Added detection of case when no unwind tables are available

Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp

@@ -114,7 +114,9 @@ static void TXDec(uint32_t v) {
 
 // Dump a backtrace entry
 static void backtrace_dump_fn(int idx, const backtrace_t* bte, void* ctx) {
-  TX('#'); TXDec(idx); TX(' '); TX(bte->name); TX(" @ ");TXHex((uint32_t)bte->address); TX('\n');
+  TX('#'); TXDec(idx); TX(' ');
+  TX(bte->name); TX('@');TXHex((uint32_t)bte->function); TX('+'); TXDec((uint32_t)bte->address - (uint32_t)bte->function);
+  TX(" PC:");TXHex((uint32_t)bte->address); TX('\n');
 }
 
 /**
@@ -176,6 +178,19 @@ void HardFault_HandlerC(unsigned long *hardfault_args, unsigned long cause) {
   btf.pc = ((unsigned long)hardfault_args[6]);
   backtrace_dump(&btf, backtrace_dump_fn, nullptr);
 
+  // Disable all NVIC interrupts
+  NVIC->ICER[0] = 0xFFFFFFFF;
+  NVIC->ICER[1] = 0xFFFFFFFF;
+
+  // Relocate VTOR table to default position
+  SCB->VTOR = 0;
+
+  // Disable USB
+  otg_disable();
+
+  // Restart watchdog
+  WDT_Restart(WDT);
+
   // Reset controller
   NVIC_SystemReset();
   while(1) { WDT_Restart(WDT); }

Marlin/src/HAL/HAL_DUE/backtrace/backtrace.c

@@ -6,9 +6,9 @@
  * License, v. 2.0. If a copy of the MPL was not distributed with this
  * file, You can obtain one at http://mozilla.org/MPL/2.0/.
  *
- * This library was modified and adapted to be used in Marlin 3D printer
- * firmware as backtracer for exceptions for debugging purposes in 2018
- * by Eduardo José Tagle.
+ * This library was modified, some bugs fixed, stack address validated
+ * and adapted to be used in Marlin 3D printer firmware as backtracer
+ * for exceptions for debugging purposes in 2018 by Eduardo José Tagle.
  */
 
 #ifdef ARDUINO_ARCH_SAM
@@ -43,10 +43,30 @@ void __aeabi_unwind_cpp_pr2(void) {};
 extern const int _sstack;
 extern const int _estack;
 
-/* Validate stack pointer */
+/* These symbols point to the start and end of the code section */
+extern const int _sfixed;
+extern const int _efixed;
+
+/* These symbols point to the start and end of initialized data (could be SRAM functions!) */
+extern const int _srelocate;
+extern const int _erelocate;
+
+/* Validate stack pointer (SP): It must be in the stack area */
 static inline __attribute__((always_inline)) int validate_sp(const void* sp) {
-  if ((uint32_t)sp < (uint32_t)&_sstack || (uint32_t)sp > (uint32_t)&_estack)
-    return -1;
+  // SP must point into the allocated stack area
+  if ((uint32_t)sp >= (uint32_t)&_sstack && (uint32_t)sp <= (uint32_t)&_estack)
+    return 0;
+  return -1;
+}
+
+/* Validate code pointer (PC): It must be either in TEXT or in SRAM */
+static inline __attribute__((always_inline)) int validate_pc(const void* pc) {
+  // PC must point into the text (CODE) area
+  if ((uint32_t)pc >= (uint32_t)&_sfixed && (uint32_t)pc <= (uint32_t)&_efixed)
+    return 0;
+  // Or into the SRAM function area
+  if ((uint32_t)pc >= (uint32_t)&_srelocate && (uint32_t)pc <= (uint32_t)&_erelocate)
+    return 0;
   return 0;
 }
 
@@ -103,11 +123,11 @@ static int unwind_control_block_init(unwind_control_block_t *ucb, const uint32_t
   memset(ucb, 0, sizeof(unwind_control_block_t));
   ucb->current = instructions;
 
-  /* Is the a short unwind description */
+  /* Is a short unwind description */
   if ((*instructions & 0xff000000) == 0x80000000) {
     ucb->remaining = 3;
     ucb->byte = 2;
-  /* Is the a long unwind description */
+  /* Is a long unwind description */
   } else if ((*instructions & 0xff000000) == 0x81000000) {
     ucb->remaining = ((*instructions & 0x00ff0000) >> 14) + 2;
     ucb->byte = 1;
@@ -115,12 +135,10 @@ static int unwind_control_block_init(unwind_control_block_t *ucb, const uint32_t
     return -1;
 
