HAL_ChibiOS: use ExpandingString for @SYS buffers

libraries/AP_HAL_ChibiOS/CANFDIface.cpp

@@ -46,6 +46,8 @@
 #include <AP_Math/AP_Math.h>
 # include <hal.h>
 #include <AP_CANManager/AP_CANManager.h>
+#include <AP_Common/ExpandingString.h>
+
 # if defined(STM32H7XX)
 #include "CANFDIface.h"
 
@@ -929,34 +931,29 @@ bool CANIface::select(bool &read, bool &write,
 }
 
 #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
-uint32_t CANIface::get_stats(char* data, uint32_t max_size)
+void CANIface::get_stats(ExpandingString &str)
 {
-    if (data == nullptr) {
-        return 0;
-    }
     CriticalSectionLocker lock;
-    uint32_t ret = snprintf(data, max_size,
-                            "tx_requests:    %lu\n"
-                            "tx_rejected:    %lu\n"
-                            "tx_success:     %lu\n"
-                            "tx_timedout:    %lu\n"
-                            "tx_abort:       %lu\n"
-                            "rx_received:    %lu\n"
-                            "rx_overflow:    %lu\n"
-                            "rx_errors:      %lu\n"
-                            "num_busoff_err: %lu\n"
-                            "num_events:     %lu\n",
-                            stats.tx_requests,
-                            stats.tx_rejected,
-                            stats.tx_success,
-                            stats.tx_timedout,
-                            stats.tx_abort,
-                            stats.rx_received,
-                            stats.rx_overflow,
-                            stats.rx_errors,
-                            stats.num_busoff_err,
-                            stats.num_events);
-    return ret;
+    str.printf("tx_requests:    %lu\n"
+               "tx_rejected:    %lu\n"
+               "tx_success:     %lu\n"
+               "tx_timedout:    %lu\n"
+               "tx_abort:       %lu\n"
+               "rx_received:    %lu\n"
+               "rx_overflow:    %lu\n"
+               "rx_errors:      %lu\n"
+               "num_busoff_err: %lu\n"
+               "num_events:     %lu\n",
+               stats.tx_requests,
+               stats.tx_rejected,
+               stats.tx_success,
+               stats.tx_timedout,
+               stats.tx_abort,
+               stats.rx_received,
+               stats.rx_overflow,
+               stats.rx_errors,
+               stats.num_busoff_err,
+               stats.num_events);
 }
 #endif
 

libraries/AP_HAL_ChibiOS/CANFDIface.h

@@ -219,7 +219,7 @@ public:
 
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 
-    uint32_t get_stats(char* data, uint32_t max_size) override;
+    void get_stats(ExpandingString &str) override;
 #endif
     /************************************
      * Methods used inside interrupt    *

libraries/AP_HAL_ChibiOS/CANIface.h

@@ -220,7 +220,7 @@ public:
 
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 
-    uint32_t get_stats(char* data, uint32_t max_size) override;
+    void get_stats(ExpandingString &str) override;
 #endif
     /************************************
      * Methods used inside interrupt    *

libraries/AP_HAL_ChibiOS/CanIface.cpp

@@ -46,6 +46,7 @@
 #include <AP_Math/AP_Math.h>
 # include <hal.h>
 #include <AP_CANManager/AP_CANManager.h>
+#include <AP_Common/ExpandingString.h>
 
 # if !defined(STM32H7XX)
 #include "CANIface.h"
@@ -902,35 +903,30 @@ bool CANIface::init(const uint32_t bitrate, const CANIface::OperatingMode mode)
 }
 
