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//! A lock-free, wait-free, block-free logger for the ARM Cortex-M architecture //! //! (lock-free as in logging doesn't block interrupt handlers; wait-free as in there's no spinning //! (e.g. CAS loop) to get a handle; and block-free as in the logger never waits for an I/O transfer //! (e.g. ITM, UART, etc.) to complete) //! //! Status: ☢️ **Experimental** ☢️ (ALPHA PRE-RELEASE) //! //! **SUPER IMPORTANT** Using this crate in a threaded environment will result in an unsound //! program! You have been warned! Also, multi-core support has not been thought out at all so this //! is likely wrong when used in multi-core context. //! //! # Working principle //! //! There's one ring buffer per priority level. Logging from an interrupt / exception handler will //! simply write the message into one of these ring buffers. Thus logging is effectively 'I/O //! less' and as fast as a `memcpy`. Only the 'thread handler' (AKA `main` or `idle` in RTFM apps) //! can drain these ring buffers into an appropriate I/O sink (e.g. the ITM). //! //! Nothing is without trade-offs in this life; this logger uses plenty of static memory (i.e. //! RAM) in exchange for fast and predictable logging performance. Also, compared to loggers that //! directly do I/O this logger will, in overall, spend more CPU cycles to log the same amount of //! data but most of the work will be done at the lowest priority making logging in interrupt //! handlers much faster. //! //! # Examples //! //! ## Usual setup //! //! Application crate: //! //! ``` ignore //! // aligned = "0.3.2" //! use aligned::Aligned; //! use cortex_m::itm; //! //! use funnel::{Drain, funnel, info, trace}; //! //! // `NVIC_PRIO_BITS` is the number of priority bits supported by the device //! // //! // The `NVIC_PRIO_BITS` value can be a literal integer (e.g. `3`) or a path to a constant //! // (`stm32f103xx::NVIC_PRIO_BITS`) //! // //! // This macro call can only appear *once* in the dependency graph and *must* appear if any //! // of the `funnel` macros or the `Logger::get()` API is used anywhere in the dependency graph //! funnel!(NVIC_PRIO_BITS = 3, { //! // syntax: $logical_priority : $ring_buffer_size_in_bytes //! // to get better performance use sizes that are a power of 2 //! 1: 32, //! 2: 64, //! //! // not listing a priority here disables logging at that priority level //! // entering the wrong NVIC_PRIO_BITS value will disable most loggers //! }); //! //! #[entry] //! fn main() -> ! { //! // .. //! let mut itm: ITM = /* .. */; //! //! let drains = Drain::get_all(); //! //! let mut buf = Aligned([0; 32]); // 4-byte aligned buffer //! loop { //! for (i, drain) in drains.iter().enumerate() { //! 'l: loop { //! let n = drain.read(&mut buf).len(); //! //! // this drain is empty //! if n == 0 { //! break 'l; //! } //! //! // we need this coercion or the slicing below won't do the right thing //! let buf: &Aligned<_, [_]> = &buf; //! //! // will send data in 32-bit chunks //! itm::write_aligned(&mut itm.stim[i], &buf[..n]); //! } //! } //! } //! } //! //! // logical_priority = 1 (nvic_priority = 224) //! #[interrupt] //! fn GPIOA() { //! info!("GPIOA"); //! foo(0); //! // .. //! } //! //! // logical_priority = 2 (nvic_priority = 192) //! #[interrupt] //! fn GPIOB() { //! info!("GPIOB"); //! foo(1); //! // .. //! } //! //! fn foo(x: i32) { //! // this macro can appear in libraries //! trace!("foo({})", x); //! // .. //! } //! ``` //! //! ## `Logger` //! //! The overhead of each macro call can be reduced using one of the `uwrite!` macros on a //! `Logger`. A `Logger` can only be obtained using the `Logger::get()` constructor. //! //! ``` ignore //! use funnel::{Logger, log_enabled}; //! //! #[interrupt] //! fn GPIOC() { //! if let Some(mut logger) = Logger::get() { //! if log_enabled!(Info) { //! uwriteln!(logger, "{}", 100).ok(); //! uwriteln!(logger, "{:?