   /* Initialize the virtual register set */
-  if (frame) {
-    ucb->vrs[7] = frame->fp;
-    ucb->vrs[13] = frame->sp;
-    ucb->vrs[14] = frame->lr;
-    ucb->vrs[15] = 0;
-  }
+  ucb->vrs[7] = frame->fp;
+  ucb->vrs[13] = frame->sp;
+  ucb->vrs[14] = frame->lr;
+  ucb->vrs[15] = 0;
 
   /* All good */
   return 0;
@@ -136,46 +154,49 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
   /* Consume all instruction byte */
   while ((instruction = unwind_get_next_byte(ucb)) != -1) {
 
-    if ((instruction & 0xc0) == 0x00) {
+    if ((instruction & 0xc0) == 0x00) { // ARM_EXIDX_CMD_DATA_POP
       /* vsp = vsp + (xxxxxx << 2) + 4 */
       ucb->vrs[13] += ((instruction & 0x3f) << 2) + 4;
-
-    } else if ((instruction & 0xc0) == 0x40) {
+    } else
+    if ((instruction & 0xc0) == 0x40) { // ARM_EXIDX_CMD_DATA_PUSH
       /* vsp = vsp - (xxxxxx << 2) - 4 */
       ucb->vrs[13] -= ((instruction & 0x3f) << 2) - 4;
-
-    } else if ((instruction & 0xf0) == 0x80) {
+    } else
+    if ((instruction & 0xf0) == 0x80) {
       /* pop under mask {r15-r12},{r11-r4} or refuse to unwind */
       instruction = instruction << 8 | unwind_get_next_byte(ucb);
 
       /* Check for refuse to unwind */
-      if (instruction == 0x8000)
+      if (instruction == 0x8000)        // ARM_EXIDX_CMD_REFUSED
         return 0;
 
-      /* Pop registers using mask */
+      /* Pop registers using mask */    // ARM_EXIDX_CMD_REG_POP
       vsp = (uint32_t *)ucb->vrs[13];
       mask = instruction & 0xfff;
 
       reg = 4;
-      while (mask != 0) {
-        if ((mask & 0x001) != 0) {
+      while (mask) {
+        if ((mask & 1) != 0) {
           if (validate_sp(vsp))
             return -1;
           ucb->vrs[reg] = *vsp++;
         }
-        mask = mask >> 1;
+        mask >>= 1;
         ++reg;
       }
 
       /* Patch up the vrs sp if it was in the mask */
-      if ((mask & (1 << (13 - 4))) != 0)
+      if ((instruction & (1 << (13 - 4))) != 0)
         ucb->vrs[13] = (uint32_t)vsp;
 
-    } else if ((instruction & 0xf0) == 0x90 && instruction != 0x9d && instruction != 0x9f) {
+    } else
+    if ((instruction & 0xf0) == 0x90 && // ARM_EXIDX_CMD_REG_TO_SP
+        instruction != 0x9d &&
+        instruction != 0x9f) {
       /* vsp = r[nnnn] */
       ucb->vrs[13] = ucb->vrs[instruction & 0x0f];
-
-    } else if ((instruction & 0xf0) == 0xa0) {
+    } else
+    if ((instruction & 0xf0) == 0xa0) { // ARM_EXIDX_CMD_REG_POP
       /* pop r4-r[4+nnn] or pop r4-r[4+nnn], r14*/
       vsp = (uint32_t *)ucb->vrs[13];
 
@@ -185,7 +206,7 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
         ucb->vrs[reg] = *vsp++;
       }
 
-      if (instruction & 0x80) {
+      if (instruction & 0x08) { // ARM_EXIDX_CMD_REG_POP
         if (validate_sp(vsp))
           return -1;
         ucb->vrs[14] = *vsp++;
@@ -193,7 +214,8 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
 
       ucb->vrs[13] = (uint32_t)vsp;
 
-    } else if (instruction == 0xb0) {
+    } else
+    if (instruction == 0xb0) { // ARM_EXIDX_CMD_FINISH
       /* finished */
       if (ucb->vrs[15] == 0)
         ucb->vrs[15] = ucb->vrs[14];
@@ -201,28 +223,34 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
       /* All done unwinding */
       return 0;
 
-    } else if (instruction == 0xb1) {
+    } else
+    if (instruction == 0xb1) { // ARM_EXIDX_CMD_REG_POP
       /* pop register under mask {r3,r2,r1,r0} */
       vsp = (uint32_t *)ucb->vrs[13];
       mask = unwind_get_next_byte(ucb);
 
       reg = 0;
-      while (mask != 0) {
-        if ((mask & 0x01) != 0) {
+      while (mask) {
+        if ((mask & 1) != 0) {
           if (validate_sp(vsp))
             return -1;
           ucb->vrs[reg] = *vsp++;
         }
-        mask = mask >> 1;
+        mask >>= 1;
         ++reg;
       }
       ucb->vrs[13] = (uint32_t)vsp;
 
