[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

furi/core/thread.c

@@ -164,10 +164,13 @@ FuriThread* furi_thread_alloc_ex(
 
 void furi_thread_free(FuriThread* thread) {
     furi_assert(thread);
-    furi_assert(thread->state == FuriThreadStateStopped);
 
-    if(thread->name) free((void*)thread->name);
-    if(thread->appid) free((void*)thread->appid);
+    // Ensure that use join before free
+    furi_assert(thread->state == FuriThreadStateStopped);
+    furi_assert(thread->task_handle == NULL);
+
+    if(thread->name) free(thread->name);
+    if(thread->appid) free(thread->appid);
     furi_string_free(thread->output.buffer);
 
     free(thread);
@@ -176,14 +179,14 @@ void furi_thread_free(FuriThread* thread) {
 void furi_thread_set_name(FuriThread* thread, const char* name) {
     furi_assert(thread);
     furi_assert(thread->state == FuriThreadStateStopped);
-    if(thread->name) free((void*)thread->name);
+    if(thread->name) free(thread->name);
     thread->name = name ? strdup(name) : NULL;
 }
 
 void furi_thread_set_appid(FuriThread* thread, const char* appid) {
     furi_assert(thread);
     furi_assert(thread->state == FuriThreadStateStopped);
-    if(thread->appid) free((void*)thread->appid);
+    if(thread->appid) free(thread->appid);
     thread->appid = appid ? strdup(appid) : NULL;
 }
 
@@ -276,7 +279,7 @@ void furi_thread_cleanup_tcb_event(TaskHandle_t task) {
     if(thread) {
         // clear thread local storage
         vTaskSetThreadLocalStoragePointer(task, 0, NULL);
-
+        furi_assert(thread->task_handle == task);
         thread->task_handle = NULL;
     }
 }
@@ -332,7 +335,6 @@ FuriThreadId furi_thread_get_current_id() {
 
 FuriThread* furi_thread_get_current() {
     FuriThread* thread = pvTaskGetThreadLocalStoragePointer(NULL, 0);
-    furi_assert(thread != NULL);
     return thread;
 }
 
@@ -579,24 +581,22 @@ static int32_t __furi_thread_stdout_flush(FuriThread* thread) {
     return 0;
 }
 
-bool furi_thread_set_stdout_callback(FuriThreadStdoutWriteCallback callback) {
+void furi_thread_set_stdout_callback(FuriThreadStdoutWriteCallback callback) {
     FuriThread* thread = furi_thread_get_current();
-
+    furi_assert(thread);
     __furi_thread_stdout_flush(thread);
     thread->output.write_callback = callback;
-
-    return true;
 }
 
 FuriThreadStdoutWriteCallback furi_thread_get_stdout_callback() {
     FuriThread* thread = furi_thread_get_current();
-
+    furi_assert(thread);
     return thread->output.write_callback;
 }
 
 size_t furi_thread_stdout_write(const char* data, size_t size) {
     FuriThread* thread = furi_thread_get_current();
-
+    furi_assert(thread);
     if(size == 0 || data == NULL) {
         return __furi_thread_stdout_flush(thread);
     } else {
@@ -619,7 +619,9 @@ size_t furi_thread_stdout_write(const char* data, size_t size) {
 }
 
 int32_t furi_thread_stdout_flush() {
-    return __furi_thread_stdout_flush(furi_thread_get_current());
+    FuriThread* thread = furi_thread_get_current();
+    furi_assert(thread);
+    return __furi_thread_stdout_flush(thread);
 }
 
 void furi_thread_suspend(FuriThreadId thread_id) {

furi/core/thread.h

@@ -233,7 +233,7 @@ FuriThreadId furi_thread_get_current_id();
 
 /** Get FuriThread instance for current thread
  * 
- * @return FuriThread* 
+ * @return pointer to FuriThread or NULL if this thread doesn't belongs to Furi
  */
 FuriThread* furi_thread_get_current();
 
@@ -288,12 +288,10 @@ uint32_t furi_thread_get_stack_space(FuriThreadId thread_id);
 FuriThreadStdoutWriteCallback furi_thread_get_stdout_callback();
 
 /** Set STDOUT callback for thread
- * 
+ *
  * @param      callback  callback or NULL to clear
- * 
- * @return     true on success, otherwise fail
  */
-bool furi_thread_set_stdout_callback(FuriThreadStdoutWriteCallback callback);
+void furi_thread_set_stdout_callback(FuriThreadStdoutWriteCallback callback);
 
 /** Write data to buffered STDOUT
  * 

furi/core/timer.c

@@ -124,3 +124,13 @@ uint32_t furi_timer_is_running(FuriTimer* instance) {
     /* Return 0: not running, 1: running */
     return (uint32_t)xTimerIsTimerActive(hTimer);
 }
+
+void furi_timer_pending_callback(FuriTimerPendigCallback callback, void* context, uint32_t arg) {
+    BaseType_t ret = pdFAIL;
+    if(furi_kernel_is_irq_or_masked()) {
+        ret = xTimerPendFunctionCallFromISR(callback, context, arg, NULL);
+    } else {
+        ret = xTimerPendFunctionCall(callback, context, arg, FuriWaitForever);
+    }
+    furi_check(ret == pdPASS);
+}

furi/core/timer.h

@@ -56,6 +56,10 @@ FuriStatus furi_timer_stop(FuriTimer* instance);
  */
 uint32_t furi_timer_is_running(FuriTimer* instance);
 
+typedef void (*FuriTimerPendigCallback)(void* context, uint32_t arg);
+
+void furi_timer_pending_callback(FuriTimerPendigCallback callback, void* context, uint32_t arg);
+
 #ifdef __cplusplus
 }
 #endif