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HardFault_Handler() collects full MPU context (#201)
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* ems, mc4plus, mc2plus: added diagnostic messages which send the mpu context on fatal error
advanced application versions for ems, mc4plus, mc2plus

* enabled the divide-by-zero trap
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@marcoaccame
marcoaccame authored Sep 21, 2021
1 parent 0ddb274 commit 302b88f
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Showing 15 changed files with 395 additions and 31 deletions.
97 changes: 93 additions & 4 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/abslayer/hal_core_cfg.c
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,7 @@ static void s_hal_core_cfg_on_fatalerror(hal_fatalerror_t errorcode, const char
des->handlertype = fatalerror_handler_hal;
des->handlererrorcode = errorcode;
des->param = NULL;
des->mpucontext = NULL;
eo_fatalerror_Restart(eo_fatalerror_GetHandle(), des);
#else
#warning DONTUSE_EOtheFatalError is defined, are you sure?
Expand Down Expand Up @@ -165,6 +166,18 @@ static void myheap_delete(void* mem)

#if !defined(DONTUSE_EOtheFatalError)

void hw_handler_hf(fatal_error_handler_t feh, uint32_t *arg)
{
fatal_error_descriptor_t *des = eo_fatalerror_GetDescriptor(eo_fatalerror_GetHandle());
des->handlertype = feh;
des->handlererrorcode = 100;
des->forfutureuse0 = 0x12;
des->forfutureuse1 = 0x23;
des->param = NULL;
des->mpucontext = arg;
eo_fatalerror_Restart(eo_fatalerror_GetHandle(), des);
}

void hw_handler(fatal_error_handler_t feh)
{
fatal_error_descriptor_t *des = eo_fatalerror_GetDescriptor(eo_fatalerror_GetHandle());
Expand All @@ -173,6 +186,7 @@ void hw_handler(fatal_error_handler_t feh)
des->forfutureuse0 = 0x12;
des->forfutureuse1 = 0x23;
des->param = NULL;
des->mpucontext = NULL;
eo_fatalerror_Restart(eo_fatalerror_GetHandle(), des);
}

Expand All @@ -181,10 +195,10 @@ void NMI_Handler(void)
hw_handler(fatalerror_handler_hw_NMI);
}

void HardFault_Handler(void)
{
hw_handler(fatalerror_handler_hw_HardFault);
}
//void HardFault_Handler(void)
//{
// hw_handler(fatalerror_handler_hw_HardFault);
//}

void MemManage_Handler(void)
{
Expand Down Expand Up @@ -216,6 +230,81 @@ void RTC_Alarm_IRQHandler(void)
hw_handler(fatalerror_handler_hw_Default);
}

// from ...
// https://stackoverflow.com/questions/57286072/how-can-i-save-the-call-stack-from-an-exception-handler-in-cortex-m4
void McuHardFault_HandlerC(uint32_t *hardfault_args)
{
// static volatile uint32_t stacked_r0 __attribute__((unused));
// static volatile uint32_t stacked_r1 __attribute__((unused));
// static volatile uint32_t stacked_r2 __attribute__((unused));
// static volatile uint32_t stacked_r3 __attribute__((unused));
// static volatile uint32_t stacked_r12 __attribute__((unused));
// static volatile uint32_t stacked_lr __attribute__((unused));
// static volatile uint32_t stacked_pc __attribute__((unused));
// static volatile uint32_t stacked_psr __attribute__((unused));
// static volatile uint32_t _CFSR __attribute__((unused));
// static volatile uint32_t _HFSR __attribute__((unused));
// static volatile uint32_t _DFSR __attribute__((unused));
// static volatile uint32_t _AFSR __attribute__((unused));
// static volatile uint32_t _BFAR __attribute__((unused));
// static volatile uint32_t _MMAR __attribute__((unused));
// stacked_r0 = ((uint32_t)hardfault_args[0]);
// stacked_r1 = ((uint32_t)hardfault_args[1]);
// stacked_r2 = ((uint32_t)hardfault_args[2]);
// stacked_r3 = ((uint32_t)hardfault_args[3]);
// stacked_r12 = ((uint32_t)hardfault_args[4]);
// stacked_lr = ((uint32_t)hardfault_args[5]);
// stacked_pc = ((uint32_t)hardfault_args[6]);
// stacked_psr = ((uint32_t)hardfault_args[7]);

