Various improvements (#461)
* **New Features** * Time and delay utilities added (ticks, ms, µs); SD card now uses an expansion-header CS pin; HTTP downloads warn when run on the GUI task and yield to avoid blocking. * **Bug Fixes / Reliability** * Many hard-crash paths converted to guarded checks to reduce abrupt termination and improve stability. * **Tests** * Unit tests added to validate time and delay accuracy. * **Chores** * License header and build/macro updates.
This commit is contained in:
Ken Van Hoeylandt
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GitHub
GitHub
parent
619b5aa53b
commit
e6abd496f9
@@ -6,7 +6,7 @@ if (DEFINED ENV{ESP_IDF_VERSION})
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idf_component_register(
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SRCS ${SOURCE_FILES}
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INCLUDE_DIRS "Include/"
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REQUIRES TactilityFreeRtos mbedtls nvs_flash esp_rom
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REQUIRES TactilityFreeRtos TactilityKernel mbedtls nvs_flash esp_rom
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)
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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@@ -26,8 +26,9 @@ else()
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add_definitions(-D_Nullable=)
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add_definitions(-D_Nonnull=)
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target_link_libraries(TactilityCore
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PUBLIC TactilityFreeRtos
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PUBLIC mbedtls
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target_link_libraries(TactilityCore PUBLIC
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TactilityFreeRtos
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TactilityKernel
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mbedtls
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)
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endif()
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@@ -1,69 +0,0 @@
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/**
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* @file check.h
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*
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* Tactility crash and check functions.
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*
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* The main problem with crashing is that you can't do anything without disturbing registers,
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* and if you disturb registers, you won't be able to see the correct register values in the debugger.
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*
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* Current solution works around it by passing the message through r12 and doing some magic with registers in crash function.
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* r0-r10 are stored in the ram2 on crash routine start and restored at the end.
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* The only register that is going to be lost is r11.
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*
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*/
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#pragma once
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#include "CoreDefines.h"
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#include "Logger.h"
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#include <cassert>
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#define TT_NORETURN [[noreturn]]
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/** Crash system */
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namespace tt {
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/**
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* Don't call this directly. Use tt_crash() as it will trace info.
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*/
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TT_NORETURN void _crash();
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}
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// TODO: Move crash logic to kernel namespace and consider refactoring to C++
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/** Crash system with message. */
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#define tt_crash(...) TT_ARG_CAT(_tt_crash,TT_ARGCOUNT(__VA_ARGS__))(__VA_ARGS__)
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#define _tt_crash0() do { \
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tt::Logger("Kernel").error("Crash at {}:{}", __FILE__, __LINE__); \
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tt::_crash(); \
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} while (0)
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#define _tt_crash1(message) do { \
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tt::Logger("Kernel").error("Crash: {}\n\tat {}:{}", message, __FILE__, __LINE__); \
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tt::_crash(); \
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} while (0)
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/** Halt the system
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* @param[in] optional message (const char*)
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*/
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#define tt_halt(...) M_APPLY(__tt_halt, M_IF_EMPTY(__VA_ARGS__)((NULL), (__VA_ARGS__)))
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/** Check condition and crash if check failed */
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#define tt_check_internal(__e, __m) \
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do { \
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if (!(__e)) { \
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tt::Logger("Kernel").error("Check failed: {}", #__e); \
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if (__m) { \
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tt_crash(__m); \
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} else { \
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tt_crash(""); \
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} \
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} \
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} while (0)
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/** Check condition and crash if failed
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*
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* @param[in] condition to check
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* @param[in] optional message (const char*)
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*/
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#define tt_check(x, ...) if (!(x)) { tt::Logger("Kernel").error("Check failed: {}", #x); tt::_crash(); }
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@@ -1,7 +1,5 @@
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#pragma once
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#define TT_UNUSED __attribute__((unused))
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#define TT_STRINGIFY(x) #x
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// region Variable arguments support
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@@ -2,6 +2,5 @@
