hardfault handler w/ debugging info and an automatic breakpoint

This commit is contained in:
nathan 2016-04-30 12:16:02 -07:00
parent 1031e40a52
commit 46a49f6147
3 changed files with 576 additions and 3 deletions

View File

@ -28,6 +28,10 @@ OPBL ?=no
# Debugger optons, must be empty or GDB # Debugger optons, must be empty or GDB
DEBUG ?= DEBUG ?=
# Insert the debugging hardfault debugger
# releases should not be built with this flag as it does not disable pwm output
DEBUG_HARDFAULTS ?=
# Serial port/Device for flashing # Serial port/Device for flashing
SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found) SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
@ -56,6 +60,13 @@ OPBL_VALID_TARGETS = CC3D_OPBL
F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO DOGE F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO DOGE
# note that there is no hardfault debugging startup file assembly handler for other platforms
ifeq ($(DEBUG_HARDFAULTS),F3)
CFLAGS += -DDEBUG_HARDFAULTS
STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
else
STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
endif
# Configure default flash sizes for the targets # Configure default flash sizes for the targets
ifeq ($(FLASH_SIZE),) ifeq ($(FLASH_SIZE),)
@ -534,8 +545,8 @@ CC3D_SRC = \
$(COMMON_SRC) \ $(COMMON_SRC) \
$(VCP_SRC) $(VCP_SRC)
STM32F30x_COMMON_SRC = \
startup_stm32f30x_md_gcc.S \ STM32F30x_COMMON_SRC += \
drivers/adc.c \ drivers/adc.c \
drivers/adc_stm32f30x.c \ drivers/adc_stm32f30x.c \
drivers/bus_i2c_stm32f30x.c \ drivers/bus_i2c_stm32f30x.c \
@ -816,7 +827,7 @@ endif
DEBUG_FLAGS = -ggdb3 -DDEBUG DEBUG_FLAGS = -ggdb3 -DDEBUG
CFLAGS = $(ARCH_FLAGS) \ CFLAGS += $(ARCH_FLAGS) \
$(LTO_FLAGS) \ $(LTO_FLAGS) \
$(addprefix -D,$(OPTIONS)) \ $(addprefix -D,$(OPTIONS)) \
$(addprefix -I,$(INCLUDE_DIRS)) \ $(addprefix -I,$(INCLUDE_DIRS)) \

View File

@ -736,6 +736,66 @@ int main(void) {
} }
} }
#ifdef DEBUG_HARDFAULTS
//from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/
/**
* hard_fault_handler_c:
* This is called from the HardFault_HandlerAsm with a pointer the Fault stack
* as the parameter. We can then read the values from the stack and place them
* into local variables for ease of reading.
* We then read the various Fault Status and Address Registers to help decode
* cause of the fault.
* The function ends with a BKPT instruction to force control back into the debugger
*/
void hard_fault_handler_c(unsigned long *hardfault_args){
volatile unsigned long stacked_r0 ;
volatile unsigned long stacked_r1 ;
volatile unsigned long stacked_r2 ;
volatile unsigned long stacked_r3 ;
volatile unsigned long stacked_r12 ;
volatile unsigned long stacked_lr ;
volatile unsigned long stacked_pc ;
volatile unsigned long stacked_psr ;
volatile unsigned long _CFSR ;
volatile unsigned long _HFSR ;
volatile unsigned long _DFSR ;
volatile unsigned long _AFSR ;
volatile unsigned long _BFAR ;
volatile unsigned long _MMAR ;
stacked_r0 = ((unsigned long)hardfault_args[0]) ;
stacked_r1 = ((unsigned long)hardfault_args[1]) ;
stacked_r2 = ((unsigned long)hardfault_args[2]) ;
stacked_r3 = ((unsigned long)hardfault_args[3]) ;
stacked_r12 = ((unsigned long)hardfault_args[4]) ;
stacked_lr = ((unsigned long)hardfault_args[5]) ;
stacked_pc = ((unsigned long)hardfault_args[6]) ;
stacked_psr = ((unsigned long)hardfault_args[7]) ;
// Configurable Fault Status Register
// Consists of MMSR, BFSR and UFSR
_CFSR = (*((volatile unsigned long *)(0xE000ED28))) ;
// Hard Fault Status Register
_HFSR = (*((volatile unsigned long *)(0xE000ED2C))) ;
// Debug Fault Status Register
_DFSR = (*((volatile unsigned long *)(0xE000ED30))) ;
// Auxiliary Fault Status Register
_AFSR = (*((volatile unsigned long *)(0xE000ED3C))) ;
// Read the Fault Address Registers. These may not contain valid values.
// Check BFARVALID/MMARVALID to see if they are valid values
// MemManage Fault Address Register
_MMAR = (*((volatile unsigned long *)(0xE000ED34))) ;
// Bus Fault Address Register
_BFAR = (*((volatile unsigned long *)(0xE000ED38))) ;
__asm("BKPT #0\n") ; // Break into the debugger
}
#else
void HardFault_Handler(void) void HardFault_Handler(void)
{ {
// fall out of the sky // fall out of the sky
@ -753,3 +813,4 @@ void HardFault_Handler(void)
while (1); while (1);
} }
#endif

