rusefi/firmware/controllers/core/error_handling.cpp

/**
 * @file error_handling.cpp
 *
 * @date Apr 1, 2014
 * @author Andrey Belomutskiy, (c) 2012-2020
 */

#include "pch.h"
#include "rusefi/efistringutil.h"

#include "backup_ram.h"
#include "error_handling_led.h"
#include "log_hard_fault.h"

static critical_msg_t warningBuffer;
static critical_msg_t criticalErrorMessageBuffer;

extern int warningEnabled;

bool hasFirmwareErrorFlag = false;

const char *dbg_panic_file;
int dbg_panic_line;

const char* getCriticalErrorMessage(void) {
	return criticalErrorMessageBuffer;
}

#if EFI_PROD_CODE
void checkLastBootError() {
#if EFI_BACKUP_SRAM
	auto sramState = getBackupSram();

	switch (sramState->Err.Cookie) {
	case ErrorCookie::FirmwareError:
		efiPrintf("Last boot had firmware error: %s", sramState->Err.ErrorString);
		break;
	case ErrorCookie::HardFault: {
		efiPrintf("Last boot had raw: %s", sramState->Err.rawMsg);
		efiPrintf("Last boot had hardFile: %s", sramState->Err.hardFile);
		efiPrintf("Last boot had line: %d", sramState->Err.hardLine);
		efiPrintf("Last boot had check: %d", sramState->Err.check);
		efiPrintf("Last boot had error: %s", sramState->Err.ErrorString);
		efiPrintf("Last boot had hard fault type: %x addr: %x CSFR: %x", sramState->Err.FaultType, sramState->Err.FaultAddress, sramState->Err.Csfr);
		if (engineConfiguration->rethrowHardFault) {
		    criticalError("Last boot had hard fault type: %x addr: %x CSFR: %x", sramState->Err.FaultType, sramState->Err.FaultAddress, sramState->Err.Csfr);
		}

		auto ctx = &sramState->Err.FaultCtx;
		efiPrintf("r0  0x%x", ctx->r0);
		efiPrintf("r1  0x%x", ctx->r1);
		efiPrintf("r2  0x%x", ctx->r2);
		efiPrintf("r3  0x%x", ctx->r3);
		efiPrintf("r12 0x%x", ctx->r12);
		efiPrintf("lr (thread)  0x%x", ctx->lr_thd);
		efiPrintf("pc  0x%x", ctx->pc);
		efiPrintf("xpsr  0x%x", ctx->xpsr);

		/* FPU registers - not very usefull for debug */
		if (0) {
			// Print rest the context as a sequence of uintptr
			uintptr_t* data = reinterpret_cast<uintptr_t*>(&sramState->Err.FaultCtx);
			for (size_t i = 8; i < sizeof(port_extctx) / sizeof(uintptr_t); i++) {
				efiPrintf("Fault ctx %d: %x", i, data[i]);
			}
		}

		break;
	}
	default:
		// No cookie stored or invalid cookie (ie, backup RAM contains random garbage)
		break;
	}

	// Reset cookie so we don't print it again.
	sramState->Err.Cookie = ErrorCookie::None;

	if (sramState->Err.BootCountCookie != 0xdeadbeef) {
		sramState->Err.BootCountCookie = 0xdeadbeef;
		sramState->Err.BootCount = 0;
	}

	efiPrintf("Power cycle count: %d", sramState->Err.BootCount);
	sramState->Err.BootCount++;
#endif // EFI_BACKUP_SRAM
}

void logHardFault(uint32_t type, uintptr_t faultAddress, port_extctx* ctx, uint32_t csfr) {
    criticalShutdown();
#if EFI_BACKUP_SRAM
	auto sramState = getBackupSram();
	sramState->Err.Cookie = ErrorCookie::HardFault;
	sramState->Err.check = 321;
	sramState->Err.FaultType = type;
	sramState->Err.FaultAddress = faultAddress;
	sramState->Err.Csfr = csfr;
	memcpy(&sramState->Err.FaultCtx, ctx, sizeof(port_extctx));
#endif // EFI_BACKUP_SRAM
}

#endif /* EFI_PROD_CODE */

#if EFI_SIMULATOR || EFI_PROD_CODE

void chDbgPanic3(const char *msg, const char * file, int line) {
#if EFI_PROD_CODE
	// Attempt to break in to the debugger, if attached
	__asm volatile("BKPT #0\n");
#endif

