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Error handling cleanup (#4332) 

* dead code in stm32

* rusefi.cpp can have some noreturn

* handle lua panic

* unused error codes

* simplifications of error_handling.cpp

* comment

* put that back

* guard
This commit is contained in:
Matthew Kennedy 2022-07-07 20:49:02 -07:00 committed by GitHub
parent bbb869c073
commit 5d844b1ebe
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 34 additions and 170 deletions
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4
firmware/controllers/algo/obd_error_codes.h
View File

@ -1953,8 +1953,8 @@ typedef enum {
CUSTOM_ERR_6605 = 6605,
CUSTOM_ERR_6606 = 6606,
CUSTOM_APPEND_STACK = 6607,
CUSTOM_RM_STACK_1 = 6608,
CUSTOM_RM_STACK = 6609,
CUSTOM_ERR_6608 = 6608,
CUSTOM_ERR_6609 = 6609,
CUSTOM_ERR_6610 = 6610,
CUSTOM_ERR_6611 = 6611,

45
firmware/controllers/core/error_handling.cpp
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@ -66,6 +66,7 @@ void checkLastBootError() {
void logHardFault(uint32_t type, uintptr_t faultAddress, port_extctx* ctx, uint32_t csfr) {
auto sramState = getBackupSram();
sramState->Cookie = ErrorCookie::HardFault;
sramState->FaultType = type;
sramState->FaultAddress = faultAddress;
sramState->Csfr = csfr;
memcpy(&sramState->FaultCtx, ctx, sizeof(port_extctx));
@ -74,15 +75,6 @@ void logHardFault(uint32_t type, uintptr_t faultAddress, port_extctx* ctx, uint3
extern ioportid_t criticalErrorLedPort;
extern ioportmask_t criticalErrorLedPin;
extern uint8_t criticalErrorLedState;
/**
* low-level function is used here to reduce stack usage
*/
#define ON_CRITICAL_ERROR() \
palWritePad(criticalErrorLedPort, criticalErrorLedPin, criticalErrorLedState); \
turnAllPinsOff(); \
enginePins.communicationLedPin.setValue(1);
#endif /* EFI_PROD_CODE */
#if EFI_SIMULATOR || EFI_PROD_CODE
@ -96,12 +88,10 @@ void chDbgPanic3(const char *msg, const char * file, int line) {
ch.dbg.panic_msg = msg;
#endif /* CH_DBG_SYSTEM_STATE_CHECK */
#if EFI_PROD_CODE
ON_CRITICAL_ERROR();
#else
#if !EFI_PROD_CODE
printf("chDbgPanic3 %s %s%d", msg, file, line);
exit(-1);
#endif
#else // EFI_PROD_CODE
#if EFI_HD44780_LCD
lcdShowPanicMessage((char *) msg);
@ -109,20 +99,24 @@ void chDbgPanic3(const char *msg, const char * file, int line) {
firmwareError(OBD_PCM_Processor_Fault, "assert fail %s %s:%d", msg, file, line);
// Force unlock, since we may be throwing-under-lock
chSysUnconditionalUnlock();
// there was a port_disable in chSysHalt, reenable interrupts so USB works
port_enable();
// If on the main thread, longjmp back to the init process so we can keep USB alive
if (chThdGetSelfX()->threadId == 0) {
void onAssertionFailure();
// 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, simply try to terminate ourselves and let other threads continue living (so the user can diagnose, etc)
chThdTerminate(chThdGetSelfX());
// Not the main thread.
// All hope is now lost.
// Reboot!
NVIC_SystemReset();
}
#endif // EFI_PROD_CODE
}
#else
@ -244,8 +238,10 @@ void firmwareError(obd_code_e code, const char *fmt, ...) {
chvsnprintf(warningBuffer, sizeof(warningBuffer), fmt, ap);
va_end(ap);
#endif
ON_CRITICAL_ERROR()
;
palWritePad(criticalErrorLedPort, criticalErrorLedPin, criticalErrorLedState);
turnAllPinsOff();
enginePins.communicationLedPin.setValue(1);
hasFirmwareErrorFlag = true;
if (indexOf(fmt, '%') == -1) {
/**
@ -288,4 +284,3 @@ void firmwareError(obd_code_e code, const char *fmt, ...) {
#endif /* EFI_SIMULATOR */
#endif
}

9
firmware/controllers/lua/lua.cpp
View File

@ -149,6 +149,15 @@ static LuaHandle setupLuaState(lua_Alloc alloc) {
return nullptr;
}
lua_atpanic(ls, [](lua_State* l) {
firmwareError(OBD_PCM_Processor_Fault, "Lua panic: %s", lua_tostring(l, -1));
// hang the lua thread
while (true) ;
return 0;
});
// Load Lua's own libraries
loadLibraries(ls);