View File

@ -0,0 +1,501 @@
/**
******************************************************************************
* @file startup_stm32f30x.s
* @author MCD Application Team
* @version V1.0.0
* @date 04-Spetember-2012
* @brief STM32F30x Devices vector table for RIDE7 toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Configure the clock system and the external SRAM mounted on
* STM3230C-EVAL board to be used as data memory (optional,
* to be enabled by user)
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M4 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2012 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m4
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
.global HardFault_Handler
.extern hard_fault_handler_c
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr r0, =0x20009FFC // HJI 11/9/2012
ldr r1, =0xDEADBEEF // HJI 11/9/2012
ldr r2, [r0, #0] // HJI 11/9/2012
str r0, [r0, #0] // HJI 11/9/2012
cmp r2, r1 // HJI 11/9/2012
beq Reboot_Loader // HJI 11/9/2012
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
CopyDataInit:
ldr r3, =_sidata
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
adds r2, r0, r1
cmp r2, r3
bcc CopyDataInit
ldr r2, =_sbss
b LoopFillZerobss
/* Zero fill the bss segment. */
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
bcc FillZerobss
/* Call the clock system intitialization function.*/
bl SystemInit
/* Call the application's entry point.*/
bl main
bx lr
LoopForever:
b LoopForever
Reboot_Loader: // HJI 11/9/2012
// Reboot to ROM // HJI 11/9/2012
ldr r0, =0x1FFFD800 // HJI 4/26/2013
ldr sp,[r0, #0] // HJI 11/9/2012
ldr r0,[r0, #4] // HJI 11/9/2012
bx r0 // HJI 11/9/2012
.size Reset_Handler, .-Reset_Handler
.section .text.Reset_Handler
.weak HardFault_Handler
.type HardFault_Handler, %function
HardFault_Handler:
movs r0,#4
movs r1, lr
tst r0, r1
beq _MSP
mrs r0, psp
b _HALT
_MSP:
mrs r0, msp
_HALT:
ldr r1,[r0,#20]
b hard_fault_handler_c
bkpt #0
.size HardFault_Handler, .-HardFault_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M4. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
.word WWDG_IRQHandler
.word PVD_IRQHandler
.word TAMPER_STAMP_IRQHandler
.word RTC_WKUP_IRQHandler
.word FLASH_IRQHandler
.word RCC_IRQHandler
.word EXTI0_IRQHandler
.word EXTI1_IRQHandler
.word EXTI2_TS_IRQHandler
.word EXTI3_IRQHandler
.word EXTI4_IRQHandler
.word DMA1_Channel1_IRQHandler
.word DMA1_Channel2_IRQHandler
.word DMA1_Channel3_IRQHandler
.word DMA1_Channel4_IRQHandler
.word DMA1_Channel5_IRQHandler
.word DMA1_Channel6_IRQHandler
.word DMA1_Channel7_IRQHandler
.word ADC1_2_IRQHandler
.word USB_HP_CAN1_TX_IRQHandler
.word USB_LP_CAN1_RX0_IRQHandler
.word CAN1_RX1_IRQHandler
.word CAN1_SCE_IRQHandler
.word EXTI9_5_IRQHandler
.word TIM1_BRK_TIM15_IRQHandler
.word TIM1_UP_TIM16_IRQHandler
.word TIM1_TRG_COM_TIM17_IRQHandler
.word TIM1_CC_IRQHandler
.word TIM2_IRQHandler
.word TIM3_IRQHandler
.word TIM4_IRQHandler
.word I2C1_EV_IRQHandler
.word I2C1_ER_IRQHandler
.word I2C2_EV_IRQHandler
.word I2C2_ER_IRQHandler
.word SPI1_IRQHandler
.word SPI2_IRQHandler
.word USART1_IRQHandler
.word USART2_IRQHandler
.word USART3_IRQHandler
.word EXTI15_10_IRQHandler
.word RTC_Alarm_IRQHandler
.word USBWakeUp_IRQHandler
.word TIM8_BRK_IRQHandler
.word TIM8_UP_IRQHandler
.word TIM8_TRG_COM_IRQHandler
.word TIM8_CC_IRQHandler
.word ADC3_IRQHandler
.word 0
.word 0
.word 0
.word SPI3_IRQHandler
.word UART4_IRQHandler
.word UART5_IRQHandler
.word TIM6_DAC_IRQHandler
.word TIM7_IRQHandler
.word DMA2_Channel1_IRQHandler