#if EFI_BACKUP_SRAM
	auto sramState = getBackupSram();
	strncpy(sramState->Err.hardFile, file, efi::size(sramState->Err.hardFile) - 1);
	sramState->Err.hardLine = line;
	sramState->Err.check = 123;
	strncpy(sramState->Err.rawMsg, msg, efi::size(sramState->Err.rawMsg) - 1);
#endif // EFI_BACKUP_SRAM

	if (hasOsPanicError())
		return;
	dbg_panic_file = file;
	dbg_panic_line = line;
#if CH_DBG_SYSTEM_STATE_CHECK
	ch.dbg.panic_msg = msg;
#endif /* CH_DBG_SYSTEM_STATE_CHECK */

#if !EFI_PROD_CODE
	printf("chDbgPanic3 %s %s%d", msg, file, line);
	exit(-1);
#else // EFI_PROD_CODE

	criticalError("assert fail %s %s:%d", msg, file, line);

	// If on the main thread, longjmp back to the init process so we can keep USB alive
	if (chThdGetSelfX()->threadId == 0) {
		// Force unlock, since we may be throwing-under-lock
		chSysUnconditionalUnlock();

		// there was a port_disable in chSysHalt, reenable interrupts so USB works
		port_enable();

		__NO_RETURN void onAssertionFailure();
		onAssertionFailure();
	} else {
		// Not the main thread.
		// All hope is now lost.

		// Reboot!
		NVIC_SystemReset();
	}

#endif // EFI_PROD_CODE
}

#else
WarningCodeState unitTestWarningCodeState;

#endif /* EFI_SIMULATOR || EFI_PROD_CODE */

/**
 * ObdCode::OBD_PCM_Processor_Fault is the general error code for now
 *
 * @returns TRUE in case there were warnings recently
 */
bool warning(ObdCode code, const char *fmt, ...) {
	if (hasFirmwareErrorFlag)
		return true;

#if EFI_SIMULATOR || EFI_PROD_CODE
	bool known = engine->engineState.warnings.isWarningNow(code);

	// if known - just reset timer
	engine->engineState.warnings.addWarningCode(code);

	// we just had this same warning, let's not spam
	if (known) {
		return true;
	}

	// print Pxxxx (for standard OBD) or Cxxxx (for custom) prefix
	size_t size = snprintf(warningBuffer, sizeof(warningBuffer), "%s%04d: ",
		code < ObdCode::CUSTOM_NAN_ENGINE_LOAD ? "P" : "C", (int) code);

	va_list ap;
	va_start(ap, fmt);
	chvsnprintf(warningBuffer + size, sizeof(warningBuffer) - size, fmt, ap);
	va_end(ap);

	if (engineConfiguration->showHumanReadableWarning) {
#if EFI_TUNER_STUDIO
	// TODO: does this work? Fix or remove
	memcpy(persistentState.persistentConfiguration.warning_message, warningBuffer, sizeof(warningBuffer));
#endif /* EFI_TUNER_STUDIO */
	}

	efiPrintf("WARNING: %s", warningBuffer);
#else
	// todo: we need access to 'engine' here so that we can migrate to real 'engine->engineState.warnings'
	unitTestWarningCodeState.addWarningCode(code);
	printf("unit_test_warning: ");
	va_list ap;
	va_start(ap, fmt);
	vprintf(fmt, ap);
	va_end(ap);
	printf("\r\n");

#endif /* EFI_SIMULATOR || EFI_PROD_CODE */
	return false;
}

const char* getWarningMessage(void) {
	return warningBuffer;
}


#if EFI_CLOCK_LOCKS
uint32_t lastLockTime;
/**
 * Maximum time before requesting lock and releasing lock at the end of critical section
 */
uint32_t maxLockedDuration = 0;

