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HAL_ChibiOS: use CrashCatcher's hardfault method to log and dump crashes

gps-1.3.1
bugobliterator 3 years ago committed by Andrew Tridgell
parent
69f53a6188
commit
7c96f295b3
1 changed files with 97 additions and 129 deletions
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  1. 226
      libraries/AP_HAL_ChibiOS/system.cpp

226
libraries/AP_HAL_ChibiOS/system.cpp
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@ -23,7 +23,7 @@ @@ -23,7 +23,7 @@
#include "hwdef/common/watchdog.h"
#include "hwdef/common/stm32_util.h"
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <CrashCatcher.h>
#include <ch.h>
#include "hal.h"
#include <hrt.h>
@ -58,18 +58,10 @@ typedef enum { @@ -58,18 +58,10 @@ typedef enum {
UsageFault = 6,
} FaultType;
void *__dso_handle;
void __cxa_pure_virtual(void);
void __cxa_pure_virtual() { while (1); } //TODO: Handle properly, maybe generate a traceback
void NMI_Handler(void);
void NMI_Handler(void) { while (1); }
/*
save watchdog data for a hard fault
*/
static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr)
void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fault_addr, uint32_t lr)
{
#ifndef HAL_BOOTLOADER_BUILD
bool using_watchdog = AP_BoardConfig::watchdog_enabled();
@ -96,134 +88,110 @@ static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fa @@ -96,134 +88,110 @@ static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fa
#endif
}
void HardFault_Handler(void);
void HardFault_Handler(void) {
//Copy to local variables (not pointers) to allow GDB "i loc" to directly show the info
//Get thread context. Contains main registers including PC and LR
struct port_extctx ctx;
memcpy(&ctx, (void*)__get_PSP(), sizeof(struct port_extctx));
(void)ctx;
//Interrupt status register: Which interrupt have we encountered, e.g. HardFault?
FaultType faultType = (FaultType)__get_IPSR();
(void)faultType;
//For HardFault/BusFault this is the address that was accessed causing the error
uint32_t faultAddress = SCB->BFAR;
(void)faultAddress;
bool forced = SCB->HFSR & SCB_HFSR_FORCED_Msk;
(void)forced;
uint32_t cfsr = SCB->CFSR;
(void)cfsr;
//Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
bool isFaultPrecise = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 1) ? true : false);
bool isFaultImprecise = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 2) ? true : false);
bool isFaultOnUnstacking = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 3) ? true : false);
bool isFaultOnStacking = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 4) ? true : false);
bool isFaultAddressValid = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 7) ? true : false);
(void)isFaultPrecise;
(void)isFaultImprecise;
(void)isFaultOnUnstacking;
(void)isFaultOnStacking;
(void)isFaultAddressValid;
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
#ifdef HAL_GPIO_PIN_FAULT
while (true) {
// forced means that another kind of unhandled fault got escalated to a hardfault
if (faultType == BusFault) {
fault_printf("BUSFAULT\n");
} else if (forced) {
fault_printf("FORCED HARDFAULT\n");
} else {
fault_printf("HARDFAULT(%d)\n", int(faultType));
}
fault_printf("CSFR=0x%08x\n", cfsr);
fault_printf("CUR=0x%08x\n", ch.rlist.current);
if (ch.rlist.current) {
fault_printf("NAME=%s\n", ch.rlist.current->name);
}
fault_printf("FA=0x%08x\n", faultAddress);
fault_printf("PC=0x%08x\n", ctx.pc);
fault_printf("LR=0x%08x\n", ctx.lr_thd);
fault_printf("R0=0x%08x\n", ctx.r0);
fault_printf("R1=0x%08x\n", ctx.r1);
fault_printf("R2=0x%08x\n", ctx.r2);
fault_printf("R3=0x%08x\n", ctx.r3);
fault_printf("R12=0x%08x\n", ctx.r12);
fault_printf("XPSR=0x%08x\n", ctx.xpsr);
fault_printf("\n\n");
}
void *__dso_handle;
void __cxa_pure_virtual(void);
void __cxa_pure_virtual() { while (1); } //TODO: Handle properly, maybe generate a traceback
static bool initialised = false;
#ifndef HAL_CRASH_SERIAL_PORT_BAUD
#define HAL_CRASH_SERIAL_PORT_BAUD 921600
#endif
//Cause debugger to stop. Ignored if no debugger is attached
while(1) {}
}
// For the BusFault handler to be active SCB_SHCSR_BUSFAULTENA_Msk should be set in SCB->SHCSR
// ChibiOS does not do this by default
void BusFault_Handler(void) __attribute__((alias("HardFault_Handler")));
#if !defined(USART_ISR_RXNE)
#define USART_ISR_RXNE USART_ISR_RXNE_RXFNE
#endif
void NMI_Handler(void);
void NMI_Handler(void) { while (1); }
extern void HardFault_Handler(void);
void BusFault_Handler(void);
void BusFault_Handler(void) {
HardFault_Handler();