// /* Configurable Fault Status Register */
// /* Consists of MMSR, BFSR and UFSR */
// _CFSR = (*((volatile uint32_t *)(0xE000ED28)));

// /* Hard Fault Status Register */
// _HFSR = (*((volatile uint32_t *)(0xE000ED2C)));

// /* Debug Fault Status Register */
// _DFSR = (*((volatile uint32_t *)(0xE000ED30)));

// /* Auxiliary Fault Status Register */
// _AFSR = (*((volatile uint32_t *)(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 uint32_t *)(0xE000ED34)));
// /* Bus Fault Address Register */
// _BFAR = (*((volatile uint32_t *)(0xE000ED38)));

// marco.accame: must now pass all the above variables to this function
hw_handler_hf(fatalerror_handler_hw_HardFault, hardfault_args);
//__asm("BKPT #0\n") ; /* cause the debugger to stop */
}

void HardFault_Handler(void) __attribute__((naked));
void HardFault_Handler(void)
{
__asm volatile (
".syntax unified \n" /* needed for the 'adds r1,#2' below */
" movs r0,#4 \n" /* load bit mask into R0 */
" mov r1, lr \n" /* load link register into R1 */
" tst r0, r1 \n" /* compare with bitmask */
" beq _MSP \n" /* if bitmask is set: stack pointer is in PSP. Otherwise in MSP */
" mrs r0, psp \n" /* otherwise: stack pointer is in PSP */
" b _GetPC \n" /* go to part which loads the PC */
"_MSP: \n" /* stack pointer is in MSP register */
" mrs r0, msp \n" /* load stack pointer into R0 */
"_GetPC: \n" /* find out where the hard fault happened */
" ldr r1,[r0,#24] \n" /* load program counter into R1. R1 contains address of the next instruction where the hard fault happened */
" b McuHardFault_HandlerC \n" /* decode more information. R0 contains pointer to stack frame */
);
//hw_handler(fatalerror_handler_hw_HardFault);
}

#endif


Expand Down
1 change: 1 addition & 0 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/abslayer/ipal_cfg.c
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Original file line number Diff line number Diff line change
Expand Up @@ -179,6 +179,7 @@ static void s_ipal_cfg_on_fatal_error(ipal_fatalerror_t errorcode, const char *
des->handlertype = fatalerror_handler_ipal;
des->handlererrorcode = errorcode;
des->param = NULL;
des->mpucontext = NULL;
eo_fatalerror_Restart(eo_fatalerror_GetHandle(), des);
#else
#warning DONTUSE_EOtheFatalError is defined, are you sure?
Expand Down
1 change: 1 addition & 0 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/abslayer/osal_cfg.c
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,7 @@ static void s_osal_cfg_on_fatal_error(void* task, osal_fatalerror_t errorcode, c
des->handlertype = fatalerror_handler_osal;
des->handlererrorcode = errorcode;
des->param = task;
des->mpucontext = NULL;
eo_fatalerror_Restart(eo_fatalerror_GetHandle(), des);
#else
#warning DONTUSE_EOtheFatalError is defined, are you sure?
Expand Down
10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -81,21 +81,21 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 42
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 43

// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2021
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 6
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 9
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 22
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 15
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 10
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 14
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 11
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 37
// </h>build date
// </h>Info

Expand Down
158 changes: 155 additions & 3 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheFatalError.c
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,9 @@ static void s_info_standard(EOtheFatalError *p);

static void s_save_hardfault(fatal_error_descriptor_t *des);
static void s_info_hardfault(EOtheFatalError *p);
static void s_save_mpustate(fatal_error_descriptor_t *des);
static void s_info_mpustate(EOtheFatalError *p);
static void s_set_divide_by_zero_trap(void);