/**
 * this depends on chdebug.h patch
 #if CH_DBG_SYSTEM_STATE_CHECK == TRUE
-#define _dbg_enter_lock() (ch.dbg.lock_cnt = (cnt_t)1)
-#define _dbg_leave_lock() (ch.dbg.lock_cnt = (cnt_t)0)
+#define _dbg_enter_lock() {(ch.dbg.lock_cnt = (cnt_t)1);  ON_LOCK_HOOK;}
+#define _dbg_leave_lock() {ON_UNLOCK_HOOK;(ch.dbg.lock_cnt = (cnt_t)0);}
 #endif
 */
#endif /* EFI_CLOCK_LOCKS */

void onLockHook(void) {
#if ENABLE_PERF_TRACE
	perfEventInstantGlobal(PE::GlobalLock);
#endif /* ENABLE_PERF_TRACE */

#if EFI_CLOCK_LOCKS
	lastLockTime = getTimeNowLowerNt();
#endif /* EFI_CLOCK_LOCKS */
}

void onUnlockHook(void) {
#if EFI_CLOCK_LOCKS
	uint32_t lockedDuration = getTimeNowLowerNt() - lastLockTime;
	if (lockedDuration > maxLockedDuration) {
		maxLockedDuration = lockedDuration;
	}
//	if (lockedDuration > 2800) {
//		// un-comment this if you want a nice stop for a breakpoint
//		maxLockedDuration = lockedDuration + 1;
//	}
#endif /* EFI_CLOCK_LOCKS */

#if ENABLE_PERF_TRACE
	perfEventInstantGlobal(PE::GlobalUnlock);
#endif /* ENABLE_PERF_TRACE */
}

#if EFI_SIMULATOR || EFI_UNIT_TEST
#include <stdexcept>
#endif

void firmwareError(ObdCode code, const char *fmt, ...) {
#if EFI_PROD_CODE
	if (hasFirmwareErrorFlag)
		return;
	hasFirmwareErrorFlag = true;
#if EFI_ENGINE_CONTROL
	getLimpManager()->fatalError();
#endif // EFI_ENGINE_CONTROL
	engine->engineState.warnings.addWarningCode(code);
#ifdef EFI_PRINT_ERRORS_AS_WARNINGS
	{
	    va_list ap;
	    va_start(ap, fmt);
	    chvsnprintf(warningBuffer, sizeof(warningBuffer), fmt, ap);
	    va_end(ap);
	}
#endif // EFI_PRINT_ERRORS_AS_WARNINGS
    criticalShutdown();
	enginePins.communicationLedPin.setValue(1, /*force*/true);

	if (indexOf(fmt, '%') == -1) {
		/**
		 * in case of simple error message let's reduce stack usage
		 * chvsnprintf could cause an overflow if we're already low
		 */
		strncpy((char*) criticalErrorMessageBuffer, fmt, sizeof(criticalErrorMessageBuffer) - 1);
		criticalErrorMessageBuffer[sizeof(criticalErrorMessageBuffer) - 1] = 0; // just to be sure
	} else {
		va_list ap;
		va_start(ap, fmt);
		chvsnprintf(criticalErrorMessageBuffer, sizeof(criticalErrorMessageBuffer), fmt, ap);
		va_end(ap);
	}

	int errorMessageSize = strlen((char*)criticalErrorMessageBuffer);
	static char versionBuffer[32];
	chsnprintf(versionBuffer, sizeof(versionBuffer), " %d@%s", getRusEfiVersion(), FIRMWARE_ID);

	if (errorMessageSize + strlen(versionBuffer) < sizeof(criticalErrorMessageBuffer)) {
		strcpy((char*)(criticalErrorMessageBuffer) + errorMessageSize, versionBuffer);
	}

#if EFI_BACKUP_SRAM
	auto sramState = getBackupSram();
	strncpy(sramState->Err.ErrorString, criticalErrorMessageBuffer, efi::size(sramState->Err.ErrorString));
	sramState->Err.Cookie = ErrorCookie::FirmwareError;
#endif // EFI_BACKUP_SRAM
#else

  // large buffer on stack is risky we better use normal memory
	static char errorBuffer[200];

	va_list ap;
	va_start(ap, fmt);
	vsnprintf(errorBuffer, sizeof(errorBuffer), fmt, ap);
	va_end(ap);

	printf("\x1B[31m>>>>>>>>>> firmwareError [%s]\r\n\x1B[0m\r\n", errorBuffer);

#if EFI_SIMULATOR || EFI_UNIT_TEST
	throw std::logic_error(errorBuffer);
#endif /* EFI_SIMULATOR */
#endif
}