handlers.c

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#include <stdint.h>
#include <FreeRTOS.h>
#include <task.h>
#include <queue.h>
#include <osdebug.h>
#include <core_cm3.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;
    (void) MMFSR;
    (void) BFSR;
    (void) UFSR;
    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);
}