Merge remote-tracking branch 'upstream/3.5-dev' into v3.5-dev

Tools/stackanalyzer/go.mod

@@ -1,3 +1,3 @@
 module github.com/Duet3D/RepRapFirmware/Tools/stackanalyzer
 
-go 1.15
+go 1.21

Tools/stackanalyzer/stackanalyzer.go

@@ -2,7 +2,6 @@ package main
 
 import (
 	"bufio"
-	"errors"
 	"flag"
 	"fmt"
 	"io"
@@ -13,13 +12,18 @@ import (
 )
 
 const (
-	assertionHeader = iota
-	assertionLineNo
+	lastSoftwareResetHeader = "Last software reset"
+	stackHeader             = "Stack:"
+)
+
+const (
+	assertionLineNo = iota
 	assertionFunction
+
+	assertionMarker = "reason: Assertion"
 )
 const (
-	header = iota
-	register0
+	register0 = iota
 	register1
 	register2
 	register3
@@ -62,11 +66,12 @@ func main() {
 		if line == "" {
 			continue
 		}
-		if strings.HasPrefix(line, "Last software reset") {
-			isAssertion = strings.Contains(line, "reason: Assertion")
+		if strings.HasPrefix(line, lastSoftwareResetHeader) {
+			isAssertion = strings.Contains(line, assertionMarker)
 			continue
 		}
-		if strings.HasPrefix(line, "Stack:") {
+		if strings.HasPrefix(line, stackHeader) {
+			line = strings.TrimSpace(strings.TrimPrefix(line, stackHeader))
 			stackElems := strings.Fields(line)
 			var faultElem string
 			if isAssertion {
@@ -150,15 +155,15 @@ func getFailingBlock(mapFile string, faultedAddress uint64) ([]string, uint64, e
 
 		addressOfLine, err = strconv.ParseUint(addressField, 16, 64)
 		if err != nil {
-			return nil, 0, errors.New(fmt.Sprintf("Could not parse line: %s", mapLine))
+			return nil, 0, fmt.Errorf("Could not parse line: %s", mapLine)
 		}
 
 		if addressOfLine <= faultedAddress {
 
 			// Reset the slice of lines if we see a new address
 			if addressOfLine != lastAddress {
 				lastAddress = addressOfLine
-				faultLocation = make([]string, 0, 0)
+				faultLocation = make([]string, 0)
 				faultLocation = append(faultLocation, prevFaultFunction)
 			}
 			faultLocation = append(faultLocation, mapLine)

src/Accelerometers/Accelerometers.cpp

@@ -58,16 +58,16 @@ static unsigned int GetDecimalPlaces(uint8_t dataResolution) noexcept
 #include "LISAccelerometer.h"
 
 constexpr size_t AccelerometerTaskStackWords = 400;			// big enough to handle printf and file writes
-static Task<AccelerometerTaskStackWords> *accelerometerTask;
+static Task<AccelerometerTaskStackWords> *_ecv_null accelerometerTask;
 
-static LISAccelerometer *accelerometer = nullptr;
+static LISAccelerometer *_ecv_null accelerometer = nullptr;
 
 static uint16_t samplingRate = 0;							// 0 means use the default
 static volatile uint32_t numSamplesRequested;
 static uint8_t resolution = DefaultAccelerometerResolution;
 static uint8_t orientation = DefaultAccelerometerOrientation;
 static volatile uint8_t axesRequested;
-static FileStore* volatile accelerometerFile = nullptr;		// this is non-null when the accelerometer is running, null otherwise
+static FileStore *_ecv_null volatile accelerometerFile = nullptr;		// this is non-null when the accelerometer is running, null otherwise
 static unsigned int numLocalRunsCompleted = 0;
 static unsigned int lastRunNumSamplesReceived = 0;
 static uint8_t axisLookup[3];
@@ -91,7 +91,7 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 	uint8_t rslt = 0;
 	for (unsigned int i = 0; i < 3; ++i)
 	{
-		if (axes & (1u << i))
+		if ((axes & (1u << i)) != 0)
 		{
 			rslt |= 1u << axisLookup[i];
 		}
@@ -104,7 +104,7 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 	for (;;)
 	{
 		TaskBase::TakeIndexed(NotifyIndices::AccelerometerDataCollector);
-		FileStore * f = accelerometerFile;			// capture volatile variable
+		FileStore *_ecv_null f = accelerometerFile;			// capture volatile variable
 		if (f != nullptr)
 		{
 			// Collect and write the samples
@@ -115,22 +115,22 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 			const int decimalPlaces = GetDecimalPlaces(resolution);
 			bool recordFailedStart = false;
 
