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#include <stdint.h>
#include <FreeRTOS.h>
#include <task.h>
#include <queue.h>
#include <osdebug.h>
#include "LPC17xx.h"
void BoardExceptionHandler(int code);
enum FaultType {
NMI = 2, HardFault, MemManage, BusFault, UsageFault,
};
struct fault_data_cpu_t {
uint32_t r0, r1, r2, r3, r12, lr, pc, xPSR;
};
struct fault_data_extra_t {
uint32_t r4, r5, r6, r7, r8, r9, r10, r11;
};
static void print_fault_data(struct fault_data_cpu_t * fault_data_cpu, struct fault_data_extra_t * fault_data_extra) {
// These ones are saved naturally by the CPU
DBGOUT("fd_cpu = %p - fd_extra = %p\r\n", fault_data_cpu, fault_data_extra);
DBGOUT("pc: %p\r\n", fault_data_cpu->pc);
DBGOUT("sp = %p - lr = %p - r12 = %p -xPSR = %p\r\n", fault_data_cpu + 1, fault_data_cpu->lr, fault_data_cpu->r12, fault_data_cpu->xPSR);
DBGOUT("r0 = %p - r1 = %p - r2 = %p - r3 = %p\r\n", fault_data_cpu->r0, fault_data_cpu->r1, fault_data_cpu->r2, fault_data_cpu->r3);
// These ones are saved by the ASM handler; hence the reason they are before in memory.
DBGOUT("r4 = %p - r5 = %p - r6 = %p - r7 = %p\r\n", fault_data_extra->r4, fault_data_extra->r5, fault_data_extra->r6, fault_data_extra->r7);
DBGOUT("r8 = %p - r9 = %p - r10 = %p - r11 = %p\r\n", fault_data_extra->r8, fault_data_extra->r9, fault_data_extra->r10, fault_data_extra->r11);
}
void general_C_handler(enum FaultType fault, struct fault_data_extra_t * fault_data_extra, uintptr_t lr) {
uintptr_t eflags = lr & 15;
uint8_t MMFSR = SCB->CFSR & 0xff;
uint8_t BFSR = (SCB->CFSR >> 8) & 0xff;
uint16_t UFSR = (SCB->CFSR >> 16) & 0xffff;
struct fault_data_cpu_t * fault_data_cpu = (struct fault_data_cpu_t *) ((eflags & 4) ? (void *) __get_PSP() : (void *) (fault_data_extra + 1));
DBGOUT("***FAULT***\r\neflags = 0x0%x\r\nPSP = %p\r\nType: ", eflags, __get_PSP());
switch (fault) {
case NMI:
DBGOUT("NMI\r\n");
break;
case HardFault:
DBGOUT("HardFault\r\n");
break;
case MemManage:
DBGOUT("MemManage\r\n");
break;
case BusFault:
DBGOUT("BusFault\r\n");
break;
case UsageFault:
DBGOUT("UsageFault\r\n");
break;
default:
DBGOUT("Unknown\r\n");
}
DBGOUT("*MMFSR* MMARVALID: %d - MSTKERR: %d - MUNSTKERR: %d - DACCVIOL: %d - IACCVIOL: %d\r\n", MMFSR & 128 ? 1 : 0, MMFSR & 16 ? 1 : 0, MMFSR & 8 ? 1 : 0, MMFSR & 2 ? 1 : 0, MMFSR & 1);
DBGOUT("*BFSR* BFARVALID: %d - STKERR: %d - UNSTKERR: %d - IMPREISERR: %d - PRECISERR: %d - IBUSERR: %d\r\n", BFSR & 128 ? 1 : 0, BFSR & 16 ? 1 : 0, BFSR & 8 ? 1 : 0, BFSR & 4 ? 1 : 0, BFSR & 2 ? 1 : 0, BFSR & 1);
DBGOUT("*UFSR* DIVBYZERO: %d - UNALIGNED: %d - NOCP: %d - INVPC: %d - INVSTATE: %d - UNDEFINSTR: %d\r\n", UFSR & 512 ? 1 : 0, UFSR & 256 ? 1 : 0, UFSR & 8 ? 1 : 0, UFSR & 4 ? 1 : 0, UFSR & 2 ? 1 : 0, UFSR & 1);
DBGOUT("*HFSR* DEBUGEVT: %d - FORCED: %d - VECTBL: %d\r\n", SCB->HFSR & 0x80000000 ? 1 : 0, SCB->HFSR & 0x40000000 ? 1 : 0, SCB->HFSR & 2 ? 1 : 0);
DBGOUT("*DFSR* EXTERNAL: %d - VCATCH: %d - DWTTRAP: %d - BKPT: %d - HALTED: %d\r\n", SCB->DFSR & 16 ? 1 : 0, SCB->DFSR & 8 ? 1 : 0, SCB->DFSR & 4 ? 1 : 0, SCB->DFSR & 2 ? 1 : 0, SCB->DFSR & 1);
DBGOUT("MMAR = %p - BFAR = %p - AFSR: %d\r\n", SCB->MMFAR, SCB->BFAR, SCB->AFSR);
print_fault_data(fault_data_cpu, fault_data_extra);
DBGOUT("HALTING\r\n");
BoardExceptionHandler(-1);
while(1);
}
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