/**
*
* @brief Dump thread information
*
* See _FaultDump() for example.
*
* @return N/A
*/
static void _FaultThreadShow(const NANO_ESF *esf)
{
PR_EXC(" Executing thread ID (thread): 0x%x\n"
" Faulting instruction address: 0x%x\n",
sys_thread_self_get(),
esf->pc);
}
int nanoCtxTaskTest(void)
{
nano_thread_id_t self_thread_id;
TC_PRINT("Testing sys_thread_self_get() from an ISR and task\n");
self_thread_id = sys_thread_self_get();
isrInfo.command = THREAD_SELF_CMD;
isrInfo.error = 0;
_trigger_isrHandler();
if ((isrInfo.error != 0) || (isrInfo.data != (void *) self_thread_id)) {
/*
* Either the ISR detected an error, or the ISR context ID does not
* match the interrupted task's thread ID.
*/
return TC_FAIL;
}
TC_PRINT("Testing sys_execution_context_type_get() from an ISR\n");
isrInfo.command = EXEC_CTX_TYPE_CMD;
isrInfo.error = 0;
_trigger_isrHandler();
if ((isrInfo.error != 0) || (isrInfo.value != NANO_CTX_ISR)) {
return TC_FAIL;
}
TC_PRINT("Testing sys_execution_context_type_get() from a task\n");
if (sys_execution_context_type_get() != NANO_CTX_TASK) {
return TC_FAIL;
}
return TC_PASS;
}
/**
*
* @brief Nanokernel fatal error handler
*
* This routine is called when a fatal error condition is detected by either
* hardware or software.
*
* The caller is expected to always provide a usable ESF. In the event that the
* fatal error does not have a hardware generated ESF, the caller should either
* create its own or use a pointer to the global default ESF <_default_esf>.
*
* @param reason the reason that the handler was called
* @param pEsf pointer to the exception stack frame
*
* @return This function does not return.
*/
FUNC_NORETURN void _NanoFatalErrorHandler(unsigned int reason,
const NANO_ESF *pEsf)
{
_debug_fatal_hook(pEsf);
#ifdef CONFIG_PRINTK
/* Display diagnostic information about the error */
switch (reason) {
case _NANO_ERR_CPU_EXCEPTION:
break;
case _NANO_ERR_SPURIOUS_INT:
printk("***** Unhandled interrupt vector %d occurred! "
"*****\n", _loapic_isr_vector_get());
break;
case _NANO_ERR_INVALID_TASK_EXIT:
printk("***** Invalid Exit Software Error! *****\n");
break;
#if defined(CONFIG_STACK_CANARIES)
case _NANO_ERR_STACK_CHK_FAIL:
printk("***** Stack Check Fail! *****\n");
break;
#endif /* CONFIG_STACK_CANARIES */
case _NANO_ERR_ALLOCATION_FAIL:
printk("**** Kernel Allocation Failure! ****\n");
break;
default:
printk("**** Unknown Fatal Error %d! ****\n", reason);
break;
}
printk("Current thread ID = 0x%x\n"
"Faulting segment:address = 0x%x:0x%x\n"
"eax: 0x%x, ebx: 0x%x, ecx: 0x%x, edx: 0x%x\n"
"esi: 0x%x, edi: 0x%x, ebp: 0%x, esp: 0x%x\n"
"eflags: 0x%x\n",
sys_thread_self_get(),
pEsf->cs & 0xFFFF, pEsf->eip,
pEsf->eax, pEsf->ebx, pEsf->ecx, pEsf->edx,
pEsf->esi, pEsf->edi, pEsf->ebp, pEsf->esp,
pEsf->eflags);
#endif /* CONFIG_PRINTK */
/*
* Error was fatal to a kernel task or a fiber; invoke the system
* fatal error handling policy defined for the platform.
*/
_SysFatalErrorHandler(reason, pEsf);
}
void isr_handler(void *data)
{
ARG_UNUSED(data);
switch (isrInfo.command) {
case THREAD_SELF_CMD:
isrInfo.data = (void *) sys_thread_self_get();
break;
case EXEC_CTX_TYPE_CMD:
isrInfo.value = sys_execution_context_type_get();
break;
default:
isrInfo.error = UNKNOWN_COMMAND;
break;
}
}
int
sol_mainloop_impl_platform_init(void)
{
int i;
main_thread_id = sys_thread_self_get();
nano_sem_init(&_sol_mainloop_lock);
nano_sem_give(&_sol_mainloop_lock);
nano_fifo_init(&_sol_mainloop_pending_events);
nano_fifo_init(&_sol_mainloop_free_events);
for (i = 0; i < sol_util_array_size(_events); i++) {
struct me_fifo_entry *mfe;
mfe = &_events[i];
nano_fifo_put(&_sol_mainloop_free_events, mfe);
}
return 0;
}
static void fiberHelper(int arg1, int arg2)
{
nano_thread_id_t self_thread_id;
ARG_UNUSED(arg1);
ARG_UNUSED(arg2);
/*
* This fiber starts off at a higher priority than fiberEntry(). Thus, it
* should execute immediately.