 #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
-uint32_t CANIface::get_stats(char* data, uint32_t max_size)
+void CANIface::get_stats(ExpandingString &str)
 {
-    if (data == nullptr) {
-        return 0;
-    }
     CriticalSectionLocker lock;
-    uint32_t ret = snprintf(data, max_size,
-                            "tx_requests:    %lu\n"
-                            "tx_rejected:    %lu\n"
-                            "tx_success:     %lu\n"
-                            "tx_timedout:    %lu\n"
-                            "tx_abort:       %lu\n"
-                            "rx_received:    %lu\n"
-                            "rx_overflow:    %lu\n"
-                            "rx_errors:      %lu\n"
-                            "num_busoff_err: %lu\n"
-                            "num_events:     %lu\n",
-                            stats.tx_requests,
-                            stats.tx_rejected,
-                            stats.tx_success,
-                            stats.tx_timedout,
-                            stats.tx_abort,
-                            stats.rx_received,
-                            stats.rx_overflow,
-                            stats.rx_errors,
-                            stats.num_busoff_err,
-                            stats.num_events);
+    str.printf("tx_requests:    %lu\n"
+               "tx_rejected:    %lu\n"
+               "tx_success:     %lu\n"
+               "tx_timedout:    %lu\n"
+               "tx_abort:       %lu\n"
+               "rx_received:    %lu\n"
+               "rx_overflow:    %lu\n"
+               "rx_errors:      %lu\n"
+               "num_busoff_err: %lu\n"
+               "num_events:     %lu\n",
+               stats.tx_requests,
+               stats.tx_rejected,
+               stats.tx_success,
+               stats.tx_timedout,
+               stats.tx_abort,
+               stats.rx_received,
+               stats.rx_overflow,
+               stats.rx_errors,
+               stats.num_busoff_err,
+               stats.num_events);
     memset(&stats, 0, sizeof(stats));
-    return ret;
 }
 #endif
 

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -24,6 +24,7 @@
 #include "hwdef/common/watchdog.h"
 #include "hwdef/common/flash.h"
 #include <AP_ROMFS/AP_ROMFS.h>
+#include <AP_Common/ExpandingString.h>
 #include "sdcard.h"
 #include "shared_dma.h"
 
@@ -299,20 +300,14 @@ bool Util::was_watchdog_reset() const
 /*
   display stack usage as text buffer for @SYS/threads.txt
  */
-size_t Util::thread_info(char *buf, size_t bufsize)
+void Util::thread_info(ExpandingString &str)
 {
-  size_t total = 0;
-
   // a header to allow for machine parsers to determine format
   const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
-  int n = snprintf(buf, bufsize, "ThreadsV2\nISR           PRI=255 sp=%p STACK=%u/%u\n",
-                   &__main_stack_base__, stack_free(&__main_stack_base__), isr_stack_size);
-  if (n <= 0) {
-      return 0;
-  }
-  buf += n;
-  bufsize -= n;
-  total += n;
+  str.printf("ThreadsV2\nISR           PRI=255 sp=%p STACK=%u/%u\n",
+             &__main_stack_base__,
+             unsigned(stack_free(&__main_stack_base__)),
+             unsigned(isr_stack_size));
 
   for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
       uint32_t total_stack;
@@ -324,35 +319,26 @@ size_t Util::thread_info(char *buf, size_t bufsize)
           // above the stack top
           total_stack = uint32_t(tp) - uint32_t(tp->wabase);
       }
-      if (bufsize > 0) {
 #if HAL_ENABLE_THREAD_STATISTICS
-          n = snprintf(buf, bufsize, "%-13.13s PRI=%3u sp=%p STACK=%4u/%4u MIN=%4u AVG=%4u MAX=%4u\n",
-                        tp->name, unsigned(tp->prio), tp->wabase,
-                        stack_free(tp->wabase), total_stack, RTC2US(STM32_HSECLK, tp->stats.best),
-                        RTC2US(STM32_HSECLK, uint32_t(tp->stats.cumulative / uint64_t(tp->stats.n))),
-                        RTC2US(STM32_HSECLK, tp->stats.worst));
-          chTMObjectInit(&tp->stats); // reset counters to zero
+      str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u MIN=%4u AVG=%4u MAX=%4u\n",
+                 tp->name, unsigned(tp->prio), tp->wabase,
+                 stack_free(tp->wabase), total_stack, RTC2US(STM32_HSECLK, tp->stats.best),
+                 RTC2US(STM32_HSECLK, uint32_t(tp->stats.cumulative / uint64_t(tp->stats.n))),
+                 RTC2US(STM32_HSECLK, tp->stats.worst));
+      chTMObjectInit(&tp->stats); // reset counters to zero
 #else
-          n = snprintf(buf, bufsize, "%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
-                       tp->name, unsigned(tp->prio), tp->wabase,
-                       stack_free(tp->wabase), total_stack);
+      str.printf("%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
+                 tp->name, unsigned(tp->prio), tp->wabase,
+                 unsigned(stack_free(tp->wabase)), unsigned(total_stack));
 #endif
-          if (n > bufsize) {
-              n = bufsize;
-          }
-          buf += n;
-          bufsize -= n;
-          total += n;
-      }
   }
-
-  return total;
 }
 #endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
 
