This is an automated email from the ASF dual-hosted git repository. xiaoxiang pushed a commit to branch releases/12.7 in repository https://gitbox.apache.org/repos/asf/nuttx.git
commit e65b03edd295ea9d2617798a55c1aa3f77ded98e Author: xuxingliang <[email protected]> AuthorDate: Wed Jul 17 11:11:56 2024 +0800 assert: cleanup assert handler 1. extract dump from assert main flow 2. use OSINIT_PANIC for fatal error. 3. fix the method to judge kernel thread. Signed-off-by: xuxingliang <[email protected]> --- include/nuttx/init.h | 3 +- sched/misc/assert.c | 294 +++++++++++++++++++++++++++++++-------------------- 2 files changed, 179 insertions(+), 118 deletions(-) diff --git a/include/nuttx/init.h b/include/nuttx/init.h index 63e5b266b4..4d0dc4023f 100644 --- a/include/nuttx/init.h +++ b/include/nuttx/init.h @@ -69,7 +69,8 @@ enum nx_initstate_e * initialization. */ OSINIT_OSREADY = 5, /* The OS is fully initialized and multi-tasking is * active. */ - OSINIT_IDLELOOP = 6 /* The OS enter idle loop */ + OSINIT_IDLELOOP = 6, /* The OS enter idle loop. */ + OSINIT_PANIC = 7 /* Fatal error happened. */ }; /**************************************************************************** diff --git a/sched/misc/assert.c b/sched/misc/assert.c index 48a0fa4e92..115ad4ff2f 100644 --- a/sched/misc/assert.c +++ b/sched/misc/assert.c @@ -29,9 +29,9 @@ #include <nuttx/arch.h> #include <nuttx/board.h> #include <nuttx/coredump.h> -#include <nuttx/fs/fs.h> #include <nuttx/init.h> #include <nuttx/irq.h> +#include <nuttx/fs/fs.h> #include <nuttx/tls.h> #include <nuttx/signal.h> #ifdef CONFIG_ARCH_LEDS @@ -94,8 +94,9 @@ * Private Data ****************************************************************************/ -static uintptr_t -g_last_regs[XCPTCONTEXT_REGS] aligned_data(XCPTCONTEXT_ALIGN); +static uintptr_t g_last_regs[XCPTCONTEXT_REGS] + aligned_data(XCPTCONTEXT_ALIGN); + static FAR const char * const g_policy[4] = { "FIFO", "RR", "SPORADIC" @@ -109,8 +110,6 @@ static FAR const char * const g_ttypenames[4] = "Invalid" }; -static bool g_fatal_assert = false; - /**************************************************************************** * Private Functions ****************************************************************************/ @@ -213,8 +212,14 @@ static void dump_stack(FAR const char *tag, uintptr_t sp, static void dump_stacks(FAR struct tcb_s *rtcb, uintptr_t sp) { +#ifdef CONFIG_SMP + int cpu = rtcb->cpu; +#else + int cpu = this_cpu(); + UNUSED(cpu); +#endif #if CONFIG_ARCH_INTERRUPTSTACK > 0 - uintptr_t intstack_base = up_get_intstackbase(this_cpu()); + uintptr_t intstack_base = up_get_intstackbase(cpu); size_t intstack_size = CONFIG_ARCH_INTERRUPTSTACK; uintptr_t intstack_top = intstack_base + intstack_size; uintptr_t intstack_sp = 0; @@ -263,13 +268,16 @@ static void dump_stacks(FAR struct tcb_s *rtcb, uintptr_t sp) intstack_base, intstack_size, #ifdef CONFIG_STACK_COLORATION - up_check_intstack(this_cpu()) + up_check_intstack(cpu) #else 0 #endif ); - tcbstack_sp = up_getusrsp((FAR void *)up_current_regs()); + /* Try to restore SP from current_regs if assert from interrupt. */ + + tcbstack_sp = up_interrupt_context() ? + up_getusrsp((FAR void *)up_current_regs()) : 0; if (tcbstack_sp < tcbstack_base || tcbstack_sp >= tcbstack_top) { tcbstack_sp = 0; @@ -364,7 +372,7 @@ static void dump_task(FAR struct tcb_s *tcb, FAR void *arg) #ifdef CONFIG_SMP " %4d" #endif - " %3d %-8s %-7s %c" + " %3d %-8s %-7s %-3c" " %-18s" " " SIGSET_FMT " %p" @@ -562,95 +570,47 @@ static void pause_all_cpu(void) } #endif -/**************************************************************************** - * Public Functions - ****************************************************************************/ +static void dump_running_task(FAR struct tcb_s *rtcb, FAR void *regs) +{ + /* Register dump */ + + up_dump_register(regs); + +#ifdef CONFIG_ARCH_STACKDUMP + dump_stacks(rtcb, up_getusrsp(regs)); +#endif + + /* Show back trace */ + +#ifdef CONFIG_SCHED_BACKTRACE + sched_dumpstack(rtcb->pid); +#endif +} /**************************************************************************** - * Name: _assert + * Name: dump_assert_info + * + * Description: + * Dump basic information of assertion ****************************************************************************/ -void _assert(FAR const char *filename, int linenum, - FAR const char *msg, FAR void *regs) +static void dump_assert_info(FAR struct tcb_s *rtcb, + FAR const char *filename, int linenum, + FAR const char *msg, FAR void *regs) { - const bool os_ready = OSINIT_OS_READY(); - FAR struct tcb_s *rtcb = running_task(); #if CONFIG_TASK_NAME_SIZE > 0 FAR struct tcb_s *ptcb = NULL; #endif - struct panic_notifier_s notifier_data; struct utsname name; - irqstate_t flags; - bool fatal = true; #if CONFIG_TASK_NAME_SIZE > 0 - if (rtcb->group && !(rtcb->flags & TCB_FLAG_TTYPE_KERNEL)) - { - ptcb = nxsched_get_tcb(rtcb->group->tg_pid); - } -#endif - - flags = 0; /* suppress GCC warning */ - if (os_ready) - { - flags = enter_critical_section(); - } - - if (g_fatal_assert) - { - goto reset; - } - - if (os_ready && fatal) - { - /* Disable KASAN to avoid false positive */ - - kasan_stop(); - -#ifdef CONFIG_SMP - pause_all_cpu(); -#endif - } - - /* try to save current context if regs is null */ - - if (regs == NULL) - { - up_saveusercontext(g_last_regs); - regs = g_last_regs; - } - else - { - memcpy(g_last_regs, regs, sizeof(g_last_regs)); - } - -#if CONFIG_BOARD_RESET_ON_ASSERT < 2 - if (!up_interrupt_context() && + if (rtcb->group && (rtcb->flags & TCB_FLAG_TTYPE_MASK) != TCB_FLAG_TTYPE_KERNEL) { - fatal = false; - } - else -#endif - { - g_fatal_assert = true; + ptcb = nxsched_get_tcb(rtcb->group->tg_pid); } - - notifier_data.rtcb = rtcb; - notifier_data.regs = regs; - notifier_data.filename = filename; - notifier_data.linenum = linenum; - notifier_data.msg = msg; - panic_notifier_call_chain(fatal ? PANIC_KERNEL : PANIC_TASK, - ¬ifier_data); -#ifdef CONFIG_ARCH_LEDS - board_autoled_on(LED_ASSERTION); #endif - /* Flush any buffered SYSLOG data (from prior to the assertion) */ - - syslog_flush(); - uname(&name); _alert("Current Version: %s %s %s %s %s\n", name.sysname, name.nodename, @@ -677,42 +637,41 @@ void _assert(FAR const char *filename, int linenum, #endif rtcb->entry.main); - /* Register dump */ - - up_dump_register(regs); - -#ifdef CONFIG_ARCH_STACKDUMP - dump_stacks(rtcb, up_getusrsp(regs)); -#endif + /* Dump current CPU registers, running task stack and backtrace. */ - /* Show back trace */ - -#ifdef CONFIG_SCHED_BACKTRACE - sched_dumpstack(rtcb->pid); -#endif + dump_running_task(rtcb, regs); /* Flush any buffered SYSLOG data */ syslog_flush(); +} - if (fatal) - { - dump_tasks(); +/**************************************************************************** + * Name: dump_fatal_info + ****************************************************************************/ + +static void dump_fatal_info(FAR struct tcb_s *rtcb, + FAR const char *filename, int linenum, + FAR const char *msg, FAR void *regs) +{ + /* Dump backtrace of other tasks. */ + + dump_tasks(); #ifdef CONFIG_ARCH_DEADLOCKDUMP - /* Deadlock Dump */ + /* Deadlock Dump */ - dump_deadlock(); + dump_deadlock(); #endif #ifdef CONFIG_ARCH_USBDUMP - /* Dump USB trace data */ + /* Dump USB trace data */ - usbtrace_enumerate(assert_tracecallback, NULL); + usbtrace_enumerate(assert_tracecallback, NULL); #endif #ifdef CONFIG_BOARD_CRASHDUMP - board_crashdump(up_getsp(), rtcb, filename, linenum, msg, regs); + board_crashdump(up_getsp(), rtcb, filename, linenum, msg, regs); #endif #if defined(CONFIG_BOARD_COREDUMP_SYSLOG) || \ @@ -720,37 +679,138 @@ void _assert(FAR const char *filename, int linenum, /* Dump core information */ # ifdef CONFIG_BOARD_COREDUMP_FULL - coredump_dump(INVALID_PROCESS_ID); + coredump_dump(INVALID_PROCESS_ID); # else - coredump_dump(rtcb->pid); + coredump_dump(rtcb->pid); # endif #endif - /* Flush any buffered SYSLOG data */ + /* Flush any buffered SYSLOG data */ - syslog_flush(); - panic_notifier_call_chain(PANIC_KERNEL_FINAL, ¬ifier_data); + syslog_flush(); +} - reboot_notifier_call_chain(SYS_HALT, NULL); +/**************************************************************************** + * Name: reset_board + * + * Description: + * Reset board or stuck here to flash LED. It should never return. + ****************************************************************************/ -reset: +static void reset_board(void) +{ #if CONFIG_BOARD_RESET_ON_ASSERT >= 1 - board_reset(CONFIG_BOARD_ASSERT_RESET_VALUE); + board_reset(CONFIG_BOARD_ASSERT_RESET_VALUE); #else - for (; ; ) - { + for (; ; ) + { #ifdef CONFIG_ARCH_LEDS - /* FLASH LEDs a 2Hz */ + /* FLASH LEDs a 2Hz */ + + board_autoled_on(LED_PANIC); + up_mdelay(250); + board_autoled_off(LED_PANIC); +#endif + up_mdelay(250); + } +#endif +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: _assert + ****************************************************************************/ + +void _assert(FAR const char *filename, int linenum, + FAR const char *msg, FAR void *regs) +{ + const bool os_ready = OSINIT_OS_READY(); + FAR struct tcb_s *rtcb = running_task(); + struct panic_notifier_s notifier_data; + irqstate_t flags; + + if (g_nx_initstate == OSINIT_PANIC) + { + /* Already in fatal state, reset board directly. */ + + reset_board(); /* Should not return. */ + } + + flags = 0; /* suppress GCC warning */ + if (os_ready) + { + flags = enter_critical_section(); + } - board_autoled_on(LED_PANIC); - up_mdelay(250); - board_autoled_off(LED_PANIC); +#if CONFIG_BOARD_RESET_ON_ASSERT < 2 + if (up_interrupt_context() || + (rtcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_KERNEL) #endif - up_mdelay(250); + { + /* Fatal error, enter panic state. */ + + g_nx_initstate = OSINIT_PANIC; + + /* Disable KASAN to avoid false positive */ + + kasan_stop(); + +#ifdef CONFIG_SMP + if (os_ready) + { + pause_all_cpu(); } #endif } + /* try to save current context if regs is null */ + + if (regs == NULL) + { + up_saveusercontext(g_last_regs); + regs = g_last_regs; + } + else + { + memcpy(g_last_regs, regs, sizeof(g_last_regs)); + } + + notifier_data.rtcb = rtcb; + notifier_data.regs = regs; + notifier_data.filename = filename; + notifier_data.linenum = linenum; + notifier_data.msg = msg; + panic_notifier_call_chain(g_nx_initstate == OSINIT_PANIC + ? PANIC_KERNEL : PANIC_TASK, + ¬ifier_data); +#ifdef CONFIG_ARCH_LEDS + board_autoled_on(LED_ASSERTION); +#endif + + /* Flush any buffered SYSLOG data (from prior to the assertion) */ + + syslog_flush(); + + /* Dump basic info of assertion. */ + + dump_assert_info(rtcb, filename, linenum, msg, regs); + + if (g_nx_initstate == OSINIT_PANIC) + { + /* Dump fatal info of assertion. */ + + dump_fatal_info(rtcb, filename, linenum, msg, regs); + + panic_notifier_call_chain(PANIC_KERNEL_FINAL, ¬ifier_data); + + reboot_notifier_call_chain(SYS_HALT, NULL); + + reset_board(); /* Should not return. */ + } + if (os_ready) { leave_critical_section(flags);