*/
fiberEvidence++;
/* Test that helper will yield to a fiber of equal priority */
self_thread_id = sys_thread_self_get();
self_thread_id->prio++; /* Lower priority to that of fiberEntry() */
fiber_yield(); /* Yield to fiber of equal priority */
fiberEvidence++;
/* <fiberEvidence> should now be 2 */
}
int nanoCtxFiberTest(nano_thread_id_t task_thread_id)
{
nano_thread_id_t self_thread_id;
self_thread_id = sys_thread_self_get();
if (self_thread_id == task_thread_id) {
fiberDetectedError = 1;
return TC_FAIL;
}
isrInfo.command = THREAD_SELF_CMD;
isrInfo.error = 0;
_trigger_isrHandler();
if ((isrInfo.error != 0) || (isrInfo.data != (void *) self_thread_id)) {
/*
* Either the ISR detected an error, or the ISR context ID does not
* match the interrupted fiber's thread ID.
*/
fiberDetectedError = 2;
return TC_FAIL;
}
isrInfo.command = EXEC_CTX_TYPE_CMD;
isrInfo.error = 0;
_trigger_isrHandler();
if ((isrInfo.error != 0) || (isrInfo.value != NANO_CTX_ISR)) {
fiberDetectedError = 3;
return TC_FAIL;
}
if (sys_execution_context_type_get() != NANO_CTX_FIBER) {
fiberDetectedError = 4;
return TC_FAIL;
}
return TC_PASS;
}
/**
*
* @brief Dump information regarding fault (FAULT_DUMP == 1)
*
* Dump information regarding the fault when CONFIG_FAULT_DUMP is set to 1
* (short form).
*
* eg. (precise bus error escalated to hard fault):
*
* Fault! EXC #3, Thread: 0x200000dc, instr: 0x000011d3
* HARD FAULT: Escalation (see below)!
* MMFSR: 0x00000000, BFSR: 0x00000082, UFSR: 0x00000000
* BFAR: 0xff001234
*
* @return N/A
*/
void _FaultDump(const NANO_ESF *esf, int fault)
{
int escalation = 0;
PR_EXC("Fault! EXC #%d, Thread: %x, instr @ %x\n",
fault,
sys_thread_self_get(),
esf->pc);
if (3 == fault) { /* hard fault */
escalation = _ScbHardFaultIsForced();
PR_EXC("HARD FAULT: %s\n",
escalation ? "Escalation (see below)!"
: "Bus fault on vector table read\n");
}
PR_EXC("MMFSR: %x, BFSR: %x, UFSR: %x\n",
__scs.scb.cfsr.byte.mmfsr.val,
__scs.scb.cfsr.byte.bfsr.val,
__scs.scb.cfsr.byte.ufsr.val);
if (_ScbMemFaultIsMmfarValid()) {
PR_EXC("MMFAR: %x\n", _ScbMemFaultAddrGet());
if (escalation) {
_ScbMemFaultMmfarReset();
}
}
if (_ScbBusFaultIsBfarValid()) {
PR_EXC("BFAR: %x\n", _ScbBusFaultAddrGet());
if (escalation) {
_ScbBusFaultBfarReset();
}
}
/* clear USFR sticky bits */
_ScbUsageFaultAllFaultsReset();
}
void main(void)
{
int rv; /* return value from tests */
TC_START("Test Nanokernel CPU and thread routines");
TC_PRINT("Initializing nanokernel objects\n");
rv = initNanoObjects();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Testing nano_cpu_idle()\n");
rv = nano_cpu_idleTest();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Testing interrupt locking and unlocking\n");
rv = nanoCpuDisableInterruptsTest(irq_lockWrapper,
irq_unlockWrapper, -1);
if (rv != TC_PASS) {
goto doneTests;
}
/*
* The Cortex-M3/M4 use the SYSTICK exception for the system timer, which is
* not considered an IRQ by the irq_enable/Disable APIs.
