Fix nasa#158, Exception handling in PSP

Implment exceptions for VxWorks and PC-Linux PSP

Exceptions are buffered in an extra block inside the PSP reserved area.

On pc-linux, the interrupt (CTRL+C) handling is also treated as
an exception, which shuts down the CFE normally.  This also means
processor resets on the pc-linux can be tested.

Author: jphickey

CMakeLists.txt

@@ -9,13 +9,15 @@ add_definitions(-D_CFE_PSP_)
 include_directories(fsw/shared)
 
 # Build the PSP implementation which lies in a system-specific subdirectory
+include_directories(fsw/shared)
 include_directories(fsw/${CFE_SYSTEM_PSPNAME}/inc)
 add_subdirectory(fsw/${CFE_SYSTEM_PSPNAME} ${CFE_SYSTEM_PSPNAME})
 
 # Build the "common" parts as a library
 add_library(psp-${CFE_SYSTEM_PSPNAME} STATIC
     fsw/shared/cfe_psp_configdata.c
     fsw/shared/cfe_psp_eeprom.c
+    fsw/shared/cfe_psp_exceptionstorage.c
     fsw/shared/cfe_psp_memrange.c
     fsw/shared/cfe_psp_memutils.c
     fsw/shared/cfe_psp_module.c

fsw/inc/cfe_psp.h

@@ -65,6 +65,7 @@
 #define CFE_PSP_ERROR_NOT_IMPLEMENTED       (-27)
 #define CFE_PSP_INVALID_MODULE_NAME         (-28)
 #define CFE_PSP_INVALID_MODULE_ID           (-29)
+#define CFE_PSP_NO_EXCEPTION_DATA           (-30)
 
 
 
@@ -196,7 +197,7 @@ extern uint32        CFE_PSP_GetRestartType(uint32 *restartSubType );
 */
 
 
-extern void          CFE_PSP_FlushCaches(uint32 type, cpuaddr address, uint32 size);
+extern void          CFE_PSP_FlushCaches(uint32 type, void* address, uint32 size);
 /*
 ** This is a BSP specific cache flush routine
 */
@@ -247,16 +248,6 @@ extern uint32 CFE_PSP_Get_Dec(void);
 ** CFE_PSP_Get_Dec
 */
 
-
-extern int32 CFE_PSP_InitProcessorReservedMemory(uint32 RestartType );
-/*
-** CFE_PSP_InitProcessorReservedMemory initializes all of the memory in the
-** BSP that is preserved on a processor reset. The memory includes the
-** Critical Data Store, the ES Reset Area, the Volatile Disk Memory, and
-** the User Reserved Memory. In general, the memory areas will be initialized
-** ( cleared ) on a Power On reset, and preserved during a processor reset.
-*/
-
 extern int32 CFE_PSP_GetCDSSize(uint32 *SizeOfCDS);
 /*
 ** CFE_PSP_GetCDSSize fetches the size of the OS Critical Data Store area.
@@ -368,6 +359,10 @@ extern void CFE_PSP_SetDefaultExceptionEnvironment(void);
 */
 
 
+extern uint32 CFE_PSP_Exception_GetCount(void);
+extern int32 CFE_PSP_Exception_GetSummary(uint32 *ContextLogId, uint32 *TaskId, char *ReasonBuf, uint32 ReasonSize);
+extern int32 CFE_PSP_Exception_CopyContext(uint32 ContextLogId, void *ContextBuf, uint32 ContextSize);
+
 /*
 ** I/O Port API
 */

fsw/inc/cfe_psp_configdata.h

@@ -58,18 +58,12 @@ typedef const struct
    uint32 PSP_WatchdogMin;                /**< PSP Minimum watchdog in milliseconds */
    uint32 PSP_WatchdogMax;                /**< PSP Maximum watchdog in milliseconds */
    uint32 PSP_MemTableSize;               /**< Size of PSP memory table */
+   uint32 PSP_ExceptionLogSize;           /**< Size of PSP exception log */
    CFE_PSP_MemTable_t *PSP_MemoryTable;   /**< Pointer to PSP memory table (forward reference) */
 
    uint32 OS_VolumeTableSize;             /**< Size of OS volume table */
    OS_VolumeInfo_t *OS_VolumeTable;       /**< Pointer to OS volume table (forward reference) */
 
