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 "os_util.h"
#include "backup_ram.h"
#include "error_handling_led.h"
#include "error_handling_c.h"
#include "log_hard_fault.h"
#include "rusefi/critical_error.h"

// Ignore following (and similar) errors
// error: 'strncpy' output may be truncated copying 119 bytes from a string of length 119
_Pragma("GCC diagnostic push")
_Pragma("GCC diagnostic ignored \"-Wstringop-truncation\"")

static critical_msg_t warningBuffer;
static critical_msg_t criticalErrorMessageBuffer;
static critical_msg_t configErrorMessageBuffer; // recoverable configuration error, non-critical

extern int warningEnabled;

bool hasCriticalFirmwareErrorFlag = false;
static bool hasConfigErrorFlag = false;

const char *dbg_panic_file;
int dbg_panic_line;

// todo: need vararg version of 'firmwareError' to make this method vararg?
void efiCriticalError(const char *message) {
  criticalError(message);
}

const char* getCriticalErrorMessage() {
	return criticalErrorMessageBuffer;
}

bool hasConfigError() {
  return hasConfigErrorFlag;
}

void clearConfigErrorMessage() {
  hasConfigErrorFlag = false;
}

const char* getConfigErrorMessageBuffer() {
	return configErrorMessageBuffer;
}

#if EFI_PROD_CODE

#if EFI_BACKUP_SRAM
static backupErrorState lastBootError;
static uint32_t bootCount = 0;
#endif

void errorHandlerInit() {
#if EFI_BACKUP_SRAM
	/* copy error state from backup RAM and clear it in backup RAM.
	 * so few users can access previous error state and we should not care about who sohuld clear backup ram. */
	auto sramState = getBackupSram();
	memcpy(&lastBootError, &sramState->err, sizeof(backupErrorState));
	memset(&sramState->err, 0x00, sizeof(sramState->err));
	// Reset cookie so we don't report it again.
	sramState->err.Cookie = ErrorCookie::None;

	//bootcount
	if (sramState->BootCountCookie != 0xdeadbeef) {
		sramState->BootCountCookie = 0xdeadbeef;
		sramState->BootCount = 0;
	}
	// save current bootcounter
	bootCount = sramState->BootCount;

	sramState->BootCount++;

	if (engineConfiguration->rethrowHardFault) {
		backupErrorState *err = &lastBootError;
		if (err->Cookie == ErrorCookie::HardFault) {
		    criticalError("Last boot had hard fault type: %lx addr: %lx CSFR: %lx",
		    	err->FaultType, err->FaultAddress, err->Csfr);
		}
	}

	Reset_Cause_t cause = getMCUResetCause();
	// if reset by watchdog, signal a fatal error
	if ((cause == Reset_Cause_IWatchdog) || (cause == Reset_Cause_WWatchdog)) {
		firmwareError(ObdCode::OBD_PCM_Processor_Fault, "Watchdog Reset");
	}
#endif

	// see https://github.com/rusefi/rusefi/wiki/Resilience
	addConsoleAction("chibi_fault", [](){ chDbgCheck(0); } );
	addConsoleAction("soft_fault", [](){ firmwareError(ObdCode::RUNTIME_CRITICAL_TEST_ERROR, "firmwareError: %d", getRusEfiVersion()); });
	addConsoleAction("hard_fault", [](){ causeHardFault(); } );
}

bool errorHandlerIsStartFromError() {
#if EFI_BACKUP_SRAM
	return (lastBootError.Cookie != ErrorCookie::None);
#else
	return 0;
#endif
}

// TODO: reuse this code for writing crash report file
void errorHandlerShowBootReasonAndErrors() {
	efiPrintf("Reset Cause: %s", getMCUResetCause(getMCUResetCause()));

#if EFI_BACKUP_SRAM
	auto sramState = getBackupSram();
	backupErrorState *err = &lastBootError;

	efiPrintf("Power cycle count: %lu", sramState->BootCount);

	if (err->Cookie == ErrorCookie::None) {
		return;
	}

	efiPrintf("Last error cookie 0x%08lx", (uint32_t)err->Cookie);

	switch (err->Cookie) {
	case ErrorCookie::FirmwareError:
		{
			efiPrintf("Firmware error: %s", err->msg);
		}
		break;
	case ErrorCookie::HardFault:
		{
			efiPrintf("HardFault");
			efiPrintf("type: 0x%08lx addr: 0x%08lx CSFR: 0x%08lx",
				err->FaultType, err->FaultAddress, err->Csfr);

			auto ctx = &err->FaultCtx;
			efiPrintf("r0  0x%08lx", ctx->r0);
			efiPrintf("r1  0x%08lx", ctx->r1);
			efiPrintf("r2  0x%08lx", ctx->r2);
			efiPrintf("r3  0x%08lx", ctx->r3);
			efiPrintf("r12 0x%08lx", ctx->r12);
			efiPrintf("lr (thread)  0x%08lx", ctx->lr_thd);
			efiPrintf("pc  0x%08lx", ctx->pc);
			efiPrintf("xpsr  0x%08lx", ctx->xpsr);