}", some_value).ok(); //! } //! } //! } //! ``` //! //! # Logging levels //! //! `funnel` supports 5 logging level: Trace, Debug, Info, Warn and Error, sorted in increasing //! level of severity. Each of these logging level has an associated logging macro: `trace!`, //! `debug!`, `info!`, `warn!` and `error!`. //! //! Logs of *lesser* severity can be *statically* disabled using of these Cargo features. //! //! - `max_level_trace` //! - `max_level_debug` //! - `max_level_info` //! - `max_level_warn` //! - `max_level_error` //! - `max_level_off` //! - `release_max_level_trace` //! - `release_max_level_debug` //! - `release_max_level_info` //! - `release_max_level_warn` //! - `release_max_level_error` //! - `release_max_level_off` //! //! Enabling the `max_level_info` feature will disable the `Debug` and `Trace` logging levels; //! `max_level_off` will disable all logging levels. The `release_*` features apply when the //! application is compiled using the 'release' profile; the other features apply when the 'dev' //! profile is used. To check if a logging level is enabled or disabled in code use the //! `log_enabled!` macro. //! //! # Benchmarks //! //! Ran on Cortex-M3 core clocked at 8 MHz and configured with 0 Flash wait cycles. //! //! | Code | Cycles | //! |------------------------------|---------| //! | `info!("")` | 36 | //! | `uwriteln!(logger, "")` | 15 | //! | `drain("")` | 27 | //! | `info!("{}", S)` | 331-369 | //! | `uwriteln!(logger, "{}", S)` | 308-346 | //! | `drain(S)` | 863-916 | //! | `iprintln!(_, "{}", S)` | 1652 | //! | `info!("{}", N)` | 348-383 | //! | `uwriteln!(logger, "{}", N)` | 329-364 | //! | `drain(N)` | 217-230 | //! //! Where `S` is a 45-byte long string, `N = usize::max_value()`, the `drain` function is //! `ptr::read_volatile`-ing each byte and the ITM was clocked at 2 MHz. //! //! # Potential improvements / alternatives //! //! Instead of draining the ring buffers at the lowest priority one could drain the buffers using //! the debugger using something like [SEGGER's Real Time Transfer][rtt] mechanism. The //! implementation would need to change to properly support this form of parallel draining. //! //! [rtt]: https://www.segger.com/products/debug-probes/j-link/technology/about-real-time-transfer/ #![deny(missing_docs)] #![deny(warnings)] #![no_std] use core::{ cell::UnsafeCell, cmp, ptr, sync::atomic::{self, AtomicUsize, Ordering}, }; use ufmt::uWrite; /// Declares loggers for each priority level pub use cortex_m_funnel_macros::funnel; #[doc(hidden)] pub use ufmt::uwriteln; /// IMPLEMENTATION DETAIL // `static [mut]` variables cannot contain references to `static mut` variables so we lie about the // `Sync`-ness of `Inner` to be able to put references to it in `static` variables. Only the // `funnel!` macro uses this type -- end users will never see this type. #[doc(hidden)] #[repr(C)] pub struct Inner<B> where B: ?Sized, { write: UnsafeCell<usize>, read: UnsafeCell<usize>, buffer: UnsafeCell<B>, } unsafe impl<B> Sync for Inner<B> where B: ?Sized {} impl<B> Inner<B> { // IMPLEMENTATION DETAIL #[doc(hidden)] pub const fn new(buffer: B) -> Self { Self { write: UnsafeCell::new(0), read: UnsafeCell::new(0), buffer: UnsafeCell::new(buffer), } } } /// A logger tied a particular priority level // NOTE: NOT `Sync` or `Send` #[repr(transparent)] pub struct Logger { inner: &'static Inner<[u8]>, } impl Logger { /// Gets the `funnel` logger associated to the caller's priority level /// /// This returns `None` if no logger was associated to the priority level pub fn get() -> Option<Self> { if cfg!(not(cortex_m)) { return None; } if (cfg!(debug_assertions) && cfg!(feature = "max_level_off")) || cfg!(feature = "release_max_level_off") { return None; } // Cortex-M MMIO registers const SCB_ICSR: *const u32 = 0xE000_ED04 as *const u32; const NVIC_IPR: *const u32 = 0xE000_E400 as *const u32; extern "Rust" { // NOTE The expansion of `funnel!