thread safety in newlib, newer lwip, optimized ISR for UART, some more stuff

.gitmodules

@@ -6,4 +6,4 @@
 	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw
 [submodule "contrib/lwip"]
 	path = contrib/lwip
-	url = https://github.com/lwip-tcpip/lwip
+	url = https://git.savannah.gnu.org/git/lwip.git

CMakeLists.txt

@@ -103,8 +103,8 @@ add_subdirectory(${MISSION_PATH})
 # ##############################################################################
 
 # Add libraries for all sources.
-target_link_libraries(lwip freertos_kernel)
+target_link_libraries(lwip PUBLIC freertos_kernel)
-target_link_libraries(fsfw PUBLIC freertos_kernel)
+target_link_libraries(fsfw PUBLIC lwip)
 target_link_libraries(${TARGET_NAME} PUBLIC fsfw lwip)
 
 target_include_directories(

bsp_z7/CMakeLists.txt

@@ -1,4 +1,3 @@
 add_subdirectory(freeRTOS)
-add_subdirectory(lwip)
 add_subdirectory(ps7_cortexa9_0)
 add_subdirectory(objects)

bsp_z7/freeRTOS/FreeRTOSConfig.h

@@ -183,42 +183,9 @@ Zynq MPU. */
 #define configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ( -0xf00 )
 #define configUNIQUE_INTERRUPT_PRIORITIES				32
 
+/* Newlib support*/
+#define configUSE_NEWLIB_REENTRANT 1 // Required for thread-safety of newlib sprintf, strtok, etc...
 
 
-/****** Network configuration settings - only used when the lwIP example is
-built.  See the page that documents this demo on the http://www.FreeRTOS.org
-website for more information. ***********************************************/
-
-/* The priority for the task that unblocked by the MAC interrupt to process
-received packets. */
-#define configMAC_INPUT_TASK_PRIORITY		( configMAX_PRIORITIES - 1 )
-
-/* The priority of the task that runs the lwIP stack. */
-#define configLWIP_TASK_PRIORITY			( configMAX_PRIORITIES - 2 )
-
-/* The priority of the task that uses lwIP sockets to provide a simple command
-line interface. */
-#define configCLI_TASK_PRIORITY				( tskIDLE_PRIORITY )
-
-/* MAC address configuration. */
-#define configMAC_ADDR0	0x00
-#define configMAC_ADDR1	0x13
-#define configMAC_ADDR2	0x14
-#define configMAC_ADDR3	0x15
-#define configMAC_ADDR4	0x15
-#define configMAC_ADDR5	0x16
-
-/* IP address configuration. */
-#define configIP_ADDR0		172
-#define configIP_ADDR1		25
-#define configIP_ADDR2		218
-#define configIP_ADDR3		200
-
-/* Netmask configuration. */
-#define configNET_MASK0		255
-#define configNET_MASK1		255
-#define configNET_MASK2		255
-#define configNET_MASK3		0
-
 #endif /* FREERTOS_CONFIG_H */
 

bsp_z7/lwip/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(lwip PRIVATE sys_arch_protect.c)

bsp_z7/lwip/arch/cc.h

@@ -10,7 +10,9 @@
 #define LWIP_TIMEVAL_PRIVATE 0
 #include <sys/time.h>
 
-#define LWIP_ERRNO_INCLUDE <errno.h>
+// errno is a macro. If we define LWIP_ERRNO_INCLUDE to errno.h the preprocessor will replace it,
+// breaking the include. Instead we supply a helper include which in turn includes errno.h
+#define LWIP_ERRNO_INCLUDE <onrre.h>
 
 #define LWIP_RAND rand
 
@@ -22,10 +24,4 @@
 #define LWIP_PLATFORM_ASSERT(x)
 #define LWIP_PLATFORM_DIAG(x) do { printf x; } while(0)
 