}
void UsageFault_Handler(void);
void UsageFault_Handler(void) {
//Copy to local variables (not pointers) to allow GDB "i loc" to directly show the info
//Get thread context. Contains main registers including PC and LR
struct port_extctx ctx;
memcpy(&ctx, (void*)__get_PSP(), sizeof(struct port_extctx));
(void)ctx;
//Interrupt status register: Which interrupt have we encountered, e.g. HardFault?
FaultType faultType = (FaultType)__get_IPSR();
(void)faultType;
uint32_t faultAddress = SCB->BFAR;
//Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
bool isUndefinedInstructionFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 0) ? true : false);
bool isEPSRUsageFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 1) ? true : false);
bool isInvalidPCFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 2) ? true : false);
bool isNoCoprocessorFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 3) ? true : false);
bool isUnalignedAccessFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 8) ? true : false);
bool isDivideByZeroFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 9) ? true : false);
(void)isUndefinedInstructionFault;
(void)isEPSRUsageFault;
(void)isInvalidPCFault;
(void)isNoCoprocessorFault;
(void)isUnalignedAccessFault;
(void)isDivideByZeroFault;
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
//Cause debugger to stop. Ignored if no debugger is attached
while(1) {}
HardFault_Handler();
}
void MemManage_Handler(void);
void MemManage_Handler(void) {
//Copy to local variables (not pointers) to allow GDB "i loc" to directly show the info
//Get thread context. Contains main registers including PC and LR
struct port_extctx ctx;
memcpy(&ctx, (void*)__get_PSP(), sizeof(struct port_extctx));
(void)ctx;
//Interrupt status register: Which interrupt have we encountered, e.g. HardFault?
FaultType faultType = (FaultType)__get_IPSR();
(void)faultType;
//For HardFault/BusFault this is the address that was accessed causing the error
uint32_t faultAddress = SCB->MMFAR;
(void)faultAddress;
//Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
bool isInstructionAccessViolation = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 0) ? true : false);
bool isDataAccessViolation = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 1) ? true : false);
bool isExceptionUnstackingFault = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 3) ? true : false);
bool isExceptionStackingFault = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 4) ? true : false);
bool isFaultAddressValid = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 7) ? true : false);
(void)isInstructionAccessViolation;
(void)isDataAccessViolation;
(void)isExceptionUnstackingFault;
(void)isExceptionStackingFault;
(void)isFaultAddressValid;
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
while(1) {}
HardFault_Handler();
}
/*
initialise serial ports
*/
static void init_uarts(void)
{
USART_TypeDef *u = HAL_CRASH_SERIAL_PORT;
IRQ_DISABLE_HAL_CRASH_SERIAL_PORT();
RCC_RESET_HAL_CRASH_SERIAL_PORT();
uint32_t fck = (uint32_t)(((HAL_CRASH_SERIAL_PORT_CLOCK + ((HAL_CRASH_SERIAL_PORT_BAUD)/2)) / HAL_CRASH_SERIAL_PORT_BAUD));
u->BRR = fck;
/* Resetting eventual pending status flags.*/
u->ICR = 0xFFFFFFFFU;
u->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
initialised = true;
}
int CrashCatcher_getc(void);
int CrashCatcher_getc(void)
{
if (!initialised) {
init_uarts();
}
USART_TypeDef *u = HAL_CRASH_SERIAL_PORT;
// wait for a follwing string, only then do we start dumping
static const char* wait_for_string = "dump_crash_log";
uint8_t curr_off = 0;
while (true) {
while (!(USART_ISR_RXNE & u->ISR)) {}
uint8_t c = u->RDR;
if (c == wait_for_string[curr_off]) {
curr_off++;
if (curr_off == strlen(wait_for_string)) {
return 0;
}
} else {
curr_off = 0;
}
}
return -1;
}
void CrashCatcher_putc(int c);
void CrashCatcher_putc(int c)
{
if (!initialised) {
init_uarts();
}
USART_TypeDef *u = HAL_CRASH_SERIAL_PORT;
u->TDR = c & 0xFF;
while (!(USART_ISR_TC & u->ISR)) {
// keep alive while dump is happening
stm32_watchdog_pat();
}
}
extern uint32_t __ram0_start__, __ram0_end__;
const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void);
const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void)
{
static const CrashCatcherMemoryRegion regions[] = {
{(uint32_t)&__ram0_start__, (uint32_t)&__ram0_end__, CRASH_CATCHER_BYTE},
{0xFFFFFFFF, 0xFFFFFFFF, CRASH_CATCHER_BYTE}
};
return regions;
}
}

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