.word DMA2_Channel2_IRQHandler
.word DMA2_Channel3_IRQHandler
.word DMA2_Channel4_IRQHandler
.word DMA2_Channel5_IRQHandler
.word ADC4_IRQHandler
.word 0
.word 0
.word COMP1_2_3_IRQHandler
.word COMP4_5_6_IRQHandler
.word COMP7_IRQHandler
.word 0
.word 0
.word 0
.word 0
.word 0
.word 0
.word 0
.word USB_HP_IRQHandler
.word USB_LP_IRQHandler
.word USBWakeUp_RMP_IRQHandler
.word 0
.word 0
.word 0
.word 0
.word FPU_IRQHandler
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMPER_STAMP_IRQHandler
.thumb_set TAMPER_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_TS_IRQHandler
.thumb_set EXTI2_TS_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Channel1_IRQHandler
.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
.weak DMA1_Channel2_IRQHandler
.thumb_set DMA1_Channel2_IRQHandler,Default_Handler
.weak DMA1_Channel3_IRQHandler
.thumb_set DMA1_Channel3_IRQHandler,Default_Handler
.weak DMA1_Channel4_IRQHandler
.thumb_set DMA1_Channel4_IRQHandler,Default_Handler
.weak DMA1_Channel5_IRQHandler
.thumb_set DMA1_Channel5_IRQHandler,Default_Handler
.weak DMA1_Channel6_IRQHandler
.thumb_set DMA1_Channel6_IRQHandler,Default_Handler
.weak DMA1_Channel7_IRQHandler
.thumb_set DMA1_Channel7_IRQHandler,Default_Handler
.weak ADC1_2_IRQHandler
.thumb_set ADC1_2_IRQHandler,Default_Handler
.weak USB_HP_CAN1_TX_IRQHandler
.thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler
.weak USB_LP_CAN1_RX0_IRQHandler
.thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler
.weak CAN1_RX1_IRQHandler
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
.weak CAN1_SCE_IRQHandler
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_TIM15_IRQHandler
.thumb_set TIM1_BRK_TIM15_IRQHandler,Default_Handler
.weak TIM1_UP_TIM16_IRQHandler
.thumb_set TIM1_UP_TIM16_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_TIM17_IRQHandler
.thumb_set TIM1_TRG_COM_TIM17_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak USBWakeUp_IRQHandler
.thumb_set USBWakeUp_IRQHandler,Default_Handler
.weak TIM8_BRK_IRQHandler
.thumb_set TIM8_BRK_IRQHandler,Default_Handler
.weak TIM8_UP_IRQHandler
.thumb_set TIM8_UP_IRQHandler,Default_Handler
.weak TIM8_TRG_COM_IRQHandler
.thumb_set TIM8_TRG_COM_IRQHandler,Default_Handler
.weak TIM8_CC_IRQHandler
.thumb_set TIM8_CC_IRQHandler,Default_Handler
.weak ADC3_IRQHandler
.thumb_set ADC3_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak UART5_IRQHandler
.thumb_set UART5_IRQHandler,Default_Handler
.weak TIM6_DAC_IRQHandler
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
.weak TIM7_IRQHandler
.thumb_set TIM7_IRQHandler,Default_Handler
.weak DMA2_Channel1_IRQHandler
.thumb_set DMA2_Channel1_IRQHandler,Default_Handler
.weak DMA2_Channel2_IRQHandler
.thumb_set DMA2_Channel2_IRQHandler,Default_Handler
.weak DMA2_Channel3_IRQHandler
.thumb_set DMA2_Channel3_IRQHandler,Default_Handler
.weak DMA2_Channel4_IRQHandler
.thumb_set DMA2_Channel4_IRQHandler,Default_Handler
.weak DMA2_Channel5_IRQHandler
.thumb_set DMA2_Channel5_IRQHandler,Default_Handler
.weak ADC4_IRQHandler
.thumb_set ADC4_IRQHandler,Default_Handler
.weak COMP1_2_3_IRQHandler
.thumb_set COMP1_2_3_IRQHandler,Default_Handler
.weak COMP4_5_6_IRQHandler
.thumb_set COMP4_5_6_IRQHandler,Default_Handler
.weak COMP7_IRQHandler
.thumb_set COMP7_IRQHandler,Default_Handler
.weak USB_HP_IRQHandler
.thumb_set USB_HP_IRQHandler,Default_Handler
.weak USB_LP_IRQHandler
.thumb_set USB_LP_IRQHandler,Default_Handler
.weak USBWakeUp_RMP_IRQHandler
.thumb_set USBWakeUp_RMP_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/