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#include <cstdio>
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#include "Check.h"
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#include "CoreDefines.h"
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#include "Logger.h"
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@@ -1,40 +0,0 @@
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#include <Tactility/Check.h>
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#include <Tactility/Logger.h>
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#include <Tactility/freertoscompat/Task.h>
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static const auto LOGGER = tt::Logger("kernel");
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static void logMemoryInfo() {
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#ifdef ESP_PLATFORM
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LOGGER.error("default caps:");
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LOGGER.error(" total: {}", heap_caps_get_total_size(MALLOC_CAP_DEFAULT));
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LOGGER.error(" free: {}", heap_caps_get_free_size(MALLOC_CAP_DEFAULT));
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LOGGER.error(" min free: {}", heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT));
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LOGGER.error("internal caps:");
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LOGGER.error(" total: {}", heap_caps_get_total_size(MALLOC_CAP_INTERNAL));
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LOGGER.error(" free: {}", heap_caps_get_free_size(MALLOC_CAP_INTERNAL));
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LOGGER.error(" min free: {}", heap_caps_get_minimum_free_size(MALLOC_CAP_INTERNAL));
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#endif
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}
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static void logTaskInfo() {
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const char* name = pcTaskGetName(nullptr);
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const char* safe_name = name ? name : "main";
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LOGGER.error("Task: {}", safe_name);
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LOGGER.error("Stack watermark: {}", uxTaskGetStackHighWaterMark(NULL) * 4);
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}
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namespace tt {
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TT_NORETURN void _crash() {
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logTaskInfo();
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logMemoryInfo();
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// TODO: Add breakpoint when debugger is attached.
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#ifdef ESP_PLATFORM
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esp_system_abort("System halted. Connect debugger for more info.");
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#endif
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__builtin_unreachable();
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}
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}
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@@ -29,7 +29,7 @@ static void get_hardware_key(uint8_t key[32]) {
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// MAC can be 6 or 8 bytes
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size_t mac_length = esp_mac_addr_len_get(ESP_MAC_EFUSE_FACTORY);
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LOGGER.info("Using MAC with length {}", mac_length);
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tt_check(mac_length <= 8);
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check(mac_length <= 8);
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ESP_ERROR_CHECK(esp_read_mac(mac, ESP_MAC_EFUSE_FACTORY));
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// Fill buffer with repeating MAC
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@@ -68,13 +68,13 @@ static void get_nvs_key(uint8_t key[32]) {
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if (result != ESP_OK) {
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LOGGER.error("Failed to get key from NVS ({})", esp_err_to_name(result));
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tt_crash("NVS error");
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check(false, "NVS error");
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}
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size_t length = 32;
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if (nvs_get_blob(handle, "key", key, &length) == ESP_OK) {
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LOGGER.info("Fetched key from NVS ({} bytes)", length);
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tt_check(length == 32);
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check(length == 32);
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} else {
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// TODO: Improved randomness
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esp_cpu_cycle_count_t cycle_count = esp_cpu_get_cycle_count();
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@@ -144,7 +144,7 @@ static int aes256CryptCbc(
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const unsigned char* input,
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unsigned char* output
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) {
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tt_check(key && iv && input && output);
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check(key && iv && input && output);
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if ((length % 16) || (length == 0)) {
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return -1; // TODO: Proper error code from mbed lib?
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@@ -163,7 +163,7 @@ static int aes256CryptCbc(
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}
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int encrypt(const uint8_t iv[16], const uint8_t* inData, uint8_t* outData, size_t dataLength) {
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tt_check(dataLength % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256");
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check(dataLength % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256)");
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uint8_t key[32];
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getKey(key);
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@@ -175,7 +175,7 @@ int encrypt(const uint8_t iv[16], const uint8_t* inData, uint8_t* outData, size_
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}
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int decrypt(const uint8_t iv[16], const uint8_t* inData, uint8_t* outData, size_t dataLength) {
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tt_check(dataLength % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256");
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check(dataLength % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256)");
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uint8_t key[32];
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getKey(key);
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