src/main/fc/hardfaults.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #include "drivers/light_led.h"
  27 #include "drivers/time.h"
  28 #include "drivers/transponder_ir.h"
  29
  30 #include "fc/init.h"
  31
  32 #include "flight/mixer.h"
  33
  34 #ifdef STM32F7
  35 void MemManage_Handler(void)
  36 {
  37     LED2_ON;
  38
  39     // fall out of the sky
  40     uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
  41     if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
  42         stopMotors();
  43     }
  44
  45 #ifdef USE_TRANSPONDER
  46     // prevent IR LEDs from burning out.
  47     uint8_t requiredStateForTransponder = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_TRANSPONDER_ENABLED;
  48     if ((systemState & requiredStateForTransponder) == requiredStateForTransponder) {
  49         transponderIrDisable();
  50     }
  51 #endif
  52
  53     LED1_OFF;
  54     LED0_OFF;
  55
  56     while (1) {
  57         delay(500);
  58         LED2_TOGGLE;
  59         delay(50);
  60         LED2_TOGGLE;
  61     }
  62 }
  63 #endif
  64
  65 #ifdef DEBUG_HARDFAULTS
  66 //from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/
  67 /**
  68  * hard_fault_handler_c:
  69  * This is called from the HardFault_HandlerAsm with a pointer the Fault stack
  70  * as the parameter. We can then read the values from the stack and place them
  71  * into local variables for ease of reading.
  72  * We then read the various Fault Status and Address Registers to help decode
  73  * cause of the fault.
  74  * The function ends with a BKPT instruction to force control back into the debugger
  75  */
  76 void hard_fault_handler_c(unsigned long *hardfault_args)
  77 {
  78   volatile unsigned long stacked_r0 ;
  79   volatile unsigned long stacked_r1 ;
  80   volatile unsigned long stacked_r2 ;
  81   volatile unsigned long stacked_r3 ;
  82   volatile unsigned long stacked_r12 ;
  83   volatile unsigned long stacked_lr ;
  84   volatile unsigned long stacked_pc ;
  85   volatile unsigned long stacked_psr ;
  86   volatile unsigned long _CFSR ;
  87   volatile unsigned long _HFSR ;
  88   volatile unsigned long _DFSR ;
  89   volatile unsigned long _AFSR ;
  90   volatile unsigned long _BFAR ;
  91   volatile unsigned long _MMAR ;
  92
  93   stacked_r0 = ((unsigned long)hardfault_args[0]) ;
  94   stacked_r1 = ((unsigned long)hardfault_args[1]) ;
  95   stacked_r2 = ((unsigned long)hardfault_args[2]) ;
  96   stacked_r3 = ((unsigned long)hardfault_args[3]) ;
  97   stacked_r12 = ((unsigned long)hardfault_args[4]) ;
  98   stacked_lr = ((unsigned long)hardfault_args[5]) ;
  99   stacked_pc = ((unsigned long)hardfault_args[6]) ;
 100   stacked_psr = ((unsigned long)hardfault_args[7]) ;
 101
 102   // Configurable Fault Status Register
 103   // Consists of MMSR, BFSR and UFSR
 104   _CFSR = (*((volatile unsigned long *)(0xE000ED28))) ;
 105
 106   // Hard Fault Status Register
 107   _HFSR = (*((volatile unsigned long *)(0xE000ED2C))) ;
 108
 109   // Debug Fault Status Register
 110   _DFSR = (*((volatile unsigned long *)(0xE000ED30))) ;
 111
 112   // Auxiliary Fault Status Register
 113   _AFSR = (*((volatile unsigned long *)(0xE000ED3C))) ;
 114
 115   // Read the Fault Address Registers. These may not contain valid values.
 116   // Check BFARVALID/MMARVALID to see if they are valid values
 117   // MemManage Fault Address Register
 118   _MMAR = (*((volatile unsigned long *)(0xE000ED34))) ;
 119   // Bus Fault Address Register
 120   _BFAR = (*((volatile unsigned long *)(0xE000ED38))) ;
 121
 122   __asm("BKPT #0\n") ; // Break into the debugger
 123 }
 124
 125 #else
 126 void HardFault_Handler(void)
 127 {
 128     LED0_ON;
 129     LED1_ON;
 130     LED2_ON;
 131
 132     // fall out of the sky
 133     uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
 134     if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
 135         stopMotors();
 136     }
 137
 138 #ifdef USE_TRANSPONDER
 139     // prevent IR LEDs from burning out.
 140     uint8_t requiredStateForTransponder = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_TRANSPONDER_ENABLED;
 141     if ((systemState & requiredStateForTransponder) == requiredStateForTransponder) {
 142         transponderIrDisable();
 143     }
 144 #endif
 145
 146     LED0_OFF;
 147     LED1_OFF;
 148     LED2_OFF;
 149
 150     while (1) {
 151         delay(50);
 152         LED0_TOGGLE;
 153         LED1_TOGGLE;
 154         LED2_TOGGLE;
 155     }
 156 }
 157 #endif