-			if (accelerometer->StartCollecting(TranslateAxes(axesRequested)))
+			if (not_null(accelerometer)->StartCollecting(TranslateAxes(axesRequested)))
 			{
 				successfulStart = true;
 				uint16_t dataRate = 0;
 				do
 				{
-					const uint16_t *data;
+					const uint16_t *_ecv_array data;
 					bool overflowed;
-					unsigned int samplesRead = accelerometer->CollectData(&data, dataRate, overflowed);
+					unsigned int samplesRead = not_null(accelerometer)->CollectData(&data, dataRate, overflowed);
 					if (samplesRead == 0)
 					{
 						// samplesRead == 0 indicates an error, e.g. no interrupt
 						samplesWanted = 0;
-						f->Write("Failed to collect data from accelerometer\n");
-						f->Truncate();				// truncate the file in case we didn't write all the preallocated space
-						f->Close();
+						not_null(f)->Write("Failed to collect data from accelerometer\n");
+						not_null(f)->Truncate();				// truncate the file in case we didn't write all the preallocated space
+						not_null(f)->Close();
 						f = nullptr;
 						AddLocalAccelerometerRun(0);
 					}
@@ -159,7 +159,7 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 
 							for (unsigned int axis = 0; axis < 3; ++axis)
 							{
-								if (axesRequested & (1u << axis))
+								if ((axesRequested & (1u << axis)) != 0)
 								{
 									uint16_t dataVal = data[axisLookup[axis]];
 									if (axisInverted[axis])
@@ -169,7 +169,7 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 									dataVal >>= (16u - resolution);					// data from LIS3DH is left justified
 
 									// Sign-extend it
-									if (dataVal & (1u << (resolution - 1)))
+									if ((dataVal & (1u << (resolution - 1))) != 0)
 									{
 										dataVal |= ~mask;
 									}
@@ -185,7 +185,7 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 							data += 3;
 
 							temp.cat('\n');
-							f->Write(temp.c_str());
+							not_null(f)->Write(temp.c_str());
 
 							--samplesRead;
 							--samplesWanted;
@@ -198,26 +198,26 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 				{
 					String<StringLength50> temp;
 					temp.printf("Rate %u, overflows %u\n", dataRate, numOverflows);
-					f->Write(temp.c_str());
+					not_null(f)->Write(temp.c_str());
 				}
 			}
 			else
 			{
 				recordFailedStart = true;
 				if (f != nullptr)
 				{
-					f->Write("Failed to start accelerometer\n");
+					not_null(f)->Write("Failed to start accelerometer\n");
 				}
 			}
 
 			if (f != nullptr)
 			{
-				f->Truncate();				// truncate the file in case we didn't write all the preallocated space
-				f->Close();
+				not_null(f)->Truncate();				// truncate the file in case we didn't write all the preallocated space
+				not_null(f)->Close();
 				AddLocalAccelerometerRun(samplesWritten);
 			}
 
-			accelerometer->StopCollecting();
+			not_null(accelerometer)->StopCollecting();
 
 			// Wait for another command
 			accelerometerFile = nullptr;
@@ -247,7 +247,7 @@ static bool TranslateOrientation(uint32_t input) noexcept
 	const uint8_t yOrientation = 3u - xOrientation - zOrientation;
 
 	// The total number of inversions must be even if the cyclic order of the axes is 012, odd if it is 210 (can we prove this?)
-	if ((xOrientation + 1) % 3 != yOrientation)
+	if ((uint8_t)((xOrientation + 1u) % 3u) != yOrientation)
 	{
 		yInverted ^= 0x04;									// we need an odd number of axis inversions
 	}
@@ -330,7 +330,7 @@ GCodeResult Accelerometers::ConfigureAccelerometer(GCodeBuffer& gb, const String
 			if (accelerometerTask == nullptr)
 			{
 				accelerometerTask = new Task<AccelerometerTaskStackWords>;
-				accelerometerTask->Create(AccelerometerTaskCode, "ACCEL", nullptr, TaskPriority::Accelerometer);
+				not_null(accelerometerTask)->Create(AccelerometerTaskCode, "ACCEL", nullptr, TaskPriority::Accelerometer);
 			}
 		}
 		else
@@ -359,7 +359,7 @@ GCodeResult Accelerometers::ConfigureAccelerometer(GCodeBuffer& gb, const String
 
