  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 = running_task();
    uint32_t sp = arm_getsp();
    uint32_t ustackbase;
    uint32_t ustacksize;
  #if CONFIG_ARCH_INTERRUPTSTACK > 7
    uint32_t istackbase;
    uint32_t istacksize;
  #endif
  
    /* Dump the registers (if available) */
  
    up_registerdump();
  
    /* Get the limits on the user stack memory */
  
    ustackbase = (uint32_t)rtcb->adj_stack_ptr;
    ustacksize = (uint32_t)rtcb->adj_stack_size;
  
  #if CONFIG_ARCH_INTERRUPTSTACK > 7
    /* Get the limits on the interrupt stack memory */
  
  #ifdef CONFIG_SMP
    istackbase = (uint32_t)arm_intstack_base();
  #else
    istackbase = (uint32_t)&g_intstackbase;
  #endif
    istacksize = (CONFIG_ARCH_INTERRUPTSTACK & ~7);
  
    /* Show interrupt stack info */
  
    _alert("sp:     %08x\n", sp);
    _alert("IRQ stack:\n");
    _alert("  base: %08x\n", istackbase);
    _alert("  size: %08x\n", istacksize);
  #ifdef CONFIG_STACK_COLORATION
    _alert("  used: %08x\n", up_check_intstack());
  #endif
  
    /* Does the current stack pointer lie within the interrupt
     * stack?
     */
  
    if (sp < istackbase && sp >= istackbase - istacksize)
      {
        /* Yes.. dump the interrupt stack */
  
        up_stackdump(sp, istackbase);
      }
    else if (CURRENT_REGS)
      {
        _alert("ERROR: Stack pointer is not within the interrupt stack\n");
        up_stackdump(istackbase - istacksize, istackbase);
      }
  
    /* Extract the user stack pointer if we are in an interrupt handler.
     * If we are not in an interrupt handler.  Then sp is the user stack
     * pointer (and the above range check should have failed).
     */
  
    if (CURRENT_REGS)
      {
        sp = CURRENT_REGS[REG_R13];
        _alert("sp:     %08x\n", sp);
      }
  
    _alert("User stack:\n");
    _alert("  base: %08x\n", ustackbase);
    _alert("  size: %08x\n", ustacksize);
  #ifdef CONFIG_STACK_COLORATION
    _alert("  used: %08x\n", up_check_tcbstack(rtcb));
  #endif
  
    /* Dump the user stack if the stack pointer lies within the allocated user
     * stack memory.
     */
  
    if (sp < ustackbase && sp >= ustackbase - ustacksize)
      {
        up_stackdump(sp, ustackbase);
      }
    else
      {
        _alert("ERROR: Stack pointer is not within the allocated stack\n");
        up_stackdump(ustackbase - ustacksize, ustackbase);
      }
  
  #else
  
    /* Show user stack info */
  
    _alert("sp:         %08x\n", sp);
    _alert("stack base: %08x\n", ustackbase);
    _alert("stack size: %08x\n", ustacksize);
  #ifdef CONFIG_STACK_COLORATION
    _alert("stack used: %08x\n", up_check_tcbstack(rtcb));
  #endif
  
    /* Dump the user stack if the stack pointer lies within the allocated user
     * stack memory.
     */
  
    if (sp >= ustackbase || sp < ustackbase - ustacksize)
      {
        _alert("ERROR: Stack pointer is not within the allocated stack\n");
        up_stackdump(ustackbase - ustacksize, ustackbase);
      }
    else
      {
        up_stackdump(sp, ustackbase);
      }
  
  #endif
  
  #ifdef CONFIG_SMP
    /* Show the CPU number */
  
    _alert("CPU%d:\n", up_cpu_index());
  #endif
  
    /* Dump the state of all tasks (if available) */
  
    up_showtasks();
  
  #ifdef CONFIG_ARCH_USBDUMP
    /* Dump USB trace data */
  
    usbtrace_enumerate(assert_tracecallback, NULL);
  #endif
  }
  #else
  # define up_dumpstate()
  #endif
  
  /****************************************************************************
   * Name: _up_assert
   ****************************************************************************/
  
  static void _up_assert(void)
  {
    /* Flush any buffered SYSLOG data */
  
    syslog_flush();
  
    /* Are we in an interrupt handler or the idle task? */
  
    if (CURRENT_REGS || (running_task())->flink == NULL)
      {
        up_irq_save();
        for (; ; )
          {
  #ifdef CONFIG_SMP
            /* Try (again) to stop activity on other CPUs */
  
            spin_trylock(&g_cpu_irqlock);
  #endif
  
  #if CONFIG_BOARD_RESET_ON_ASSERT >= 1
            board_reset(CONFIG_BOARD_ASSERT_RESET_VALUE);
  #endif
  #ifdef CONFIG_ARCH_LEDS
            board_autoled_on(LED_PANIC);
            up_mdelay(250);
            board_autoled_off(LED_PANIC);
            up_mdelay(250);
  #endif
          }
      }
    else
      {
  #if CONFIG_BOARD_RESET_ON_ASSERT >= 2
        board_reset(CONFIG_BOARD_ASSERT_RESET_VALUE);
  #endif
      }
  }
  
  /****************************************************************************
   * Public Functions
   ****************************************************************************/
  
  /****************************************************************************
   * Name: up_assert
   ****************************************************************************/
  
  void up_assert(const char *filename, int lineno)
  {
  #if CONFIG_TASK_NAME_SIZE > 0 && defined(CONFIG_DEBUG_ALERT)
    struct tcb_s *rtcb = running_task();
  #endif
  
    board_autoled_on(LED_ASSERTION);
  
    /* Flush any buffered SYSLOG data (prior to the assertion) */
  
    syslog_flush();
  
  #ifdef CONFIG_SMP
  #if CONFIG_TASK_NAME_SIZE > 0
    _alert("Assertion failed CPU%d at file:%s line: %d task: %s\n",
          up_cpu_index(), filename, lineno, rtcb->name);
  #else
    _alert("Assertion failed CPU%d at file:%s line: %d\n",
          up_cpu_index(), filename, lineno);
  #endif
  #else
  #if CONFIG_TASK_NAME_SIZE > 0
    _alert("Assertion failed at file:%s line: %d task: %s\n",
          filename, lineno, rtcb->name);
  #else
    _alert("Assertion failed at file:%s line: %d\n",
          filename, lineno);
  #endif
  #endif
  
    up_dumpstate();
  
    /* Flush any buffered SYSLOG data (from the above) */
  
    syslog_flush();
  
  #ifdef CONFIG_BOARD_CRASHDUMP
    board_crashdump(arm_getsp(), running_task(), filename, lineno);
  #endif
  
    _up_assert();
  }
  