flight/targets/boards/revolution/firmware/cm3_fault_handlers.c

   1 /*
   2  * cm3_fault_handlers.c
   3  *
   4  *  Created on: Apr 24, 2011
   5  *      Author: msmith
   6  */
   7
   8 #include <stdint.h>
   9 #include "inc/dcc_stdio.h"
  10 #ifdef STM32F4XX
  11 # include <stm32f4xx.h>
  12 #endif
  13 #ifdef STM32F2XX
  14 # include <stm32f2xx.h>
  15 #endif
  16
  17 #define FAULT_TRAMPOLINE(_vec)                                                                          \
  18     __attribute__((naked, no_instrument_function))                                          \
  19     void                                                                                                                            \
  20     _vec##_Handler(void)                                                                                            \
  21     {                                                                                                                                       \
  22         __asm(".syntax unified\n"                                                                        \
  23               "MOVS   R0, #4  \n"                                                        \
  24               "MOV    R1, LR  \n"                                                        \
  25               "TST    R0, R1  \n"                                                        \
  26               "BEQ    1f    \n"                                                          \
  27               "MRS    R0, PSP \n"                                                        \
  28               "B      " #_vec "_Handler2      \n"                        \
  29               "1:  \n"                                                                                           \
  30               "MRS    R0, MSP \n"                                                        \
  31               "B      " #_vec "_Handler2      \n"                        \
  32               ".syntax divided\n");                                                                      \
  33     }                                                                                                                                       \
  34     struct hack
  35
  36 struct cm3_frame {
  37     uint32_t r0;
  38     uint32_t r1;
  39     uint32_t r2;
  40     uint32_t r3;
  41     uint32_t r12;
  42     uint32_t lr;
  43     uint32_t pc;
  44     uint32_t psr;
  45 };
  46
  47 FAULT_TRAMPOLINE(HardFault);
  48 FAULT_TRAMPOLINE(BusFault);
  49 FAULT_TRAMPOLINE(UsageFault);
  50
  51 /* this is a hackaround to avoid an issue where dereferencing SCB seems to result in bad codegen and a link error */
  52 #define SCB_REG(_reg) (*(uint32_t *)&(SCB->_reg))
  53
  54 void HardFault_Handler2(struct cm3_frame *frame)
  55 {
  56     dbg_write_str("\nHARD FAULT");
  57     dbg_write_hex32(frame->pc);
  58     dbg_write_char('\n');
  59     dbg_write_hex32(SCB_REG(HFSR));
  60     dbg_write_char('\n');
  61     for (;;) {
  62         ;
  63     }
  64 }
  65
  66 void BusFault_Handler2(struct cm3_frame *frame)
  67 {
  68     dbg_write_str("\nBUS FAULT");
  69     dbg_write_hex32(frame->pc);
  70     dbg_write_char('\n');
  71     dbg_write_hex32(SCB_REG(CFSR));
  72     dbg_write_char('\n');
  73     dbg_write_hex32(SCB_REG(BFAR));
  74     dbg_write_char('\n');
  75     for (;;) {
  76         ;
  77     }
  78 }
  79
  80 void UsageFault_Handler2(struct cm3_frame *frame)
  81 {
  82     dbg_write_str("\nUSAGE FAULT");
  83     dbg_write_hex32(frame->pc);
  84     dbg_write_char('\n');
  85     dbg_write_hex32(SCB_REG(CFSR));
  86     dbg_write_char('\n');
  87     for (;;) {
  88         ;
  89     }
  90 }