 #if CH_CFG_USE_SEMAPHORES
 // request information on dma contention
-size_t Util::dma_info(char *buf, size_t bufsize) {
-    return ChibiOS::Shared_DMA::dma_info(buf, bufsize);
+void Util::dma_info(ExpandingString &str)
+{
+    ChibiOS::Shared_DMA::dma_info(str);
 }
 #endif

libraries/AP_HAL_ChibiOS/Util.h

@@ -60,11 +60,11 @@ public:
 
 #if CH_DBG_ENABLE_STACK_CHECK == TRUE
     // request information on running threads
-    size_t thread_info(char *buf, size_t bufsize) override;
+    void thread_info(ExpandingString &str) override;
 #endif
 #if CH_CFG_USE_SEMAPHORES
     // request information on dma contention
-    size_t dma_info(char *buf, size_t bufsize) override;
+    void dma_info(ExpandingString &str) override;
 #endif
     
 private:

libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat

@@ -474,3 +474,4 @@ define STORAGE_FLASH_PAGE 1
 # is "ROMFS ROMFS-filename source-filename". Paths are relative to the
 # ardupilot root
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin
+

libraries/AP_HAL_ChibiOS/shared_dma.cpp

@@ -22,6 +22,8 @@
 
 #if CH_CFG_USE_SEMAPHORES == TRUE
 
+#include <AP_Common/ExpandingString.h>
+
 using namespace ChibiOS;
 extern const AP_HAL::HAL& hal;
 
@@ -228,26 +230,16 @@ void Shared_DMA::lock_all(void)
 }
 
 // display dma contention statistics as text buffer for @SYS/dma.txt
-size_t Shared_DMA::dma_info(char *buf, size_t bufsize)
+void Shared_DMA::dma_info(ExpandingString &str)
 {
-    size_t total = 0;
-
     // no buffer allocated, start counting
     if (_contention_stats == nullptr) {
         _contention_stats = new dma_stats[SHARED_DMA_MAX_STREAM_ID+1];
-        return 0;
+        return;
     }
 
     // a header to allow for machine parsers to determine format
-    int n = hal.util->snprintf(buf, bufsize, "DMAV1\n");
-
-    if (n <= 0) {
-        return 0;
-    }
-
-    buf += n;
-    bufsize -= n;
-    total += n;
+    str.printf("DMAV1\n");
 
     for (uint8_t i = 0; i < SHARED_DMA_MAX_STREAM_ID + 1; i++) {
         if (locks[i].obj == nullptr) {
@@ -257,21 +249,11 @@ size_t Shared_DMA::dma_info(char *buf, size_t bufsize)
         const char* fmt = "DMA=%1u STRM=%1u ULCK=%8u CLCK=%8u CONT=%4.1f%%\n";
         float cond_per = 100.0f * float(_contention_stats[i].contended_locks)
             / (1 + _contention_stats[i].contended_locks + _contention_stats[i].uncontended_locks);
-        n = hal.util->snprintf(buf, bufsize, fmt, i / 8 + 1, i % 8,
-            _contention_stats[i].uncontended_locks, _contention_stats[i].contended_locks, cond_per);
-
-        if (n <= 0) {
-            break;
-        }
-        buf += n;
-        bufsize -= n;
-        total += n;
-
+        str.printf(fmt, i / 8 + 1, i % 8,
+                   _contention_stats[i].uncontended_locks, _contention_stats[i].contended_locks, cond_per);
         _contention_stats[i].contended_locks = 0;
         _contention_stats[i].uncontended_locks = 0;
     }
-
-    return total;
 }
 
 #endif // CH_CFG_USE_SEMAPHORES

libraries/AP_HAL_ChibiOS/shared_dma.h

@@ -66,7 +66,7 @@ public:
     static void lock_all(void);
 
     // display dma contention statistics as text buffer for @SYS/dma.txt
-    static size_t dma_info(char *buf, size_t bufsize);
+    static void dma_info(ExpandingString &str);
 
 private:
     dma_allocate_fn_t allocate;