// --------------------------------------------------------------------------------------------------------------------
// - definition (and initialisation) of static variables
Expand All @@ -78,15 +81,16 @@ static EOtheFatalError s_eo_thefatalerror =
{
.initted = eobool_false,
.threadcount = 0,
.descriptor = {0},
.descriptor = {0, 0, 0, 0, NULL, NULL},
.tobewritten = {0},
.detectedfatalerror = {0},
.errdes = {0},
.threads =
{
{0, ""}, {0, ""}, {0, ""}, {0, ""}, {0, ""}, {0, ""}, {0, ""}, {0, ""},
{0, ""}, {0, ""}, {0, ""}, {0, ""}, {0, ""}, {0, ""}, {0, ""}, {0, ""}
}
},
.mpustate = {{0, {0, 0, 0}, 0}, {0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0}}
};

static const char s_eobj_ownname[] = "EOtheFatalError";
Expand All @@ -105,6 +109,8 @@ extern EOtheFatalError* eo_fatalerror_Initialise(void)
return(p);
}

s_set_divide_by_zero_trap();

// eo_errman_Trace(eo_errman_GetHandle(), "eo_fatalerror_Initialise() starts", s_eobj_ownname);

p->initted = eobool_true;
Expand Down Expand Up @@ -150,13 +156,31 @@ extern void eo_fatalerror_AtStartup(EOtheFatalError *p)
if(fatalerror_handler_hw_HardFault == p->detectedfatalerror.message.handlertype)
{
s_info_hardfault(p);
s_info_mpustate(p);
}
else
{
s_info_standard(p);
s_info_mpustate(p);
}
}
}
}

// test code for dive by zero
// volatile uint32_t value = 0;
// volatile uint32_t tmp = 10;
// tmp = tmp / value;
//
// value = value;

// test code for access to non existing memory
// volatile unsigned int* pp;
// volatile unsigned int n;
// pp = (unsigned int*)0xCCCCCCCC;
// n = *pp;
//
// n = n;


}

Expand All @@ -177,10 +201,12 @@ extern void eo_fatalerror_Restart(EOtheFatalError *p, fatal_error_descriptor_t *
if(fatalerror_handler_hw_HardFault == des->handlertype)
{
s_save_hardfault(des);
s_save_mpustate(des);
}
else
{
s_save_standard(des);
s_save_mpustate(des);
}


Expand Down Expand Up @@ -490,6 +516,12 @@ static void s_info_standard(EOtheFatalError *p)
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);
}

static void s_set_divide_by_zero_trap(void)
{
volatile uint32_t *pCCR = (volatile uint32_t *) 0xE000ED14;
(*pCCR) |= 0x00000010;
}

static void s_save_hardfault(fatal_error_descriptor_t *des)
{
// s_save_standard(des);
Expand Down Expand Up @@ -576,6 +608,126 @@ static void s_info_hardfault(EOtheFatalError *p)
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);
}

static void s_save_mpustate(fatal_error_descriptor_t *des)
{
volatile fatal_error_mpustate_cm4_t *pHFmore = (volatile fatal_error_mpustate_cm4_t*) 0x10000000;
volatile uint32_t * hardfault_args = (volatile uint32_t *) des->mpucontext;

pHFmore->header.signature = fatal_error_signature;
pHFmore->header.dummy[0] = 0;
pHFmore->header.dummy[1] = 1;
pHFmore->header.dummy[2] = 2;
pHFmore->header.tbd0 = 0;