-
+#define LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX 1
-//overwrite protection function, we need ISR aware one, which the default FreeRTOS port does not support
-#define SYS_ARCH_DECL_PROTECT(lev) uint32_t lev //caution, type is actually sys_prot_t, which is not available here.
-#define SYS_ARCH_PROTECT(lev) lev = sys_arch_protect_ca0()
-#define SYS_ARCH_UNPROTECT(lev) sys_arch_unprotect_ca0(lev)
-uint32_t sys_arch_protect_ca0(void); //caution, type is actually sys_prot_t, which is not available here.
-void sys_arch_unprotect_ca0(uint32_t pval); //caution, type is actually sys_prot_t, which is not available here.

bsp_z7/lwip/lwipopts.h

@@ -37,7 +37,7 @@
 #else /* LWIP_OPTTEST_FILE */
 
 #define LWIP_IPV4                  1
-#define LWIP_IPV6                  0
+#define LWIP_IPV6                  1
 
 #define NO_SYS                     0
 #define LWIP_SOCKET                (NO_SYS==0)
@@ -333,8 +333,6 @@ a lot of data that needs to be copied, this should be set high. */
 
 // Disable slip task
 #define SLIP_USE_RX_THREAD 0
-#define SLIP_RX_FROM_ISR 1
-#define SLIP_RX_QUEUE 1
 
 /* The following defines must be done even in OPTTEST mode: */
 

bsp_z7/lwip/onrre.h

@@ -0,0 +1,2 @@
+#pragma once
+#include <errno.h>

bsp_z7/lwip/sys_arch_protect.c

@@ -1,66 +0,0 @@
-#include "lwip/sys.h"
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-extern volatile uint32_t ulPortInterruptNesting;
-
-#if SYS_LIGHTWEIGHT_PROT
-
-sys_prot_t
-sys_arch_protect_ca0(void)
-{
-#if LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX
-  BaseType_t ret;
-  LWIP_ASSERT("sys_arch_protect_mutex != NULL", sys_arch_protect_mutex != NULL);
-
-  ret = xSemaphoreTakeRecursive(sys_arch_protect_mutex, portMAX_DELAY);
-  LWIP_ASSERT("sys_arch_protect failed to take the mutex", ret == pdTRUE);
-#else /* LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX */
-  if ( ulPortInterruptNesting == 0) {
-    taskENTER_CRITICAL(); 
-  } else {
-    taskENTER_CRITICAL_FROM_ISR(); 
-  }
-#endif /* LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX */
-#if LWIP_FREERTOS_SYS_ARCH_PROTECT_SANITY_CHECK
-  {
-    /* every nested call to sys_arch_protect() returns an increased number */
-    sys_prot_t ret = sys_arch_protect_nesting;
-    sys_arch_protect_nesting++;
-    LWIP_ASSERT("sys_arch_protect overflow", sys_arch_protect_nesting > ret);
-    return ret;
-  }
-#else
-  return 1;
-#endif
-}
-
-void
-sys_arch_unprotect_ca0(sys_prot_t pval)
-{
-#if LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX
-  BaseType_t ret;
-#endif
-#if LWIP_FREERTOS_SYS_ARCH_PROTECT_SANITY_CHECK
-  LWIP_ASSERT("unexpected sys_arch_protect_nesting", sys_arch_protect_nesting > 0);
-  sys_arch_protect_nesting--;
-  LWIP_ASSERT("unexpected sys_arch_protect_nesting", sys_arch_protect_nesting == pval);
-#endif
-
-#if LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX
-  LWIP_ASSERT("sys_arch_protect_mutex != NULL", sys_arch_protect_mutex != NULL);
-
-  ret = xSemaphoreGiveRecursive(sys_arch_protect_mutex);
-  LWIP_ASSERT("sys_arch_unprotect failed to give the mutex", ret == pdTRUE);
-#else /* LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX */
-  if ( ulPortInterruptNesting == 0) {
-    taskEXIT_CRITICAL();
-  } else {
-    taskEXIT_CRITICAL_FROM_ISR(0);
-  }
-#endif /* LWIP_FREERTOS_SYS_ARCH_PROTECT_USES_MUTEX */
-  LWIP_UNUSED_ARG(pval);
-}
-
-#endif /* SYS_LIGHTWEIGHT_PROT */