*/
#if !defined(CONFIG_CPU_CORTEX_M3_M4)
/* Disable interrupts coming from the timer. */
TC_PRINT("Testing irq_disable() and irq_enable()\n");
rv = nanoCpuDisableInterruptsTest(irq_disableWrapper,
irq_enableWrapper, TICK_IRQ);
if (rv != TC_PASS) {
goto doneTests;
}
#endif
rv = nanoCtxTaskTest();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Spawning a fiber from a task\n");
fiberEvidence = 0;
task_fiber_start(fiberStack1, FIBER_STACKSIZE, fiberEntry,
(int) sys_thread_self_get(), 0, FIBER_PRIORITY, 0);
if (fiberEvidence != 1) {
rv = TC_FAIL;
TC_ERROR(" - fiber did not execute as expected!\n");
goto doneTests;
}
/*
* The fiber ran, now wake it so it can test sys_thread_self_get and
* sys_execution_context_type_get.
*/
TC_PRINT("Fiber to test sys_thread_self_get() and sys_execution_context_type_get\n");
nano_task_sem_give(&wakeFiber);
if (fiberDetectedError != 0) {
rv = TC_FAIL;
TC_ERROR(" - failure detected in fiber; fiberDetectedError = %d\n",
fiberDetectedError);
goto doneTests;
}
TC_PRINT("Fiber to test fiber_yield()\n");
nano_task_sem_give(&wakeFiber);
if (fiberDetectedError != 0) {
rv = TC_FAIL;
TC_ERROR(" - failure detected in fiber; fiberDetectedError = %d\n",
fiberDetectedError);
goto doneTests;
}
nano_task_sem_give(&wakeFiber);
rv = test_timeout();
if (rv != TC_PASS) {
goto doneTests;
}
/* Cortex-M3/M4 does not implement connecting non-IRQ exception handlers */
#if !defined(CONFIG_CPU_CORTEX_M3_M4)
/*
* Test divide by zero exception handler.
*
* WARNING: This code has been very carefully crafted so that it does
* what it is supposed to. Both "error" and "excHandlerExecuted" must be
* volatile to prevent the compiler from issuing a "divide by zero"
* warning (since otherwise in knows "excHandlerExecuted" is zero),
* and to ensure the compiler issues the two byte "idiv" instruction
* that the exception handler is designed to deal with.
*/
volatile int error; /* used to create a divide by zero error */
TC_PRINT("Verifying exception handler installed\n");
excHandlerExecuted = 0;
error = error / excHandlerExecuted;
TC_PRINT("excHandlerExecuted: %d\n", excHandlerExecuted);
rv = (excHandlerExecuted == 1) ? TC_PASS : TC_FAIL;
#endif
doneTests:
TC_END_RESULT(rv);
TC_END_REPORT(rv);
}
int fiber_yieldTest(void)
{
nano_thread_id_t self_thread_id;
/*
* Start a fiber of higher priority. Note that since the new fiber is
* being started from a fiber, it will not automatically switch to the
* fiber as it would if done from a task.
*/
self_thread_id = sys_thread_self_get();
fiberEvidence = 0;
fiber_fiber_start(fiberStack2, FIBER_STACKSIZE, fiberHelper,
0, 0, FIBER_PRIORITY - 1, 0);
if (fiberEvidence != 0) {
/* ERROR! Helper spawned at higher */
fiberDetectedError = 10; /* priority ran prematurely. */
return TC_FAIL;
}
/*
* Test that the fiber will yield to the higher priority helper.
* <fiberEvidence> is still 0.
*/
fiber_yield();
if (fiberEvidence == 0) {
/* ERROR! Did not yield to higher */
fiberDetectedError = 11; /* priority fiber. */
return TC_FAIL;
}
if (fiberEvidence > 1) {
/* ERROR! Helper did not yield to */
fiberDetectedError = 12; /* equal priority fiber. */
return TC_FAIL;
}
/*
* Raise the priority of fiberEntry(). Calling fiber_yield() should
* not result in switching to the helper.
*/
self_thread_id->prio--;
fiber_yield();
if (fiberEvidence != 1) {
/* ERROR! Context switched to a lower */
fiberDetectedError = 13; /* priority fiber! */
return TC_FAIL;
}
/*
* Block on <wakeFiber>. This will allow the helper fiber to complete.
* The main task will wake this fiber.
*/
nano_fiber_sem_take(&wakeFiber, TICKS_UNLIMITED);
return TC_PASS;
}
bool
sol_mainloop_impl_main_thread_check(void)
{
return main_thread_id == sys_thread_self_get();
}