 	if (seen)
 	{
-		if (!accelerometer->Configure(samplingRate, resolution))
+		if (!not_null(accelerometer)->Configure(samplingRate, resolution))
 		{
 			reply.copy("Failed to configure accelerometer");
 			return GCodeResult::error;
@@ -389,7 +389,7 @@ GCodeResult Accelerometers::ConfigureAccelerometer(GCodeBuffer& gb, const String
 						CanInterface::GetCanAddress(), 0, accelerometer->GetTypeName(), orientation, samplingRate, resolution, accelerometer->GetFrequency());
 # else
 		reply.printf("Accelerometer %u type %s with orientation %u samples at %uHz with %u-bit resolution, SPI frequency %" PRIu32,
-						0, accelerometer->GetTypeName(), orientation, samplingRate, resolution, accelerometer->GetFrequency());
+						0, not_null(accelerometer)->GetTypeName(), orientation, samplingRate, resolution, not_null(accelerometer)->GetFrequency());
 # endif
 	}
 	return GCodeResult::ok;
@@ -452,9 +452,9 @@ GCodeResult Accelerometers::StartAccelerometer(GCodeBuffer& gb, const StringRef&
 	}
 	else
 	{
-		const time_t time = reprap.GetPlatform().GetDateTime();
+		const time_t currentTime = reprap.GetPlatform().GetDateTime();
 		tm timeInfo;
-		gmtime_r(&time, &timeInfo);
+		gmtime_r(&currentTime, &timeInfo);
 		accelerometerFileName.printf("0:/sys/accelerometer/%u_%04u-%02u-%02u_%02u.%02u.%02u.csv",
 # if SUPPORT_CAN_EXPANSION
 										(unsigned int)device.boardAddress,
@@ -463,7 +463,7 @@ GCodeResult Accelerometers::StartAccelerometer(GCodeBuffer& gb, const StringRef&
 # endif
 										timeInfo.tm_year + 1900, timeInfo.tm_mon + 1, timeInfo.tm_mday, timeInfo.tm_hour, timeInfo.tm_min, timeInfo.tm_sec);
 	}
-	FileStore * const f = MassStorage::OpenFile(accelerometerFileName.c_str(), OpenMode::write, preallocSize);
+	FileStore *_ecv_null const f = MassStorage::OpenFile(accelerometerFileName.c_str(), OpenMode::write, preallocSize);
 	if (f == nullptr)
 	{
 		reply.copy("Failed to create accelerometer data file");
@@ -484,11 +484,11 @@ GCodeResult Accelerometers::StartAccelerometer(GCodeBuffer& gb, const StringRef&
 	{
 		String<StringLength50> temp;
 		temp.printf("Sample");
-		if (axes & 1u) { temp.cat(",X"); }
-		if (axes & 2u) { temp.cat(",Y"); }
-		if (axes & 4u) { temp.cat(",Z"); }
+		if ((axes & 1u) != 0) { temp.cat(",X"); }
+		if ((axes & 2u) != 0) { temp.cat(",Y"); }
+		if ((axes & 4u) != 0) { temp.cat(",Z"); }
 		temp.cat('\n');
-		f->Write(temp.c_str());
+		not_null(f)->Write(temp.c_str());
 	}
 
 # if SUPPORT_CAN_EXPANSION
@@ -515,7 +515,7 @@ GCodeResult Accelerometers::StartAccelerometer(GCodeBuffer& gb, const StringRef&
 	successfulStart = false;
 	failedStart = false;
 	accelerometerFile = f;
-	accelerometerTask->Give(NotifyIndices::AccelerometerDataCollector);
+	not_null(accelerometerTask)->Give(NotifyIndices::AccelerometerDataCollector);
 	const uint32_t startTime = millis();
 	do
 	{
@@ -527,13 +527,13 @@ GCodeResult Accelerometers::StartAccelerometer(GCodeBuffer& gb, const StringRef&
 	} while (!failedStart && millis() - startTime < 1000);
 
 	reply.copy("Failed to start accelerometer data collection");
-	if (accelerometer->HasInterruptError())
+	if (not_null(accelerometer)->HasInterruptError())
 	{
 		reply.cat(": INT1 error");
 	}
 	if (accelerometerFile != nullptr)
 	{
-		accelerometerFile->Close();
+		not_null(accelerometerFile)->Close();
 		accelerometerFile = nullptr;
 		(void)MassStorage::Delete(accelerometerFileName.GetRef(), ErrorMessageMode::messageAlways);
 	}
@@ -564,7 +564,7 @@ void Accelerometers::Exit() noexcept
 {
 	if (accelerometerTask != nullptr)
 	{
-		accelerometerTask->TerminateAndUnlink();
+		not_null(accelerometerTask)->TerminateAndUnlink();
 		accelerometerTask = nullptr;
 	}
 }

src/Accelerometers/LISAccelerometer.cpp

@@ -271,7 +271,7 @@ bool LISAccelerometer:: StartCollecting(uint8_t axes) noexcept
 }
 