-   /**
-    * Processor Context type.
-    * This is needed to determine the size of the context entry in the ER log.
-    * It is a placeholder as the implementation to use it is not merged in yet.
-    */
-   uint32 OS_CpuContextSize;
-
    /**
     * Number of EEPROM banks on this platform
     */

fsw/mcp750-vxworks/inc/cfe_psp_config.h

@@ -44,21 +44,47 @@
 */
 #define CFE_PSP_MEM_TABLE_SIZE 10
 
+/**
+ * This define sets the maximum number of exceptions
+ * that can be stored.
+ *
+ * It must always be a power of two.
+ */
+#define CFE_PSP_MAX_EXCEPTION_ENTRIES       4
+
 /*
-** Processor Context type. 
-** This is needed to determine the size of the context entry in the ER log.
-** Although this file is in a CPU directory, it really is OS dependant, so supporting
-** multiple OSs on the same CPU architecture ( i.e. x86/linux, x86/windows, x86/osx ) 
-** will require IFDEFS. 
+** Typedef for the layout of the vxWorks boot record structure
+**
+** This is statically placed at the beginning of system memory (sysMemTop)
+** which should be reserved in the kernel.
 */
-typedef struct 
+typedef struct
 {
-    ESFPPC      esf;    /* Exception stack frame */
-    FP_CONTEXT  fp;     /* floating point registers */
-   
-} CFE_PSP_ExceptionContext_t;
+   uint32 bsp_reset_type;
+   uint32 spare1;
+   uint32 spare2;
+   uint32 spare3;
+
+} CFE_PSP_ReservedMemoryBootRecord_t;
 
-#define CFE_PSP_CPU_CONTEXT_SIZE (sizeof(CFE_PSP_ExceptionContext_t))
+
+/**
+ * \brief The data type used by the underlying OS to represent a thread ID.
+ */
+typedef TASK_ID CFE_PSP_Exception_SysTaskId_t;
+
+/*
+** Global variables
+*/
+typedef struct
+{
+    UINT32      timebase_upper; /* Upper 32 bits of timebase as sampled by hook */
+    UINT32      timebase_lower; /* Lower 32 bits of timebase as sampled by hook */
+    int         vector;         /* vector number */
+    ESFPPC      esf;            /* Exception stack frame */
+    FP_CONTEXT  fp;             /* floating point registers */
+
+} CFE_PSP_Exception_ContextDataEntry_t;
 
 /*
 ** Watchdog minimum and maximum values ( in milliseconds )
@@ -71,6 +97,16 @@ typedef struct
 */
 #define CFE_PSP_NUM_EEPROM_BANKS 1
 
+/*
+ * The alignment to use for each reserved memory block.
+ *
+ * This is a mask to be applied to each block base address
+ *
+ * Chosen as the cache line size of the MPC750 processor (32 bytes)
+ * such that the blocks will be cached more efficiently.
+ */
+#define CFE_PSP_MEMALIGN_MASK  ((cpuaddr)0x1F)
+
 
 #endif
 

fsw/mcp750-vxworks/src/cfe_psp_exception.c

@@ -54,33 +54,11 @@
 
 #include "cfe_psp.h"
 #include "cfe_psp_config.h"
+#include "cfe_psp_exceptionstorage.h"
 #include "cfe_psp_memory.h"
 
 #include <target_config.h>
 
-/*
-** Types and prototypes for this module
-*/
-
-/* use the exception ISR binding from the global config data */
-#define CFE_PSP_ES_EXCEPTION_FUNCTION   (*GLOBAL_CONFIGDATA.CfeConfig->SystemExceptionISR)
-
-/*
-** BSP Specific defines
-*/
-
-
-/*
-**  External Declarations
-*/
-
-/*
-** Global variables
-*/
-
-CFE_PSP_ExceptionContext_t CFE_PSP_ExceptionContext;
-char                  CFE_PSP_ExceptionReasonString[256];
-
 /*
 **
 ** LOCAL FUNCTION PROTOTYPES
@@ -110,7 +88,8 @@ void CFE_PSP_ExceptionHook ( TASK_ID task_id, int vector, void* vpEsf );
 void CFE_PSP_AttachExceptions(void)
 {
     excHookAdd( CFE_PSP_ExceptionHook );
-    OS_printf("CFE_PSP: Attached cFE Exception Handler. Context Size = %d bytes.\n",CFE_PSP_CPU_CONTEXT_SIZE);
+    OS_printf("CFE_PSP: Attached cFE Exception Handler. Context Size = %u bytes.\n",sizeof(CFE_PSP_Exception_ContextDataEntry_t));
+    CFE_PSP_Exception_Reset();
 }
 
