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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /nuttx/arch/arm/src/armv7-m/up_hardfault.c | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'nuttx/arch/arm/src/armv7-m/up_hardfault.c')
-rw-r--r-- | nuttx/arch/arm/src/armv7-m/up_hardfault.c | 144 |
1 files changed, 144 insertions, 0 deletions
diff --git a/nuttx/arch/arm/src/armv7-m/up_hardfault.c b/nuttx/arch/arm/src/armv7-m/up_hardfault.c new file mode 100644 index 000000000..a9eea8103 --- /dev/null +++ b/nuttx/arch/arm/src/armv7-m/up_hardfault.c @@ -0,0 +1,144 @@ +/**************************************************************************** + * arch/arm/src/armv7-m/up_hardfault.c + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdint.h> +#include <string.h> +#include <assert.h> +#include <debug.h> + +#include <arch/irq.h> + +#include "up_arch.h" +#include "os_internal.h" +#include "nvic.h" +#include "up_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Debug output from this file may interfere with context switching! */ + +#undef DEBUG_HARDFAULTS /* Define to debug hard faults */ + +#ifdef DEBUG_HARDFAULTS +# define hfdbg(format, arg...) lldbg(format, ##arg) +#else +# define hfdbg(x...) +#endif + +#define INSN_SVC0 0xdf00 /* insn: svc 0 */ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_hardfault + * + * Description: + * This is Hard Fault exception handler. It also catches SVC call + * exceptions that are performed in bad contexts. + * + ****************************************************************************/ + +int up_hardfault(int irq, FAR void *context) +{ + uint32_t *regs = (uint32_t*)context; + uint16_t *pc; + uint16_t insn; + + /* Get the value of the program counter where the fault occurred */ + + pc = (uint16_t*)regs[REG_PC] - 1; + if ((void*)pc >= (void*)&_stext && (void*)pc < (void*)&_etext) + { + /* Fetch the instruction that caused the Hard fault */ + + insn = *pc; + hfdbg(" PC: %p INSN: %04x\n", pc, insn); + + /* If this was the instruction 'svc 0', then forward processing + * to the SVCall handler + */ + + if (insn == INSN_SVC0) + { + hfdbg("Forward SVCall\n"); + return up_svcall(irq, context); + } + } + + /* Dump some hard fault info */ + + hfdbg("\nHard Fault:\n"); + hfdbg(" IRQ: %d regs: %p\n", irq, regs); + hfdbg(" BASEPRI: %08x PRIMASK: %08x IPSR: %08x\n", + getbasepri(), getprimask(), getipsr()); + hfdbg(" CFAULTS: %08x HFAULTS: %08x DFAULTS: %08x BFAULTADDR: %08x AFAULTS: %08x\n", + getreg32(NVIC_CFAULTS), getreg32(NVIC_HFAULTS), + getreg32(NVIC_DFAULTS), getreg32(NVIC_BFAULT_ADDR), + getreg32(NVIC_AFAULTS)); + hfdbg(" R0: %08x %08x %08x %08x %08x %08x %08x %08x\n", + regs[REG_R0], regs[REG_R1], regs[REG_R2], regs[REG_R3], + regs[REG_R4], regs[REG_R5], regs[REG_R6], regs[REG_R7]); + hfdbg(" R8: %08x %08x %08x %08x %08x %08x %08x %08x\n", + regs[REG_R8], regs[REG_R9], regs[REG_R10], regs[REG_R11], + regs[REG_R12], regs[REG_R13], regs[REG_R14], regs[REG_R15]); + hfdbg(" PSR=%08x\n", regs[REG_XPSR]); + + (void)irqsave(); + lldbg("PANIC!!! Hard fault: %08x\n", getreg32(NVIC_HFAULTS)); + PANIC(OSERR_UNEXPECTEDISR); + return OK; +} |