flight/libraries/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 STM32F4
  11 # include <stm32f4xx.h>
  12 #endif
  13 #ifdef STM32F3
  14 # include <stm32f30x.h>
  15 #endif
  16 #ifdef STM32F2XX
  17 # include <stm32f2xx.h>
  18 #endif
  19 #ifdef STM32F1
  20 # include <stm32f10x.h>
  21 #endif
  22
  23 #define FAULT_TRAMPOLINE(_vec)                                                                          \
  24     __attribute__((naked, no_instrument_function))                                          \
  25     void                                                                                                                            \
  26     _vec##_Handler(void)                                                                                            \
  27     {                                                                                                                                       \
  28         __asm(".syntax unified\n"                                                                        \
  29               "MOVS   R0, #4  \n"                                                        \
  30               "MOV    R1, LR  \n"                                                        \
  31               "TST    R0, R1  \n"                                                        \
  32               "BEQ    1f    \n"                                                          \
  33               "MRS    R0, PSP \n"                                                        \
  34               "B      " #_vec "_Handler2      \n"                        \
  35               "1:  \n"                                                                                           \
  36               "MRS    R0, MSP \n"                                                        \
  37               "B      " #_vec "_Handler2      \n"                        \
  38               ".syntax divided\n");                                                                      \
  39     }                                                                                                                                       \
  40     struct hack
  41
  42 struct cm3_frame {
  43     uint32_t r0;
  44     uint32_t r1;
  45     uint32_t r2;
  46     uint32_t r3;
  47     uint32_t r12;
  48     uint32_t lr;
  49     uint32_t pc;
  50     uint32_t psr;
  51 };
  52
  53 FAULT_TRAMPOLINE(HardFault);
  54 FAULT_TRAMPOLINE(BusFault);
  55 FAULT_TRAMPOLINE(UsageFault);
  56
  57 /* this is a hackaround to avoid an issue where dereferencing SCB seems to result in bad codegen and a link error */
  58 #define SCB_REG(_reg) (*(uint32_t *)&(SCB->_reg))
  59
  60 void HardFault_Handler2(struct cm3_frame *frame)
  61 {
  62     dbg_write_str("\nHARD FAULT");
  63     dbg_write_hex32(frame->pc);
  64     dbg_write_char('\n');
  65     dbg_write_hex32(SCB_REG(HFSR));
  66     dbg_write_char('\n');
  67     for (;;) {
  68         ;
  69     }
  70 }
  71
  72 void BusFault_Handler2(struct cm3_frame *frame)
  73 {
  74     dbg_write_str("\nBUS FAULT");
  75     dbg_write_hex32(frame->pc);
  76     dbg_write_char('\n');
  77     dbg_write_hex32(SCB_REG(CFSR));
  78     dbg_write_char('\n');
  79     dbg_write_hex32(SCB_REG(BFAR));
  80     dbg_write_char('\n');
  81     for (;;) {
  82         ;
  83     }
  84 }
  85
  86 void UsageFault_Handler2(struct cm3_frame *frame)
  87 {
  88     dbg_write_str("\nUSAGE FAULT");
  89     dbg_write_hex32(frame->pc);
  90     dbg_write_char('\n');
  91     dbg_write_hex32(SCB_REG(CFSR));
  92     dbg_write_char('\n');
  93     for (;;) {
  94         ;
  95     }
  96 }