-    } else if (instruction == 0xb2) {
+    } else
+    if (instruction == 0xb2) { // ARM_EXIDX_CMD_DATA_POP
       /* vps = vsp + 0x204 + (uleb128 << 2) */
       ucb->vrs[13] += 0x204 + (unwind_get_next_byte(ucb) << 2);
 
-    } else if (instruction == 0xb3 || instruction == 0xc8 || instruction == 0xc9) {
+    } else
+    if (instruction == 0xb3 || // ARM_EXIDX_CMD_VFP_POP
+      instruction == 0xc8 ||
+      instruction == 0xc9) {
+
       /* pop VFP double-precision registers */
       vsp = (uint32_t *)ucb->vrs[13];
 
@@ -243,7 +271,10 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
 
       ucb->vrs[13] = (uint32_t)vsp;
 
-    } else if ((instruction & 0xf8) == 0xb8 || (instruction & 0xf8) == 0xd0) {
+    } else
+    if ((instruction & 0xf8) == 0xb8 ||
+        (instruction & 0xf8) == 0xd0) {
+
       /* Pop VFP double precision registers D[8]-D[8+nnn] */
       ucb->vrs[14] = 0x80 | (instruction & 0x07);
 
@@ -296,7 +327,7 @@ static int unwind_frame(backtrace_frame_t *frame) {
   if (unwind_control_block_init(&ucb, instructions, frame) < 0)
     return -1;
 
-  /* Execute the unwind instructions TODO range check the stack pointer */
+  /* Execute the unwind instructions */
   while ((execution_result = unwind_execute_instruction(&ucb)) > 0);
   if (execution_result == -1)
     return -1;
@@ -332,8 +363,7 @@ static int unwind_frame(backtrace_frame_t *frame) {
       stack -= 2;
 
       /* If there was a VFP exception (0xffffffe1), the PC is located another 18 words down */
-      if ((ucb.vrs[15] & 0xf0) == 0xe0)
-      {
+      if ((ucb.vrs[15] & 0xf0) == 0xe0) {
         stack -= 18;
       }
     }
@@ -366,47 +396,146 @@ static int unwind_frame(backtrace_frame_t *frame) {
   return 1;
 }
 
+// Detect if function names are available
+static int __attribute__ ((noinline)) has_function_names(void) {
+  uint32_t flag_word = ((uint32_t*)&has_function_names)[-1];
+  return ((flag_word & 0xff000000) == 0xff000000) ? 1 : 0;
+}
+
+// Detect if unwind information is present or not
+static int has_unwind_info(void) {
+  return ((char*)(&__exidx_end) - (char*)(&__exidx_start)) > 16 ? 1 : 0; // 16 because there are default entries we can´t supress
+}
+
 int backtrace_dump(backtrace_frame_t *frame, backtrace_dump_fn_t dump_entry, void* ctx )
 {
   backtrace_t entry;
   int count = 1;
 
-  /* Unwind all frames */
-  do {
-    if (frame->pc == 0) {
-      /* Reached __exidx_end. */
-      entry.name = "<reached end of unwind table>";
-      entry.address = 0;
-      entry.function = 0;
-      dump_entry(count, &entry, ctx);
-      break;
-    }
+  /* If there is no unwind information, perform a RAW try at it. Idea was taken from
+   * https://stackoverflow.com/questions/3398664/how-to-get-a-call-stack-backtrace-deeply-embedded-no-library-support
+   *
+   * And requires code to be compiled with the following flags:
+   * -mtpcs-frame -mtpcs-leaf-frame -fno-omit-frame-pointer
+   *  With these options, the Stack pointer is automatically
+   * pushed to the stack at the beginning of each function.
+   */
+  if (!has_unwind_info()) {
+
+    /*
+     *  We basically iterate through the current stack finding the
+     * following combination of values:
+     *  - <Frame Address>
+     *  - <Link Address>
+     * This combination will occur for each function in the call stack
+     */
+
+    uint32_t previous_frame_address = (uint32_t)frame->sp;
+    uint32_t* stack_pointer = (uint32_t*)frame->sp;
+
+    // loop following stack frames
+    while (1) {
+
+      // Validate stack address
+      if (validate_sp(stack_pointer))
+        break;
+
+      // Attempt to obtain next stack pointer
+      // The link address should come immediately after
+      const uint32_t possible_frame_address = *stack_pointer;
+      const uint32_t possible_link_address = *(stack_pointer+1);
+
+      // Next check that the frame addresss (i.e. stack pointer for the function)
+      // and Link address are within an acceptable range
+      if(possible_frame_address > previous_frame_address &&
+         validate_sp((const void *)possible_frame_address) == 0 &&
+        (possible_link_address & 1) != 0 && // in THUMB mode the address will be odd
+         validate_pc((const void *)possible_link_address) == 0) {
+
+        // We found two acceptable values.
+        entry.name = "unknown";
+        entry.address = (void*)possible_link_address;
+        entry.function = 0;
+
+        // If there are function names, try to solve name
+        if (has_function_names()) {
+          // Lets find the function name, if possible
+
+          // Align address to 4 bytes
+          uint32_t* pf = (uint32_t*) (((uint32_t)possible_link_address) & (-4));
+
+          // Scan backwards until we find the function name
+          while(validate_pc(pf-1) == 0) {
+
+            // Get name descriptor value
+            uint32_t v = pf[-1];
+
+            // Check if name descriptor is valid and name is terminated in 0.
+            if ((v & 0xffffff00) == 0xff000000 &&
+                (v & 0xff) > 1) {
+
+              // Assume the name was found!
+              entry.name = ((const char*)pf) - 4 - (v & 0xff);
+              entry.function = (void*)pf;
+              break;
+            }
+
+            // Go backwards to the previous word
+            --pf;
+          }
+        }
+        dump_entry(count, &entry, ctx);
+        ++count;
 