137
firmware/hw_layer/ports/stm32/stm32_common.cpp
View File

@ -406,19 +406,11 @@ void baseMCUInit(void) {
BOR_Set(BOR_Level_1); // one step above default value
}
extern "C" {
void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress);
}
extern uint32_t __main_stack_base__;
#define GET_CFSR() (*((volatile uint32_t *) (0xE000ED28)))
typedef struct port_intctx intctx_t;
EXTERNC int getRemainingStack(thread_t *otp) {
#if CH_DBG_ENABLE_STACK_CHECK
// this would dismiss coverity warning - see http://rusefi.com/forum/viewtopic.php?f=5&t=655
// coverity[uninit_use]
@ -440,135 +432,6 @@ EXTERNC int getRemainingStack(thread_t *otp) {
#endif /* CH_DBG_ENABLE_STACK_CHECK */
}
void _unhandled_exception(void) {
/*lint -restore*/
chDbgPanic3("_unhandled_exception", __FILE__, __LINE__);
while (true) {
}
}
void DebugMonitorVector(void) {
chDbgPanic3("DebugMonitorVector", __FILE__, __LINE__);
while (TRUE)
;
}
void UsageFaultVector(void) {
chDbgPanic3("UsageFaultVector", __FILE__, __LINE__);
while (TRUE)
;
}
void BusFaultVector(void) {
chDbgPanic3("BusFaultVector", __FILE__, __LINE__);
while (TRUE) {
}
}
/**
+ * @brief Register values for postmortem debugging.
+ */
volatile uint32_t postmortem_r0;
volatile uint32_t postmortem_r1;
volatile uint32_t postmortem_r2;
volatile uint32_t postmortem_r3;
volatile uint32_t postmortem_r12;
volatile uint32_t postmortem_lr; /* Link register. */
volatile uint32_t postmortem_pc; /* Program counter. */
volatile uint32_t postmortem_psr;/* Program status register. */
volatile uint32_t postmortem_CFSR;
volatile uint32_t postmortem_HFSR;
volatile uint32_t postmortem_DFSR;
volatile uint32_t postmortem_AFSR;
volatile uint32_t postmortem_BFAR;
volatile uint32_t postmortem_MMAR;
volatile uint32_t postmortem_SCB_SHCSR;
/**
* @brief Evaluates to TRUE if system runs under debugger control.
* @note This bit resets only by power reset.
*/
#define is_under_debugger() (((CoreDebug)->DHCSR) & \
CoreDebug_DHCSR_C_DEBUGEN_Msk)
/**
*
*/
void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress) {
postmortem_r0 = pulFaultStackAddress[0];
postmortem_r1 = pulFaultStackAddress[1];
postmortem_r2 = pulFaultStackAddress[2];
postmortem_r3 = pulFaultStackAddress[3];
postmortem_r12 = pulFaultStackAddress[4];
postmortem_lr = pulFaultStackAddress[5];
postmortem_pc = pulFaultStackAddress[6];
postmortem_psr = pulFaultStackAddress[7];
/* Configurable Fault Status Register. Consists of MMSR, BFSR and UFSR */
postmortem_CFSR = GET_CFSR();
/* Hard Fault Status Register */
postmortem_HFSR = (*((volatile uint32_t *) (0xE000ED2C)));
/* Debug Fault Status Register */
postmortem_DFSR = (*((volatile uint32_t *) (0xE000ED30)));
/* Auxiliary Fault Status Register */
postmortem_AFSR = (*((volatile uint32_t *) (0xE000ED3C)));
/* Read the Fault Address Registers. These may not contain valid values.
Check BFARVALID/MMARVALID to see if they are valid values
MemManage Fault Address Register */
postmortem_MMAR = (*((volatile uint32_t *) (0xE000ED34)));
/* Bus Fault Address Register */
postmortem_BFAR = (*((volatile uint32_t *) (0xE000ED38)));
postmortem_SCB_SHCSR = SCB->SHCSR;
if (is_under_debugger()) {
__asm("BKPT #0\n");
// Break into the debugger
}
/* harmless infinite loop */
while (1) {
;
}
}
void HardFaultVector(void) {
#if 0 && defined __GNUC__
__asm volatile (
" tst lr, #4 \n"
" ite eq \n"
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r1, [r0, #24] \n"
" ldr r2, handler2_address_const \n"
" bx r2 \n"
" handler2_address_const: .word prvGetRegistersFromStack \n"
);
#else
#endif /* 0 && defined __GNUC__ */
int cfsr = GET_CFSR();
if (cfsr & 0x1) {
chDbgPanic3("H IACCVIOL", __FILE__, __LINE__);
} else if (cfsr & 0x100) {
chDbgPanic3("H IBUSERR", __FILE__, __LINE__);
} else if (cfsr & 0x20000) {
chDbgPanic3("H INVSTATE", __FILE__, __LINE__);
} else {
chDbgPanic3("HardFaultVector", __FILE__, __LINE__);
}
while (TRUE) {
}
}
#if HAL_USE_SPI
bool isSpiInitialized[5] = { false, false, false, false, false };

5
firmware/rusefi.cpp
View File

@ -170,10 +170,9 @@ void onAssertionFailure() {
}
void runRusEfiWithConfig();
void runMainLoop();
__NO_RETURN void runMainLoop();
void runRusEfi() {
efiAssertVoid(CUSTOM_RM_STACK_1, getCurrentRemainingStack() > 512, "init s");
engine->setConfig();
#if EFI_TEXT_LOGGING
@ -312,8 +311,6 @@ void runMainLoop() {
* control is around main_trigger_callback
*/
while (true) {
efiAssertVoid(CUSTOM_RM_STACK, getCurrentRemainingStack() > 128, "stack#1");
#if EFI_CLI_SUPPORT && !EFI_UART_ECHO_TEST_MODE
// sensor state + all pending messages for our own rusEfi console
// todo: is this mostly dead code?

4
firmware/rusefi.h
View File

@ -7,5 +7,5 @@
#pragma once
void runRusEfi();
void rebootNow();
__NO_RETURN void runRusEfi();
__NO_RETURN void rebootNow();