Merge remote-tracking branch 'upstream/px4io-i2c' into px4io-i2c-throttle

Debug/ARMv7M

@@ -19,20 +19,19 @@ end
 
 
 define vecstate
-	set $icsr  = *(uint32_t *)0xe000ed04
+	set $icsr  = *(unsigned *)0xe000ed04
 	set $vect  = $icsr & 0x1ff
 	set $pend  = ($icsr & 0x1ff000) >> 12
-	set $shcsr = *(uint32_t *)0xe000ed24
+	set $shcsr = *(unsigned *)0xe000ed24
-	set $cfsr  = *(uint32_t *)0xe000ed28
+	set $cfsr  = *(unsigned *)0xe000ed28
 	set $mmfsr = $cfsr & 0xff
 	set $bfsr  = ($cfsr >> 8) & 0xff
 	set $ufsr  = ($cfsr >> 16) & 0xffff
-	set $hfsr  = *(uint32_t *)0xe000ed2c
+	set $hfsr  = *(unsigned *)0xe000ed2c
-	set $bfar  = *(uint32_t *)0xe000ed38
+	set $bfar  = *(unsigned *)0xe000ed38
-	set $mmfar = *(uint32_t *)0xe000ed34
+	set $mmfar = *(unsigned *)0xe000ed34
 
-	# XXX Currently, rather than look at $vect, we just decode the
+	if $vect < 15
-	# fault status registers directly.
 
 		if $hfsr != 0
 			printf "HardFault:"
@@ -40,7 +39,7 @@ define vecstate
 				printf " due to vector table read fault\n"
 			end
 			if $hfsr & (1<<30)
-			printf " forced ue to escalated or disabled configurable fault (see below)\n"
+				printf " forced due to escalated or disabled configurable fault (see below)\n"
 			end
 			if $hfsr & (1<<31)
 				printf " due to an unexpected debug event\n"
@@ -115,24 +114,37 @@ define vecstate
 			end
 			printf "\n"
 		end
-	if ((uint32_t)$lr & 0xf0000000) == 0xf0000000
+	else
+		if $vect >= 15
+			printf "Handling vector %u\n", $vect
+		end
+	end
+	if ((unsigned)$lr & 0xf0000000) == 0xf0000000
 		if ($lr & 1)
-			set $frame_ptr = (uint32_t *)$msp
+			printf "exception frame is on MSP\n"
+			#set $frame_ptr = (unsigned *)$msp
+			set $frame_ptr = (unsigned *)$sp
+		else
+			printf "exception frame is on PSP, backtrace may not be possible\n"
+			#set $frame_ptr = (unsigned *)$psp
+			set $frame_ptr = (unsigned *)$sp
+		end
+		if $lr & 0x10
+			set $fault_sp = $frame_ptr + (8 * 4)
 		else
-			set $frame_ptr = (uint32_t *)$psp
+			set $fault_sp = $frame_ptr + (26 * 4)
 		end
-		printf "  r0: %08x  r1: %08x  r2: %08x  r3: %08x\n, $frame_ptr[0], $frame_ptr[1], $frame_ptr[2], $frame_ptr[3]
+
+
+		printf "  r0: %08x  r1: %08x  r2: %08x  r3: %08x\n", $frame_ptr[0], $frame_ptr[1], $frame_ptr[2], $frame_ptr[3]
 		printf "  r4: %08x  r5: %08x  r6: %08x  r7: %08x\n", $r4, $r5, $r6, $r7
 		printf "  r8: %08x  r9: %08x r10: %08x r11: %08x\n", $r8, $r9, $r10, $r11
-		printf " r12: $08x  lr: %08x  pc: %08xx PSR: %08x\n", $frame_ptr[4], $frame_ptr[5], $frame_ptr[6], $frame_ptr[7]
+		printf " r12: %08x\n", $frame_ptr[4]
+		printf "  sp: %08x  lr: %08x  pc: %08x PSR: %08x\n", $fault_sp, $frame_ptr[5], $frame_ptr[6], $frame_ptr[7]
 
 		# Swap to the context of the faulting code and try to print a backtrace
 		set $saved_sp = $sp
-		if $lr & 0x10
+		set $sp = $fault_sp
-			set $sp = $frame_ptr + (8 * 4)
-		else
-			set $sp = $frame_ptr + (26 * 4)
-		end
 		set $saved_lr = $lr
 		set $lr = $frame_ptr[5]
 		set $saved_pc = $pc
@@ -142,7 +154,7 @@ define vecstate
 		set $lr = $saved_lr
 		set $pc = $saved_pc
 	else
-		printf "(not currently in exception state)\n"
+		printf "(not currently in exception handler)\n"
 	end
 end