-    if (frame->pc == 0x00000001) {
-      /* Reached .cantunwind instruction. */
-      entry.name = "<reached .cantunwind>";
-      entry.address = 0;
-      entry.function = 0;
-      dump_entry(count, &entry, ctx);
-      break;
+        // Update the book-keeping registers for the next search
+        previous_frame_address = possible_frame_address;
+        stack_pointer = (uint32_t*)(possible_frame_address + 4);
+
+      } else {
+        // Keep iterating through the stack until we find an acceptable combination
+        ++stack_pointer;
+      }
     }
 
-    /* Find the unwind index of the current frame pc */
-    const unwind_index_t *index = unwind_search_index(__exidx_start, __exidx_end, frame->pc);
+  } else {
+
+    /* Otherwise, unwind information is present. Use it to unwind frames */
+    do {
+      if (frame->pc == 0) {
+        /* Reached __exidx_end. */
+        entry.name = "<reached end of unwind table>";
+        entry.address = 0;
+        entry.function = 0;
+        dump_entry(count, &entry, ctx);
+        break;
+      }
 
-    /* Clear last bit (Thumb indicator) */
-    frame->pc &= 0xfffffffeU;
+      if (frame->pc == 0x00000001) {
+        /* Reached .cantunwind instruction. */
+        entry.name = "<reached .cantunwind>";
+        entry.address = 0;
+        entry.function = 0;
+        dump_entry(count, &entry, ctx);
+        break;
+      }
 
-    /* Generate the backtrace information */
-    entry.address = (void *)frame->pc;
-    entry.function = (void *)prel31_to_addr(&index->addr_offset);
-    entry.name = unwind_get_function_name(entry.function);
-    dump_entry(count, &entry, ctx);
+      /* Find the unwind index of the current frame pc */
+      const unwind_index_t *index = unwind_search_index(__exidx_start, __exidx_end, frame->pc);
 
-    /* Next backtrace frame */
-    ++count;
+      /* Clear last bit (Thumb indicator) */
+      frame->pc &= 0xfffffffeU;
 
-  } while (unwind_frame(frame) == 1);
+      /* Generate the backtrace information */
+      entry.address = (void *)frame->pc;
+      entry.function = (void *)prel31_to_addr(&index->addr_offset);
+      entry.name = unwind_get_function_name(entry.function);
+      dump_entry(count, &entry, ctx);
+
+      /* Next backtrace frame */
+      ++count;
+
+    } while (unwind_frame(frame) == 1);
+  }
 
   /* All done */
   return count;

platformio.ini

@@ -97,6 +97,18 @@ lib_deps     = ${common.lib_deps}
 lib_ignore   = c1921b4
 src_filter   = ${common.default_src_filter}
 monitor_baud = 250000
+[env:DUE_debug]
+# Used when WATCHDOG_RESET_MANUAL is enabled
+platform     = atmelsam
+framework    = arduino
+board        = due
+build_flags  = ${common.build_flags}
+  -funwind-tables 
+  -mpoke-function-name
+lib_deps     = ${common.lib_deps}
+lib_ignore   = c1921b4
+src_filter   = ${common.default_src_filter}
+monitor_baud = 250000
 
 #
 # NXP LPC1768 ARM Cortex-M3