 // Collect some data from the FIFO, suspending until the data is available
-unsigned int LISAccelerometer::CollectData(const uint16_t **collectedData, uint16_t &dataRate, bool &overflowed) noexcept
+unsigned int LISAccelerometer::CollectData(const uint16_t *_ecv_array *collectedData, uint16_t &dataRate, bool &overflowed) noexcept
 {
 	// Wait until we have some data
 	taskWaiting = TaskBase::GetCallerTaskHandle();
@@ -319,7 +319,7 @@ unsigned int LISAccelerometer::CollectData(const uint16_t **collectedData, uint1
 			return 0;
 		}
 
-		*collectedData = reinterpret_cast<const uint16_t*>(dataBuffer);
+		*collectedData = reinterpret_cast<const uint16_t* _ecv_array>(dataBuffer);
 		overflowed = (fifoStatus & 0x40) != 0;
 		const uint32_t interval = lastInterruptTime - firstInterruptTime;
 		dataRate = (totalNumRead == 0 || interval == 0)

src/Accelerometers/LISAccelerometer.h

@@ -32,7 +32,7 @@ class LISAccelerometer : public SharedSpiClient
 	bool StartCollecting(uint8_t axes) noexcept;
 
 	// Collect some data from the FIFO, suspending until the data is available
-	unsigned int CollectData(const uint16_t **collectedData, uint16_t &dataRate, bool &overflowed) noexcept;
+	unsigned int CollectData(const uint16_t *_ecv_array *collectedData, uint16_t &dataRate, bool &overflowed) noexcept;
 
 	// Stop collecting data
 	void StopCollecting() noexcept;
@@ -74,7 +74,7 @@ class LISAccelerometer : public SharedSpiClient
 	uint8_t ctrlReg_0x20;
 	Pin int1Pin;
 	alignas(2) uint8_t transferBuffer[2 + (6 * 32)];			// 1 dummy byte for alignment, one register address byte, 192 data bytes to read entire FIFO
-	uint8_t* const dataBuffer = transferBuffer + 2;
+	uint8_t *_ecv_array const dataBuffer = transferBuffer + 2;
 };
 
 #endif

src/Config/Pins.cpp

@@ -10,14 +10,14 @@
 // Pins lookup functions, possibly hardware-dependent
 
 // Return a pointer to the pin description entry. Declared in and called from CoreN2G. Return nullptr if the pin number is out of range.
-const PinDescriptionBase *AppGetPinDescription(Pin p) noexcept
+const PinDescriptionBase *_ecv_from _ecv_null AppGetPinDescription(Pin p) noexcept
 {
 	return (p < ARRAY_SIZE(PinTable)) ? &PinTable[p] : nullptr;
 }
 
 // Function to look up a pin name and pass back the corresponding index into the pin table
 // On this platform, the mapping from pin names to pins is fixed, so this is a simple lookup
-bool LookupPinName(const char *pn, LogicalPin &lpin, bool &hardwareInverted) noexcept
+bool LookupPinName(const char *_ecv_array pn, LogicalPin &lpin, bool &hardwareInverted) noexcept
 {
 	if (StringEqualsIgnoreCase(pn, NoPinName))
 	{
@@ -28,15 +28,15 @@ bool LookupPinName(const char *pn, LogicalPin &lpin, bool &hardwareInverted) noe
 
 	for (size_t lp = 0; lp < ARRAY_SIZE(PinTable); ++lp)
 	{
-		const char *q = PinTable[lp].pinNames;
+		const char *_ecv_array _ecv_null q = PinTable[lp].pinNames;
 		if (q == nullptr)
 		{
 			continue;
 		}
 		while (*q != 0)
 		{
 			// Try the next alias in the list of names for this pin
-			const char *p = pn;
+			const char *_ecv_array p = pn;
 			bool hwInverted = (*q == '!');
 			if (hwInverted)
 			{

src/Config/Pins_Duet3Mini.h

@@ -502,7 +502,7 @@ constexpr DmaPriority DmacPrioTmcTx = 0;
 constexpr DmaPriority DmacPrioTmcRx = 1;				// the baud rate is 100kbps so this is not very critical
 constexpr DmaPriority DmacPrioWiFi = 2;					// high speed SPI in slave mode
 constexpr DmaPriority DmacPrioSbc = 2;					// high speed SPI in slave mode
-constexpr DmaPriority DmacPrioLed = 1;				// QSPI in master mode
+constexpr DmaPriority DmacPrioLed = 1;					// QSPI in master mode
 
 // Timer allocation
 // TC2 and TC3 are used for step pulse generation and software timers