File Debug.hpp

File List > fw > rbcx-coprocessor > include > utils > Debug.hpp
#pragma once

#include <array>

#include "FreeRTOS.h"
#include "task.h"

#define STRINGIFY(x) #x
#define TOSTRING(x) STRINGIFY(x)

#ifndef NDEBUG

#define DEBUG(fmt, ...)                                                        \
    printf("[%10lu][" __FILE__ ":" TOSTRING(__LINE__) "]: " fmt,               \
        xTaskGetTickCount(), ##__VA_ARGS__)

inline void DEBUG_HEX(const uint8_t* data, size_t len) {
    static const char* hex = "0123456789ABCDEF";
    char buf[] = { '0', '0', ' ' };

    for (size_t i = 0; i < len; ++i) {
        buf[0] = hex[data[i] >> 4];
        buf[1] = hex[data[i] & 0xF];
        fwrite(buf, sizeof(buf), 1, stdout);
    }
    putchar('\n');
}

#define DEBUGLN(fmt, ...)                                                      \
    DEBUG(fmt, ##__VA_ARGS__);                                                 \
    printf("\n");

#else

#define DEBUG(fmt, ...)                                                        \
    do {                                                                       \
    } while (0);

inline void DEBUG_HEX(const uint8_t* data, size_t len) {}
#endif

inline void printTaskInfo() {
    std::array<TaskStatus_t, 10> statuses;

    unsigned taskNum
        = uxTaskGetSystemState(statuses.data(), statuses.size(), nullptr);

    printf("Task stacks:\n");
    for (unsigned i = 0; i < taskNum; i++) {
        auto& status = statuses[i];

        // Thanks FreeRTOS, because you don't allow reading pxEndOfStack
        // to obtain the total stack size of a task,
        // I have to use your stupid Dummy fields.
        auto stupidTask = (StaticTask_t*)(status.xHandle);
        unsigned bytesTotal
            = uintptr_t(stupidTask->pxDummy8) - uintptr_t(stupidTask->pxDummy6);

        unsigned bytesFree = status.usStackHighWaterMark * sizeof(StackType_t);

        printf("#%d %s: %u bytes untouched (of %u)\n", status.xTaskNumber,
            status.pcTaskName, bytesFree, bytesTotal);
    }
}

inline bool isInInterrupt() {
    return (SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk) != 0;
}

void rebootToDfu();