[FL-3289] Various Furi/FuriHal bug fixes and improvements (#2637)

* Furi: properly handle thread free before TCB scrapping, add furi_free - more invasive version of free to memmgr. FuriHal: add DWT comparator api to cortex. Updater, RPC: refactor various thread shanenigans. Code cleanup.
* Rollback free macros and related changes

firmware/targets/f18/api_symbols.csv

@@ -1,5 +1,5 @@
 entry,status,name,type,params
-Version,+,24.0,,
+Version,+,26.0,,
 Header,+,applications/services/bt/bt_service/bt.h,,
 Header,+,applications/services/cli/cli.h,,
 Header,+,applications/services/cli/cli_vcp.h,,
@@ -892,6 +892,8 @@ Function,+,furi_hal_console_puts,void,const char*
 Function,+,furi_hal_console_set_tx_callback,void,"FuriHalConsoleTxCallback, void*"
 Function,+,furi_hal_console_tx,void,"const uint8_t*, size_t"
 Function,+,furi_hal_console_tx_with_new_line,void,"const uint8_t*, size_t"
+Function,+,furi_hal_cortex_comp_enable,void,"FuriHalCortexComp, FuriHalCortexCompFunction, uint32_t, uint32_t, FuriHalCortexCompSize"
+Function,+,furi_hal_cortex_comp_reset,void,FuriHalCortexComp
 Function,+,furi_hal_cortex_delay_us,void,uint32_t
 Function,-,furi_hal_cortex_init_early,void,
 Function,+,furi_hal_cortex_instructions_per_microsecond,uint32_t,
@@ -1278,7 +1280,7 @@ Function,+,furi_thread_set_priority,void,"FuriThread*, FuriThreadPriority"
 Function,+,furi_thread_set_stack_size,void,"FuriThread*, size_t"
 Function,+,furi_thread_set_state_callback,void,"FuriThread*, FuriThreadStateCallback"
 Function,+,furi_thread_set_state_context,void,"FuriThread*, void*"
-Function,+,furi_thread_set_stdout_callback,_Bool,FuriThreadStdoutWriteCallback
+Function,+,furi_thread_set_stdout_callback,void,FuriThreadStdoutWriteCallback
 Function,+,furi_thread_start,void,FuriThread*
 Function,+,furi_thread_stdout_flush,int32_t,
 Function,+,furi_thread_stdout_write,size_t,"const char*, size_t"
@@ -1287,6 +1289,7 @@ Function,+,furi_thread_yield,void,
 Function,+,furi_timer_alloc,FuriTimer*,"FuriTimerCallback, FuriTimerType, void*"
 Function,+,furi_timer_free,void,FuriTimer*
 Function,+,furi_timer_is_running,uint32_t,FuriTimer*
+Function,+,furi_timer_pending_callback,void,"FuriTimerPendigCallback, void*, uint32_t"
 Function,+,furi_timer_start,FuriStatus,"FuriTimer*, uint32_t"
 Function,+,furi_timer_stop,FuriStatus,FuriTimer*
 Function,-,fwrite,size_t,"const void*, size_t, size_t, FILE*"

firmware/targets/f7/api_symbols.csv

@@ -1,5 +1,5 @@
 entry,status,name,type,params
-Version,+,24.0,,
+Version,+,26.0,,
 Header,+,applications/services/bt/bt_service/bt.h,,
 Header,+,applications/services/cli/cli.h,,
 Header,+,applications/services/cli/cli_vcp.h,,
@@ -1073,6 +1073,8 @@ Function,+,furi_hal_console_puts,void,const char*
 Function,+,furi_hal_console_set_tx_callback,void,"FuriHalConsoleTxCallback, void*"
 Function,+,furi_hal_console_tx,void,"const uint8_t*, size_t"
 Function,+,furi_hal_console_tx_with_new_line,void,"const uint8_t*, size_t"
+Function,+,furi_hal_cortex_comp_enable,void,"FuriHalCortexComp, FuriHalCortexCompFunction, uint32_t, uint32_t, FuriHalCortexCompSize"
+Function,+,furi_hal_cortex_comp_reset,void,FuriHalCortexComp
 Function,+,furi_hal_cortex_delay_us,void,uint32_t
 Function,-,furi_hal_cortex_init_early,void,
 Function,+,furi_hal_cortex_instructions_per_microsecond,uint32_t,
@@ -1562,7 +1564,7 @@ Function,+,furi_thread_set_priority,void,"FuriThread*, FuriThreadPriority"
 Function,+,furi_thread_set_stack_size,void,"FuriThread*, size_t"
 Function,+,furi_thread_set_state_callback,void,"FuriThread*, FuriThreadStateCallback"
 Function,+,furi_thread_set_state_context,void,"FuriThread*, void*"
-Function,+,furi_thread_set_stdout_callback,_Bool,FuriThreadStdoutWriteCallback
+Function,+,furi_thread_set_stdout_callback,void,FuriThreadStdoutWriteCallback
 Function,+,furi_thread_start,void,FuriThread*
 Function,+,furi_thread_stdout_flush,int32_t,
 Function,+,furi_thread_stdout_write,size_t,"const char*, size_t"
@@ -1571,6 +1573,7 @@ Function,+,furi_thread_yield,void,
 Function,+,furi_timer_alloc,FuriTimer*,"FuriTimerCallback, FuriTimerType, void*"
 Function,+,furi_timer_free,void,FuriTimer*
 Function,+,furi_timer_is_running,uint32_t,FuriTimer*
+Function,+,furi_timer_pending_callback,void,"FuriTimerPendigCallback, void*, uint32_t"
 Function,+,furi_timer_start,FuriStatus,"FuriTimer*, uint32_t"
 Function,+,furi_timer_stop,FuriStatus,FuriTimer*
 Function,-,fwrite,size_t,"const void*, size_t, size_t, FILE*"

firmware/targets/f7/furi_hal/furi_hal_cortex.c

@@ -1,11 +1,12 @@
 #include <furi_hal_cortex.h>
+#include <furi.h>
 
 #include <stm32wbxx.h>
 
 #define FURI_HAL_CORTEX_INSTRUCTIONS_PER_MICROSECOND (SystemCoreClock / 1000000)
 
 void furi_hal_cortex_init_early() {
-    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+    CoreDebug->DEMCR |= (CoreDebug_DEMCR_TRCENA_Msk | CoreDebug_DEMCR_MON_EN_Msk);
     DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
     DWT->CYCCNT = 0U;
 
