Initial commit

Author: schkovich

platformio.ini

@@ -0,0 +1,18 @@
+[env:debug]
+board = nanorp2040connect
+framework = arduino
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board_build.core = earlephilhower
+platform_packages =
+    framework-arduinopico@symlink://../arduino-pico
+build_flags =
+    -DLIB_PICO_MULTICORE=1
+    -DDEBUG_RP2040_PORT=Serial1
+    -fno-lto
+    -Og
+    -g
+debug_tool = cmsis-dap
+upload_protocol = cmsis-dap
+debug_extra_cmds =
+    set remotetimeout 5
+    source scripts/combined_debug.gdb

scripts/capture_race_state.gdb

@@ -0,0 +1,44 @@
+set pagination off
+set print pretty on
+
+# Initialize tracking variables
+set $cycle = 1
+
+break async_context_base_remove_when_pending_worker
+commands
+  silent
+  printf "\n[Cycle: %d] remove worker: %p\n", $cycle, worker
+  printf "[TIMESTAMP] Exit: %llu\n", timestamp_exit
+  info args
+  info address worker
+  x/16wx worker
+  set $w = (async_when_pending_worker_t *)worker
+  p *$w
+  if ($w->do_work != 0x1000a499)
+    printf "\n[CORRUPTED] do_work changed from 0x1000a499 to %p!\n", $w->do_work
+  end
+  # Log but don't break for these fields
+  if ($w->next != 0 && ($w->next < 0x20000000 || $w->next > 0x20042000))
+    printf "\n[WARNING] next pointer invalid: %p\n", $w->next
+  end
+  if ($w->work_pending > 1)
+    printf "\n[WARNING] work_pending invalid: %d\n", $w->work_pending
+  end
+  bt
+  set $cycle = $cycle + 1
+  continue
+end
+
+break async_context_base_execute_once
+commands
+  silent
+  set $worker = (async_when_pending_worker_t *)self->when_pending_list
+  printf "\n[Cycle: %d] execute once: %p\n", $cycle, $worker
+  printf "[TIMESTAMP] Enter: %llu\n", timestamp_enter
+  if $worker != 0
+    x/4wx $worker
+    p *$worker
+    # Print timestamp info if worker exists
+  end
+  continue
+end

scripts/combined_debug.gdb

@@ -0,0 +1,4 @@
+# Load the race‑capture script that watches execute_sync()
+source scripts/capture_race_state.gdb
+# Load the standard hard‑fault diagnostics
+source scripts/hardfault_debug.gdb

scripts/hardfault_debug.gdb

@@ -0,0 +1,13 @@
+break isr_hardfault
+commands
+  silent
+  echo \n=========== HardFault detected ===========\n
+  info reg
+  echo \nStacked registers (r0‑r3,r12,lr,pc,xPSR):\n
+  x/8wx $sp
+  set $fault_pc = *((unsigned int *)$sp + 6)
+  printf "\nCode around faulting PC (0x%08x):\n", $fault_pc
+  disassemble $fault_pc-8, $fault_pc+8
+  bt
+  echo \n==========================================\n
+end

src/main.cpp

@@ -0,0 +1,81 @@
+#include <Arduino.h>
+#include "pico/async_context_threadsafe_background.h"
+
+bool core1_separate_stack = true;
+
+volatile bool operational = false;
+volatile bool serial_ready = false;
+static volatile uint64_t timestamp_exit = 0;
+static volatile uint64_t timestamp_enter = 0;
+
+static async_context_threadsafe_background_t asyncCtx;
+
+uint32_t doSomeWork(void* param) {
+    const auto value = static_cast<uint32_t*>(param);
+    (*value)++;
+    // Log timestamp right before sem_release will happen
+    if (const auto worker = static_cast<async_when_pending_worker*>(asyncCtx.core.when_pending_list)) {
+        Serial1.printf("[INFO][%u][%llu] Pre-sem_release worker state:\n"
+                      "  address: %p\n"
+                      "  next: %p\n"
+                      "  do_work: %p\n"
+                      "  work_pending: %d\n"
+                      "  value: %d\n",
+            get_core_num(),
+            to_us_since_boot(get_absolute_time()),
+            worker,
+            worker->next,
+            worker->do_work,
+            worker->work_pending,
+            *value);
+    }
+    return *value;
+}
+
+void setup() {
+    Serial1.setRX(PIN_SERIAL1_RX);
+    Serial1.setTX(PIN_SERIAL1_TX);
+    Serial1.setPollingMode(true);
+    Serial1.begin(115200);
+
+    while (!Serial1) {
+        delay(10);
+    }
+
+    RP2040::enableDoubleResetBootloader();
+    serial_ready = true;
+    while (!operational) {
+        delay(10);
+    }
+
+    Serial1.printf("C0 ready...\n");
+}
+
+void setup1() {
+    while (!serial_ready) {
+        delay(10);
+    }
+    async_context_threadsafe_background_config_t cfg = async_context_threadsafe_background_default_config();
+    operational = async_context_threadsafe_background_init(&asyncCtx, &cfg);
+    assert(operational);
+    Serial1.printf("C1 ready...\n");
+}
+
+void loop() {
+    static unsigned long c0_counter = 0;
+    static uint32_t myNumber = 0;
+
+    if (c0_counter % 111 == 0) {
+        timestamp_enter = to_us_since_boot(get_absolute_time());
+        const auto rc = async_context_execute_sync(&asyncCtx.core, doSomeWork, &myNumber);
+        assert(rc == myNumber);
+        timestamp_exit = to_us_since_boot(get_absolute_time());
+        Serial1.printf("value: %d; enter: %llu; exit: %llu\n", rc, timestamp_enter, timestamp_exit);
+    }
+    c0_counter++;
+    delay(1);
+}
+
+void loop1() {
+    tight_loop_contents();
+}