if(NULL == hardfault_args)
{
pHFmore->context.r0 = pHFmore->context.r1 = pHFmore->context.r2 = pHFmore->context.r3 =
pHFmore->context.r12 = pHFmore->context.lr = pHFmore->context.pc = pHFmore->context.psr = 0;
}
else
{
pHFmore->context.r0 = hardfault_args[0];
pHFmore->context.r1 = hardfault_args[1];
pHFmore->context.r2 = hardfault_args[2];
pHFmore->context.r3 = hardfault_args[3];
pHFmore->context.r12 = hardfault_args[4];
pHFmore->context.lr = hardfault_args[5];
pHFmore->context.pc = hardfault_args[6];
pHFmore->context.psr = hardfault_args[7];
}

pHFmore->sysregs.ICSR = (*((volatile uint32_t *)(0xE000ED04)));
pHFmore->sysregs.SHCSR = (*((volatile uint32_t *)(0xE000ED24)));
pHFmore->sysregs.CFSR = (*((volatile uint32_t *)(0xE000ED28)));
pHFmore->sysregs.HFSR = (*((volatile uint32_t *)(0xE000ED2C)));
pHFmore->sysregs.DFSR = (*((volatile uint32_t *)(0xE000ED30)));
pHFmore->sysregs.MMFAR = (*((volatile uint32_t *)(0xE000ED34)));
pHFmore->sysregs.BFAR = (*((volatile uint32_t *)(0xE000ED38)));
pHFmore->sysregs.AFSR = (*((volatile uint32_t *)(0xE000ED3C)));
}

static void s_info_mpustate(EOtheFatalError *p)
{
// it is of the correct size. i use it to send a diagnostic message
uint16_t par16 = 0;
uint64_t par64 = p->detectedfatalerror.params.par64;

volatile fatal_error_mpustate_cm4_t *pHFmore = (volatile fatal_error_mpustate_cm4_t*) 0x10000000;

p->errdes.code = eoerror_code_get(eoerror_category_Debug, eoerror_value_DEB_tag00);
p->errdes.sourcedevice = eo_errman_sourcedevice_localboard;
p->errdes.sourceaddress = 0;
p->errdes.par16 = par16;
p->errdes.par64 = par64;
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, "MORE INFO", s_eobj_ownname, &p->errdes);

// further information is in here
char str[64] = {0};

if(fatal_error_signature != pHFmore->header.signature)
{
snprintf(str, sizeof(str), "mpu state invalid sign = 0x%08x",
pHFmore->header.signature
);

eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);
}
else
{
// caveat the string can be at most 48 characters

// System control registers.

snprintf(str, sizeof(str), "ICSR = 0x%08x SHCSR = 0x%08x",
pHFmore->sysregs.ICSR, pHFmore->sysregs.SHCSR
);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);

snprintf(str, sizeof(str), "CFSR = 0x%08x HFSR = 0x%08x",
pHFmore->sysregs.CFSR, pHFmore->sysregs.HFSR
);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);

snprintf(str, sizeof(str), "DFSR = 0x%08x MMFAR = 0x%08x",
pHFmore->sysregs.DFSR, pHFmore->sysregs.MMFAR
);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);

snprintf(str, sizeof(str), "BFAR = 0x%08x AFSR = 0x%08x",
pHFmore->sysregs.BFAR, pHFmore->sysregs.AFSR
);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);

// execution registers

snprintf(str, sizeof(str), "r0 = 0x%08x r1 = 0x%08x",
pHFmore->context.r0, pHFmore->context.r1
);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);

snprintf(str, sizeof(str), "r2 = 0x%08x r3 = 0x%08x",
pHFmore->context.r2, pHFmore->context.r3
);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);

snprintf(str, sizeof(str), "r12 = 0x%08x lr = 0x%08x",
pHFmore->context.r12, pHFmore->context.lr
);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);

snprintf(str, sizeof(str), "pc = 0x%08x psr = 0x%08x",
pHFmore->context.pc, pHFmore->context.psr
);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, str, s_eobj_ownname, &p->errdes);

}

// and now i reset memory bank area
memset((fatal_error_mpustate_cm4_t *)pHFmore, 0, sizeof(fatal_error_mpustate_cm4_t));

}



// error tests

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