` declares `__funnel_drains` as a function with signature // `fn() -> Option<&'static Inner<[u8]>>` so here we are implicitly transmuting `&'static // Inner<[u8]>` into `Logger` but this should be fine because they are equivalent due to // `#[repr(transparent)]` fn __funnel_logger(nvic_prio: u8) -> Option<Logger>; } unsafe { let icsr = SCB_ICSR.read_volatile() as u8; if icsr == 0 { // thread mode None } else if icsr < 16 { // TODO do something about exceptions -- NMI and HardFault are annoying because they // have exceptional priorities None } else { // assuming ARMv6-M (the lowest common denominator), IPR is *not* byte addressable // so we perform word-size reads let nr = icsr - 16; // NOTE `nr` will always be less than `256` let ipr = NVIC_IPR.add((nr >> 2) as usize).read_volatile(); let nvic_prio = (ipr >> (8 * (nr % 4))) as u8; __funnel_logger(nvic_prio) } } } // This function is *non*-reentrant but `Logger` is `!Sync` so each `Logger`s is constrained to // a single priority level (therefore no preemption / overlap can occur on any single `Logger` // instance) fn log(&self, s: &str) -> Result<(), ()> { unsafe { // NOTE we use `UnsafeCell` instead of `AtomicUsize` because we want the unique // reference (`&mut-`) semantics; this logger has exclusive access to the `write` // pointer let write = &mut *self.inner.write.get(); let buffer = &mut *self.inner.buffer.get(); let input = s.as_bytes(); let blen = buffer.len(); let ilen = input.len(); if ilen > blen { // early exit to hint the optimizer that `blen` can't be `0` return Err(()); } // NOTE we use `UnsafeCell` instead of `AtomicUsize` because we want this operation to // return the same value when calling `log` consecutively let read = *self.inner.read.get(); if blen >= ilen + (*write).wrapping_sub(read) { // FIXME (?) this is *not* always optimized to a right shift (`lsr`) when `blen` is // a power of 2 -- instead we get an `udiv` which is slower (?). let w = *write % blen; // NOTE we use `ptr::copy_nonoverlapping` instead of `copy_from_slice` to avoid // panicking branches if w + ilen > blen { // two memcpy-s let mid = blen - w; // buffer[w..].copy_from_slice(&input[..mid]); ptr::copy_nonoverlapping(input.as_ptr(), buffer.as_mut_ptr().add(w), mid); // buffer[..ilen - mid].copy_from_slice(&input[mid..]); ptr::copy_nonoverlapping( input.as_ptr().add(mid), buffer.as_mut_ptr(), ilen - mid, ); } else { // single memcpy // buffer[w..w + ilen].copy_from_slice(&input); ptr::copy_nonoverlapping(input.as_ptr(), buffer.as_mut_ptr().add(w), ilen); } *write = (*write).wrapping_add(ilen); Ok(()) } else { Err(()) } } } } impl uWrite for Logger { type Error = (); fn write_str(&mut self, s: &str) -> Result<(), ()> { self.log(s) } } /// IMPLEMENTATION DETAIL; DO NOT USE #[doc(hidden)] #[macro_export] macro_rules! _flog { ($($tt:tt)*) => {{ if let Some(mut logger) = $crate::Logger::get() { $crate::uwriteln!(logger, $($tt)*) } else { Ok(()) } }}; } /// IMPLEMENTATION DETAIL; DO NOT USE #[doc(hidden)] #[derive(PartialEq, PartialOrd)] pub enum Level { Error, Warn, Info, Debug, Trace, } /// IMPLEMENTATION DETAIL; DO NOT USE #[doc(hidden)] pub fn is_enabled(lvl: Level) -> bool { if let Some(threshold) = selected_log_level() { lvl <= threshold } else { // off false } } fn selected_log_level() -> Option<Level> { if cfg!(debug_assertions) { // 'dev' profile if cfg!(feature = "max_level_off") { return None; } if cfg!(feature = "max_level_error") { return Some(Level::Error); } if cfg!(feature = "max_level_warn") { return Some(Level::Warn); } if cfg!(feature = "max_level_info") { return Some(Level::Info); } if cfg!(feature = "max_level_debug") { return Some(Level::Debug); } if cfg!(feature = "max_level_trace") { return Some(Level::Trace); } } else { if cfg!(feature = "release_max_level_off") { return None; } if cfg!(feature = "release_max_level_error") { return Some(Level::Error); } if cfg!(feature = "release_max_level_warn") { return Some(Level::Warn); } if cfg!(feature = "release_max_level_info") { return Some(Level::Info); } if cfg!(feature = "release_max_level_debug") { return Some(Level::Debug); } if cfg!