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

/*
 * cm3_fault_handlers.c
 *
 *  Created on: Apr 24, 2011
 *      Author: msmith
 */

#include <stdint.h>
#include "inc/dcc_stdio.h"
#ifdef STM32F4XX
# include <stm32f4xx.h>
#endif
#ifdef STM32F2XX
# include <stm32f2xx.h>
#endif

#define FAULT_TRAMPOLINE(_vec)                                                                          \
    __attribute__((naked, no_instrument_function))                                          \
    void                                                                                                                            \
    _vec##_Handler(void)                                                                                            \
    {                                                                                                                                       \
        __asm(".syntax unified\n"                                                                        \
              "MOVS   R0, #4  \n"                                                        \
              "MOV    R1, LR  \n"                                                        \
              "TST    R0, R1  \n"                                                        \
              "BEQ    1f    \n"                                                          \
              "MRS    R0, PSP \n"                                                        \
              "B      " #_vec "_Handler2      \n"                        \
              "1:  \n"                                                                                           \
              "MRS    R0, MSP \n"                                                        \
              "B      " #_vec "_Handler2      \n"                        \
              ".syntax divided\n");                                                                      \
    }                                                                                                                                       \
    struct hack

struct cm3_frame {
    uint32_t r0;
    uint32_t r1;
    uint32_t r2;
    uint32_t r3;
    uint32_t r12;
    uint32_t lr;
    uint32_t pc;
    uint32_t psr;
};

FAULT_TRAMPOLINE(HardFault);
FAULT_TRAMPOLINE(BusFault);
FAULT_TRAMPOLINE(UsageFault);

/* this is a hackaround to avoid an issue where dereferencing SCB seems to result in bad codegen and a link error */
#define SCB_REG(_reg) (*(uint32_t *)&(SCB->_reg))

void HardFault_Handler2(struct cm3_frame *frame)
{
    dbg_write_str("\nHARD FAULT");
    dbg_write_hex32(frame->pc);
    dbg_write_char('\n');
    dbg_write_hex32(SCB_REG(HFSR));
    dbg_write_char('\n');
    for (;;) {
        ;
    }
}

void BusFault_Handler2(struct cm3_frame *frame)
{
    dbg_write_str("\nBUS FAULT");
    dbg_write_hex32(frame->pc);
    dbg_write_char('\n');
    dbg_write_hex32(SCB_REG(CFSR));
    dbg_write_char('\n');
    dbg_write_hex32(SCB_REG(BFAR));
    dbg_write_char('\n');
    for (;;) {
        ;
    }
}

void UsageFault_Handler2(struct cm3_frame *frame)
{
    dbg_write_str("\nUSAGE FAULT");
    dbg_write_hex32(frame->pc);
    dbg_write_char('\n');
    dbg_write_hex32(SCB_REG(CFSR));
    dbg_write_char('\n');
    for (;;) {
        ;
    }
}