contrib/lwip

@@ -1 +1 @@
-Subproject commit 84fde1ebbfe35b3125fc2d89b8a456cbacf148e9
+Subproject commit 0a0452b2c39bdd91e252aef045c115f88f6ca773

mission/CMakeLists.txt

@@ -1 +1 @@
-target_sources(${TARGET_NAME} PRIVATE main.cpp testIp.cpp controller/PrintController.cpp)
+target_sources(${TARGET_NAME} PRIVATE main.cpp testIp.cpp malloc_lock.c controller/PrintController.cpp)

mission/main.cpp

@@ -143,6 +143,7 @@ XScuWdt xWatchDogInstance;
 other modules. */
 XScuGic xInterruptController;
 
+extern SemaphoreHandle_t malloc_mutex;
 
 /*-----------------------------------------------------------*/
 void mission(void *);
@@ -154,6 +155,12 @@ int main(void) {
 
   printf("Booting Software\n");
 
+  malloc_mutex = xSemaphoreCreateRecursiveMutex();
+  if (malloc_mutex == NULL) {
+    printf("Could not obtaiin malloc mutex, bye...\n");
+    exit(-1);
+  }
+
   int taskParameters  =0;
 
   xTaskCreate(

mission/malloc_lock.c

@@ -0,0 +1,19 @@
+#include "FreeRTOS.h"
+
+#include "semphr.h"
+
+SemaphoreHandle_t malloc_mutex = NULL;
+
+void __malloc_lock(struct _reent *r) {
+  // if the mutex is not initialized yet, no task have been started either
+  if (malloc_mutex != NULL) {
+    xSemaphoreTakeRecursive(malloc_mutex, portMAX_DELAY);
+  }
+}
+
+void __malloc_unlock(struct _reent *r) {
+  // if the mutex is not initialized yet, no task have been started either
+  if (malloc_mutex != NULL) {
+    xSemaphoreGiveRecursive(malloc_mutex);
+  }
+}

mission/testIp.cpp

@@ -1,5 +1,6 @@
 #include "FreeRTOS.h"
 #include "lwip/sio.h"
+#include "queue.h"
 #include "task.h"
 #include <arpa/inet.h>
 #include <cstring>
@@ -12,8 +13,6 @@
 #include <xscugic.h>
 #include <xuartps.h>
 
-
-
 #undef XUARTPS_IXR_RXOVR
 #define XUARTPS_IXR_RXOVR 0x00000020U /**< Rx Overrun error interrupt */
 #define XUARTPS_IXR_RTRIG 0x00000001U /**< RX FIFO trigger interrupt. */
@@ -23,49 +22,36 @@
 extern "C" {
 #include <lwip/apps/tftp_server.h>
 
-  static void*
+void slipif_rxbyte_input(struct netif *netif, u8_t c);
-tftp_open(const char* fname, const char* mode, u8_t is_write)
+
-{
+static void *tftp_open(const char *fname, const char *mode, u8_t is_write) {
   LWIP_UNUSED_ARG(mode);
   return (void *)13;
 }
 
-static void
+static void tftp_close(void *handle) {}
-tftp_close(void* handle)
-{}
 
-static int
+static int tftp_read(void *handle, void *buf, int bytes) {
-tftp_read(void* handle, void* buf, int bytes)
-{
   memset(buf, 'x', bytes);
   return bytes - 60;
 }
 
-static int
+static int tftp_write(void *handle, struct pbuf *p) { return 0; }
-tftp_write(void* handle, struct pbuf* p)
-{
-  return 0;
-}
 