 
@@ -135,46 +114,42 @@ void CFE_PSP_AttachExceptions(void)
 */
 void CFE_PSP_ExceptionHook (TASK_ID task_id, int vector, void* vpEsf )
 {
-    ESFPPC *pEsf = vpEsf;
-    char *TaskName;
+    CFE_PSP_Exception_LogData_t* Buffer;
 
-    /*
-    ** Get the vxWorks task name
-    */
-    TaskName = taskName(task_id);
-
-    if ( TaskName == NULL )
+    Buffer = CFE_PSP_Exception_GetNextContextBuffer();
+    if (Buffer != NULL)
     {
-       sprintf(CFE_PSP_ExceptionReasonString, "Exception: Vector=0x%06X, vxWorks Task Name=NULL, Task ID=0x%08X",
-               vector,task_id);
+        /*
+         * Immediately get a snapshot of the timebase when exception occurred
+         *
+         * This is because the remainder of exception processing might be done
+         * in a cleanup job as a low priority background task, and might be
+         * considerably delayed from the time the actual exception occurred.
+         */
+        vxTimeBaseGet(&Buffer->context_info.timebase_upper, &Buffer->context_info.timebase_lower);
+
+        Buffer->sys_task_id = task_id;
+        Buffer->context_info.vector = vector;
+
+        /*
+         * Save Exception Stack frame
+         */
+        memcpy(&Buffer->context_info.esf, vpEsf, sizeof(Buffer->context_info.esf));
+
+        /*
+         * Save floating point registers
+         */
+        fppSave(&Buffer->context_info.fp);
+
+        CFE_PSP_Exception_WriteComplete();
     }
-    else
+
+    if (GLOBAL_CFE_CONFIGDATA.SystemNotify != NULL)
     {
-       sprintf(CFE_PSP_ExceptionReasonString, "Exception: Vector=0x%06X, vxWorks Task Name=%s, Task ID=0x%08X",
-                vector, TaskName, task_id);
+        /* notify the CFE of the event */
+        GLOBAL_CFE_CONFIGDATA.SystemNotify();
     }
 
-    /*
-    ** Save Exception Stack frame
-    */
-    memcpy(&(CFE_PSP_ExceptionContext.esf), pEsf, sizeof(ESFPPC));
-
-    /*
-    ** Save floating point registers
-    */
-    fppSave(&CFE_PSP_ExceptionContext.fp);
-
-    /*
-    ** Call the Generic cFE routine to finish processing the exception and
-    ** restart the cFE
-    */
-    CFE_PSP_ES_EXCEPTION_FUNCTION((uint32) task_id,
-            (char *) CFE_PSP_ExceptionReasonString,
-            (uint32 *) &CFE_PSP_ExceptionContext,
-            sizeof(CFE_PSP_ExceptionContext_t));
-    /*
-    ** No return to here
-    */
 
 } /* end function */
 
@@ -210,3 +185,29 @@ void CFE_PSP_SetDefaultExceptionEnvironment(void)
                  _PPC_FPSCR_UE              ); /* fp underflow enable */
 }
 
+/*
+ * Name: CFE_PSP_ExceptionGetSummary_Impl
+ *
+ * Purpose: Translate a stored exception log entry into a summary string
+ */
+int32 CFE_PSP_ExceptionGetSummary_Impl(const CFE_PSP_Exception_LogData_t* Buffer, char *ReasonBuf, uint32 ReasonSize)
+{
+    const char *TaskName;
+
+    /*
+    ** Get the vxWorks task name
+    */
+    TaskName = taskName(Buffer->sys_task_id);
+
+    if ( TaskName == NULL )
+    {
+        TaskName = "NULL";
+    }
+
+    snprintf(ReasonBuf, ReasonSize, "Vector=0x%06X, vxWorks Task Name=%s, Task ID=0x%08X",
+            Buffer->context_info.vector,TaskName,Buffer->sys_task_id);
+
+    return CFE_PSP_SUCCESS;
+}
+
+