(feature = "release_max_level_trace") { return Some(Level::Trace); } } Some(Level::Trace) } /// Returns `true` if the specified logging level is statically enabled /// /// Valid arguments are: `Error`, `Warn`, `Info`, `Debug` and `Trace` #[macro_export] macro_rules! log_enabled { ($e:expr) => {{ $crate::is_enabled($crate::Level::$e) }} } /// Logs a string at the 'Error' logging level /// /// Syntax matches `uwriteln!` minus the first argument. You need to depend on the `ufmt` crate to /// use this macro. /// /// NOTE a newline is always appended at the end #[macro_export] macro_rules! error { ($($tt:tt)*) => {{ if $crate::is_enabled($crate::Level::Error) { $crate::_flog!($($tt)*) } else { Ok(()) } }} } /// Logs a string at the 'Warn' logging level /// /// Syntax matches `uwriteln!` minus the first argument. You need to depend on the `ufmt` crate to /// use this macro. /// /// NOTE a newline is always appended at the end #[macro_export] macro_rules! warn { ($($tt:tt)*) => {{ if $crate::is_enabled($crate::Level::Warn) { $crate::_flog!($($tt)*) } else { Ok(()) } }} } /// Logs a string at the 'Info' logging level /// /// Syntax matches `uwriteln!` minus the first argument. You need to depend on the `ufmt` crate to /// use this macro. /// /// NOTE a newline is always appended at the end #[macro_export] macro_rules! info { ($($tt:tt)*) => {{ if $crate::is_enabled($crate::Level::Info) { $crate::_flog!($($tt)*) } else { Ok(()) } }} } /// Logs a string at the 'Debug' logging level /// /// Syntax matches `uwriteln!` minus the first argument. You need to depend on the `ufmt` crate to /// use this macro. /// /// NOTE a newline is always appended at the end #[macro_export] macro_rules! debug { ($($tt:tt)*) => {{ if $crate::is_enabled($crate::Level::Debug) { $crate::_flog!($($tt)*) } else { Ok(()) } }} } /// Logs a string at the 'Trace' logging level /// /// Syntax matches `uwriteln!` minus the first argument. You need to depend on the `ufmt` crate to /// use this macro. /// /// NOTE a newline is always appended at the end #[macro_export] macro_rules! trace { ($($tt:tt)*) => {{ if $crate::is_enabled($crate::Level::Trace) { $crate::_flog!($($tt)*) } else { Ok(()) } }} } /// A drain retrieves the data written into a `Logger` // NOTE: NOT `Sync` or `Send` #[repr(transparent)] #[derive(Clone, Copy)] pub struct Drain { inner: &'static Inner<[u8]>, } impl Drain { /// The drain endpoint of each ring buffer, highest priority first pub fn get_all() -> &'static [Self] { if cfg!(not(cortex_m)) { return &[]; } if (cfg!(debug_assertions) && cfg!(feature = "max_level_off")) || cfg!(feature = "release_max_level_off") { return &[]; } // NOTE The expansion of `funnel!` declares `__funnel_drains` as a function with signature // `fn() -> &'static [&'static Inner<[u8]>]` so here we are implicitly transmuting `&'static // Inner<[u8]>` into `Drain` but this should be fine because they are equivalent due to // `#[repr(transparent)]` extern "Rust" { fn __funnel_drains() -> &'static [Drain]; } unsafe { __funnel_drains() } } /// Copies the contents of the `Logger` ring buffer into the given buffer // NOTE this is basically `heapless::spsc::Consumer::dequeue` pub fn read<'b>(&self, buf: &'b mut [u8]) -> &'b [u8] { unsafe { // NOTE we use `UnsafeCell` instead of `AtomicUsize` because we want the unique // reference (`&mut-`) semantics; this drain has exclusive access to the `read` // pointer for the duration of this function call let readf = &mut *self.inner.read.get(); let writef: *const AtomicUsize = self.inner.write.get() as *const _; let blen = (*self.inner.buffer.get()).len(); let p = (*self.inner.buffer.get()).as_ptr(); // early exit to hint the compiler that `n` is not `0` if blen == 0 { return &[]; } let read = *readf; // XXX on paper, this is insta-UB because `Logger::log` has a unique reference // (`&mut-`) to the `write` field and this operation require a shared reference (`&-`) // to the same field. At runtime, this load is atomic (happens in a single instruction) // so any modification done by an interrupt handler (via `Logger::log`) can *not* result // in a data race (e.g. torn read or write). To properly avoid any theoretical UB we // would need to something like `atomic_load(a_raw_pointer_to_write)`, which exist but // it's unstable (`intrinsics::atomic_load`), *plus* `&raw write` (RFC #2582), which has // not been implemented. In practice, as long as this produces a fresh value each time // is called (instead of cached on the stack) we should be fine. let write = (*writef).load(Ordering::Relaxed); atomic::compiler_fence(Ordering::Acquire); // ▼ if write > read { // number of bytes to copy let c = cmp::min(buf.len(), write.wrapping_sub(read)); // FIXME (?) this is *not* always optimized to a right shift (`lsr`) when `n` is // a power of 2 -- instead we get an `udiv` which is slower. let r = read % blen; // NOTE we use `ptr::copy_nonoverlapping` instead of `copy_from_slice` to avoid // panicking branches if r + c > blen { // two memcpy-s let mid = blen - r; // buf[..mid].copy_from_slice(&buffer[r..]); ptr::copy_nonoverlapping(p.add(r), buf.as_mut_ptr(), mid); // buf[mid..mid + c].copy_from_slice(&buffer[..c - mid]); ptr::copy_nonoverlapping(p, buf.as_mut_ptr().add(mid), c - mid); } else { // single memcpy // buf[..c].copy_from_slice(&buffer[r..r + c]); ptr::copy_nonoverlapping(p.add(r), buf.as_mut_ptr(), c); } atomic::compiler_fence(Ordering::Release); // ▲ *readf = (*readf).wrapping_add(c); // &buf[..c] buf.get_unchecked(..c) } else { &[] } } } } impl Iterator for Drain { type Item = u8; fn next(&mut self) -> Option<u8> { self.read(&mut [0]).first().cloned() } } #[cfg(test)] mod tests { use super::{Drain, Inner, Logger}; #[test] fn sanity() { static INNER: Inner<[u8; 32]> = Inner::new([0; 32]); let inner = &INNER; let m = "Hello, world!"; let logger = Logger { inner }; logger.log(m).unwrap(); unsafe { assert!((*logger.inner.buffer.get()).starts_with(m.as_bytes())); } } #[test] fn drain() { static INNER: Inner<[u8; 32]> = Inner::new([0; 32]); let inner = &INNER; let logger = Logger { inner }; let mut drain = Drain { inner }; assert_eq!(drain.next(), None); logger.log("A").unwrap(); assert_eq!(drain.next(), Some(b'A')); assert_eq!(drain.next(), None); logger.log("B").unwrap(); assert_eq!(drain.next(), Some(b'B')); assert_eq!(drain.next(), None); logger.log("CD").unwrap(); assert_eq!(drain.next(), Some(b'C')); assert_eq!(drain.next(), Some(b'D')); assert_eq!(drain.next(), None); } #[test] fn read() { static INNER: Inner<[u8; 16]> = Inner::new([0; 16]); let inner = &INNER; let logger = Logger { inner }; let drain = Drain { inner }; let mut buf = [0; 8]; logger.log("Hello, world!").unwrap(); assert_eq!(drain.read(&mut buf), b"Hello, w"); assert_eq!(drain.read(&mut buf), b"orld!"); assert_eq!(drain.read(&mut buf), b""); // NOTE the ring buffer will wrap around with this operation logger.log("Hello, world!").unwrap(); assert_eq!(drain.read(&mut buf), b"Hello, w"); assert_eq!(drain.read(&mut buf), b"orld!"); assert_eq!(drain.read(&mut buf), b""); } #[test] fn split_write() { const N: usize = 32; const M: usize = 24; static INNER: Inner<[u8; N]> = Inner::new([0; N]); let m = "Hello, world!"; let inner = &INNER; unsafe { // fake read/write pointers *inner.read.get() = M; *inner.write.get() = M; let logger = Logger { inner }; logger.log(m).unwrap(); let m = m.as_bytes(); let buffer = &*logger.inner.buffer.get(); assert_eq!(buffer[M..], m[..(N - M)]); assert_eq!(buffer[..(m.len() - (N - M))], m[(N - M)..]); } } #[test] fn wrap_around() { static INNER: Inner<[u8; 32]> = Inner::new([0; 32]); let m = "Hello, world!"; let inner = &INNER; unsafe { // fake read/write pointers *inner.read.get() = usize::max_value(); *inner.write.get() = usize::max_value(); let logger = Logger { inner }; logger.log(m).unwrap(); let buffer = &*logger.inner.buffer.get(); assert_eq!(buffer.last(), Some(&b'H')); assert_eq!(buffer[..m.len() - 1], m.as_bytes()[1..]); } } }