 /* For TFTP client only */
-static void
+static void tftp_error(void *handle, int err, const char *msg, int size) {}
-tftp_error(void* handle, int err, const char* msg, int size)
+
-{}
+static const struct tftp_context tftp = {tftp_open, tftp_close, tftp_read,
+                                         tftp_write, tftp_error};
 
-static const struct tftp_context tftp = {
-  tftp_open,
-  tftp_close,
-  tftp_read,
-  tftp_write,
-  tftp_error
-};
                       
-void slipif_rxbyte_input(struct netif *netif, u8_t c);
 
 void myInitDone(void *arg) { puts("init done"); }
 
 struct netif netif;
 
+QueueHandle_t uartIsrQueue;
+
 extern XScuGic xInterruptController; /* Interrupt controller instance */
 
 /** this is based on XUartPs_InterruptHandler() in xuartps_intr.c*/
@@ -83,20 +69,28 @@ void handleUARTInt(void *) {
   // Onlx RX intterupts are enabled
   // We do not care which interrupt actually triggered, just get all bytes
   // available into the stack
-  u32 RecievedByte;
+  uint8_t RecievedByte;
+  BaseType_t xHigherPriorityTaskWoken;
   while (XUartPs_IsReceiveData(STDIN_BASEADDRESS)) {
     RecievedByte = XUartPs_ReadReg(STDIN_BASEADDRESS, XUARTPS_FIFO_OFFSET);
-    slipif_received_byte(&netif, (u8)RecievedByte);
+    xQueueSendToBackFromISR(uartIsrQueue, &RecievedByte,
+                            &xHigherPriorityTaskWoken);
   }
 
   /* Clear the interrupt status. */
   XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_ISR_OFFSET, IsrStatus);
+
+  portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
 }
 
 void forwardPackets(void *) {
+  uint8_t byte;
+  BaseType_t result;
   while (1) {
-    slipif_process_rxqueue(&netif);
+    result = xQueueReceive(uartIsrQueue, &byte, portMAX_DELAY);
-    vTaskDelay(pdMS_TO_TICKS(10));
+    if (result == pdTRUE) {
+      slipif_rxbyte_input(&netif, byte);
+    }
   }
 }
 
@@ -110,11 +104,13 @@ void sio_send(u8_t c, sio_fd_t fd) { XUartPs_SendByte(STDOUT_BASEADDRESS, c); }
 
 void testIp() {
 
+  uartIsrQueue = xQueueCreate(512, 1); // TODO check
+
   tcpip_init(myInitDone, nullptr);
 
-  ip_addr_t slip_addr = IPADDR4_INIT_BYTES(10, 0, 0, 32),
+  ip4_addr_t slip_addr = {PP_HTONL(LWIP_MAKEU32(10, 0, 0, 32))},
-            slip_mask = IPADDR4_INIT_BYTES(255, 255, 255, 0),
+             slip_mask = {PP_HTONL(LWIP_MAKEU32(255, 255, 255, 0))},
-            slip_gw = IPADDR4_INIT_BYTES(10, 25, 0, 1);
+             slip_gw = {PP_HTONL(LWIP_MAKEU32(10, 0, 0, 1))};
 
   netifapi_netif_add(&netif, &slip_addr, &slip_mask, &slip_gw, NULL,
                      slipif_init, netif_input);
@@ -140,7 +136,8 @@ void testIp() {
   XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_RXTOUT_OFFSET, 50);
 
   // enable UART Interrupts
-  u32 mask = XUARTPS_IXR_RTRIG | XUARTPS_IXR_RXOVR | XUARTPS_IXR_RXFULL | XUARTPS_IXR_TOUT;
+  u32 mask = XUARTPS_IXR_RTRIG | XUARTPS_IXR_RXOVR | XUARTPS_IXR_RXFULL |
+             XUARTPS_IXR_TOUT;
   /* Write the mask to the IER Register */
   XUartPs_WriteReg(STDIN_BASEADDRESS, XUARTPS_IER_OFFSET, mask);
   /* Write the inverse of the Mask to the IDR register */