@@ -38,4 +39,71 @@ bool furi_hal_cortex_timer_is_expired(FuriHalCortexTimer cortex_timer) {
 void furi_hal_cortex_timer_wait(FuriHalCortexTimer cortex_timer) {
     while(!furi_hal_cortex_timer_is_expired(cortex_timer))
         ;
-}
+}
+
+// Duck ST
+#undef COMP0
+#undef COMP1
+#undef COMP2
+#undef COMP3
+
+void furi_hal_cortex_comp_enable(
+    FuriHalCortexComp comp,
+    FuriHalCortexCompFunction function,
+    uint32_t value,
+    uint32_t mask,
+    FuriHalCortexCompSize size) {
+    uint32_t function_reg = (uint32_t)function | ((uint32_t)size << 10);
+
+    switch(comp) {
+    case FuriHalCortexComp0:
+        (DWT->COMP0) = value;
+        (DWT->MASK0) = mask;
+        (DWT->FUNCTION0) = function_reg;
+        break;
+    case FuriHalCortexComp1:
+        (DWT->COMP1) = value;
+        (DWT->MASK1) = mask;
+        (DWT->FUNCTION1) = function_reg;
+        break;
+    case FuriHalCortexComp2:
+        (DWT->COMP2) = value;
+        (DWT->MASK2) = mask;
+        (DWT->FUNCTION2) = function_reg;
+        break;
+    case FuriHalCortexComp3:
+        (DWT->COMP3) = value;
+        (DWT->MASK3) = mask;
+        (DWT->FUNCTION3) = function_reg;
+        break;
+    default:
+        furi_crash("Invalid parameter");
+    }
+}
+
+void furi_hal_cortex_comp_reset(FuriHalCortexComp comp) {
+    switch(comp) {
+    case FuriHalCortexComp0:
+        (DWT->COMP0) = 0;
+        (DWT->MASK0) = 0;
+        (DWT->FUNCTION0) = 0;
+        break;
+    case FuriHalCortexComp1:
+        (DWT->COMP1) = 0;
+        (DWT->MASK1) = 0;
+        (DWT->FUNCTION1) = 0;
+        break;
+    case FuriHalCortexComp2:
+        (DWT->COMP2) = 0;
+        (DWT->MASK2) = 0;
+        (DWT->FUNCTION2) = 0;
+        break;
+    case FuriHalCortexComp3:
+        (DWT->COMP3) = 0;
+        (DWT->MASK3) = 0;
+        (DWT->FUNCTION3) = 0;
+        break;
+    default:
+        furi_crash("Invalid parameter");
+    }
+}

firmware/targets/furi_hal_include/furi_hal_cortex.h

@@ -56,6 +56,53 @@ bool furi_hal_cortex_timer_is_expired(FuriHalCortexTimer cortex_timer);
  */
 void furi_hal_cortex_timer_wait(FuriHalCortexTimer cortex_timer);
 
+typedef enum {
+    FuriHalCortexComp0,
+    FuriHalCortexComp1,
+    FuriHalCortexComp2,
+    FuriHalCortexComp3,
+} FuriHalCortexComp;
+
+typedef enum {
+    FuriHalCortexCompSizeWord = 0b10,
+    FuriHalCortexCompSizeHalfWord = 0b01,
+    FuriHalCortexCompSizeByte = 0b00,
+} FuriHalCortexCompSize;
+
+typedef enum {
+    FuriHalCortexCompFunctionPC = 0b100,
+    FuriHalCortexCompFunctionRead = 0b101,
+    FuriHalCortexCompFunctionWrite = 0b110,
+    FuriHalCortexCompFunctionReadWrite = 0b110,
+} FuriHalCortexCompFunction;
+
+/** Enable DWT comparator
+ * 
+ * Allows to programmatically set instruction/data breakpoints.
+ * 
+ * More details on how it works can be found in armv7m official documentation:
+ * https://developer.arm.com/documentation/ddi0403/d/Debug-Architecture/ARMv7-M-Debug/The-Data-Watchpoint-and-Trace-unit/The-DWT-comparators
+ * https://developer.arm.com/documentation/ddi0403/d/Debug-Architecture/ARMv7-M-Debug/The-Data-Watchpoint-and-Trace-unit/Comparator-Function-registers--DWT-FUNCTIONn
+ *
+ * @param[in]  comp      The Comparator
+ * @param[in]  function  The Comparator Function to use
+ * @param[in]  value     The value
+ * @param[in]  mask      The mask
+ * @param[in]  size      The size
+ */
+void furi_hal_cortex_comp_enable(
+    FuriHalCortexComp comp,
+    FuriHalCortexCompFunction function,
+    uint32_t value,
+    uint32_t mask,
+    FuriHalCortexCompSize size);
+
+/** Reset DWT comparator
+ *
+ * @param[in]  comp  The Comparator
+ */
+void furi_hal_cortex_comp_reset(FuriHalCortexComp comp);
+
 #ifdef __cplusplus
 }
 #endif