			/* FPU registers - not very useful for debug */
			if (0) {
				// Print rest the context as a sequence of uintptr
				uintptr_t* data = reinterpret_cast<uintptr_t*>(&err->FaultCtx);
				for (size_t i = 8; i < sizeof(port_extctx) / sizeof(uintptr_t); i++) {
					efiPrintf("Fault ctx %d: 0x%08x", i, data[i]);
				}
			}
		}
		break;
	case ErrorCookie::ChibiOsPanic:
		{
			efiPrintf("ChibiOS panic");
			efiPrintf("msg %s", err->msg);
			efiPrintf("file %s", err->file);
			efiPrintf("line %d", err->line);
		}
		break;
	default:
		// No cookie stored or invalid cookie (ie, backup RAM contains random garbage)
		break;
	}
#endif // EFI_BACKUP_SRAM
}

#if EFI_FILE_LOGGING
#include "ff.h"

#define BOOT_REPORT_PREFIX "boot_"

PUBLIC_API_WEAK void onBoardWriteErrorFile(FIL *) {
}

void errorHandlerWriteReportFile(FIL *fd) {
#if EFI_BACKUP_SRAM
	backupErrorState *err = &lastBootError;

	if (err->Cookie != ErrorCookie::None) {
		char fileName[_MAX_FILLER + 20];
		memset(fd, 0, sizeof(FIL));						// clear the memory
		sprintf(fileName, "%s%ld.txt", BOOT_REPORT_PREFIX, bootCount);
		FRESULT ret = f_open(fd, fileName, FA_CREATE_ALWAYS | FA_WRITE);
		if (ret == FR_OK) {
			onBoardWriteErrorFile(fd);
			f_printf(fd, "type=%d\n", err->FaultType);
			// todo: figure out what else would be useful
			f_close(fd);
		}
	}
#endif // EFI_BACKUP_SRAM
}
#endif

backupErrorState *errorHandlerGetLastErrorDescriptor(void)
{
#ifdef EFI_BACKUP_SRAM
	return &lastBootError;
#else
	return nullptr;
#endif
}

void logHardFault(uint32_t type, uintptr_t faultAddress, port_extctx* ctx, uint32_t csfr) {
    criticalShutdown();
#if EFI_BACKUP_SRAM
    auto bkpram = getBackupSram();
	auto err = &bkpram->err;
	err->Cookie = ErrorCookie::HardFault;
	err->FaultType = type;
	err->FaultAddress = faultAddress;
	err->Csfr = csfr;
	memcpy(&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 bkpram = getBackupSram();
	auto err = &bkpram->err;
	strncpy(err->file, file, efi::size(err->file) - 1);
	err->line = line;
	strncpy(err->msg, msg, efi::size(err->msg) - 1);
	err->Cookie = ErrorCookie::ChibiOsPanic;
#endif // EFI_BACKUP_SRAM

	if (hasOsPanicError())
		return;
	dbg_panic_file = file;
	dbg_panic_line = line;
#if CH_DBG_SYSTEM_STATE_CHECK
	ch0.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
}
#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 (hasCriticalFirmwareErrorFlag) {
		return true;
	}

	bool known = engine->engineState.warnings.isWarningNow(code);

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

#if EFI_SIMULATOR || EFI_PROD_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);

	efiPrintf("WARNING: %s", warningBuffer);
#else
	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;
}

#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 configError(const char *fmt, ...) {
		va_list ap;
		va_start(ap, fmt);
		chvsnprintf(configErrorMessageBuffer, sizeof(configErrorMessageBuffer), fmt, ap);
		va_end(ap);
		hasConfigErrorFlag = true;
}

const char* getConfigErrorMessage() {
	return configErrorMessageBuffer;
}

void firmwareError(ObdCode code, const char *fmt, ...) {
#if EFI_PROD_CODE
	if (hasCriticalFirmwareErrorFlag)
		return;
	hasCriticalFirmwareErrorFlag = true;
#if EFI_ENGINE_CONTROL
	getLimpManager()->fatalError();
#endif // EFI_ENGINE_CONTROL
	engine->engineState.warnings.addWarningCode(code);
    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 bkpram = getBackupSram();
	auto err = &bkpram->err;
	strncpy(err->msg, criticalErrorMessageBuffer, sizeof(err->msg) - 1);
	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
}

void criticalErrorM(const char *msg) {
	criticalError(msg);
}

_Pragma("GCC diagnostic pop")