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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- #ifdef TARGET_LPC1768
-
- #include "../../core/macros.h"
- #include "../../core/serial.h"
- #include <stdarg.h>
-
- #include "../shared/backtrace/unwinder.h"
- #include "../shared/backtrace/unwmemaccess.h"
- #include "watchdog.h"
- #include <debug_frmwrk.h>
-
-
- // Debug monitor that dumps to the Programming port all status when
- // an exception or WDT timeout happens - And then resets the board
-
- // All the Monitor routines must run with interrupts disabled and
- // under an ISR execution context. That is why we cannot reuse the
- // Serial interrupt routines or any C runtime, as we don't know the
- // state we are when running them
-
- // A SW memory barrier, to ensure GCC does not overoptimize loops
- #define sw_barrier() __asm__ volatile("": : :"memory");
-
- // (re)initialize UART0 as a monitor output to 250000,n,8,1
- static void TXBegin() {
- }
-
- // Send character through UART with no interrupts
- static void TX(char c) {
- _DBC(c);
- }
-
- // Send String through UART
- static void TX(const char* s) {
- while (*s) TX(*s++);
- }
-
- static void TXDigit(uint32_t d) {
- if (d < 10) TX((char)(d+'0'));
- else if (d < 16) TX((char)(d+'A'-10));
- else TX('?');
- }
-
- // Send Hex number thru UART
- static void TXHex(uint32_t v) {
- TX("0x");
- for (uint8_t i = 0; i < 8; i++, v <<= 4)
- TXDigit((v >> 28) & 0xF);
- }
-
- // Send Decimal number thru UART
- static void TXDec(uint32_t v) {
- if (!v) {
- TX('0');
- return;
- }
-
- char nbrs[14];
- char *p = &nbrs[0];
- while (v != 0) {
- *p++ = '0' + (v % 10);
- v /= 10;
- }
- do {
- p--;
- TX(*p);
- } while (p != &nbrs[0]);
- }
-
- // Dump a backtrace entry
- static bool UnwReportOut(void* ctx, const UnwReport* bte) {
- int* p = (int*)ctx;
-
- (*p)++;
- TX('#'); TXDec(*p); TX(" : ");
- TX(bte->name?bte->name:"unknown"); TX('@'); TXHex(bte->function);
- TX('+'); TXDec(bte->address - bte->function);
- TX(" PC:");TXHex(bte->address); TX('\n');
- return true;
- }
-
- #ifdef UNW_DEBUG
- void UnwPrintf(const char* format, ...) {
- char dest[256];
- va_list argptr;
- va_start(argptr, format);
- vsprintf(dest, format, argptr);
- va_end(argptr);
- TX(&dest[0]);
- }
- #endif
-
- /* Table of function pointers for passing to the unwinder */
- static const UnwindCallbacks UnwCallbacks = {
- UnwReportOut,
- UnwReadW,
- UnwReadH,
- UnwReadB
- #ifdef UNW_DEBUG
- ,UnwPrintf
- #endif
- };
-
-
- /**
- * HardFaultHandler_C:
- * This is called from the HardFault_HandlerAsm with a pointer the Fault stack
- * as the parameter. We can then read the values from the stack and place them
- * into local variables for ease of reading.
- * We then read the various Fault Status and Address Registers to help decode
- * cause of the fault.
- * The function ends with a BKPT instruction to force control back into the debugger
- */
- extern "C"
- void HardFault_HandlerC(unsigned long *sp, unsigned long lr, unsigned long cause) {
-
- static const char* causestr[] = {
- "NMI","Hard","Mem","Bus","Usage","Debug","WDT","RSTC"
- };
-
- UnwindFrame btf;
-
- // Dump report to the Programming port (interrupts are DISABLED)
- TXBegin();
- TX("\n\n## Software Fault detected ##\n");
- TX("Cause: "); TX(causestr[cause]); TX('\n');
-
- TX("R0 : "); TXHex(((unsigned long)sp[0])); TX('\n');
- TX("R1 : "); TXHex(((unsigned long)sp[1])); TX('\n');
- TX("R2 : "); TXHex(((unsigned long)sp[2])); TX('\n');
- TX("R3 : "); TXHex(((unsigned long)sp[3])); TX('\n');
- TX("R12 : "); TXHex(((unsigned long)sp[4])); TX('\n');
- TX("LR : "); TXHex(((unsigned long)sp[5])); TX('\n');
- TX("PC : "); TXHex(((unsigned long)sp[6])); TX('\n');
- TX("PSR : "); TXHex(((unsigned long)sp[7])); TX('\n');
-
- // Configurable Fault Status Register
- // Consists of MMSR, BFSR and UFSR
- TX("CFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED28)))); TX('\n');
-
- // Hard Fault Status Register
- TX("HFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED2C)))); TX('\n');
-
- // Debug Fault Status Register
- TX("DFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED30)))); TX('\n');
-
- // Auxiliary Fault Status Register
- TX("AFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED3C)))); TX('\n');
-
- // 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
- TX("MMAR : "); TXHex((*((volatile unsigned long *)(0xE000ED34)))); TX('\n');
-
- // Bus Fault Address Register
- TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n');
-
- TX("ExcLR: "); TXHex(lr); TX('\n');
- TX("ExcSP: "); TXHex((unsigned long)sp); TX('\n');
-
- btf.sp = ((unsigned long)sp) + 8*4; // The original stack pointer
- btf.fp = btf.sp;
- btf.lr = ((unsigned long)sp[5]);
- btf.pc = ((unsigned long)sp[6]) | 1; // Force Thumb, as CORTEX only support it
-
- // Perform a backtrace
- TX("\nBacktrace:\n\n");
- int ctr = 0;
- UnwindStart(&btf, &UnwCallbacks, &ctr);
-
- // Disable all NVIC interrupts
- NVIC->ICER[0] = 0xFFFFFFFF;
- NVIC->ICER[1] = 0xFFFFFFFF;
-
- // Relocate VTOR table to default position
- SCB->VTOR = 0;
-
- // Clear cause of reset to prevent entering smoothie bootstrap
- HAL_clear_reset_source();
-
- // Restart watchdog
- #if ENABLED(USE_WATCHDOG)
- //WDT_Restart(WDT);
- watchdog_init();
- #endif
-
- // Reset controller
- NVIC_SystemReset();
-
- // Nothing below here is compiled because NVIC_SystemReset loops forever
-
- for (;;) {
- #if ENABLED(USE_WATCHDOG)
- watchdog_init();
- #endif
- }
- }
-
- extern "C" {
- __attribute__((naked)) void NMI_Handler() {
- __asm__ __volatile__ (
- ".syntax unified" "\n\t"
- A("tst lr, #4")
- A("ite eq")
- A("mrseq r0, msp")
- A("mrsne r0, psp")
- A("mov r1,lr")
- A("mov r2,#0")
- A("b HardFault_HandlerC")
- );
- }
-
- __attribute__((naked)) void HardFault_Handler() {
- __asm__ __volatile__ (
- ".syntax unified" "\n\t"
- A("tst lr, #4")
- A("ite eq")
- A("mrseq r0, msp")
- A("mrsne r0, psp")
- A("mov r1,lr")
- A("mov r2,#1")
- A("b HardFault_HandlerC")
- );
- }
-
- __attribute__((naked)) void MemManage_Handler() {
- __asm__ __volatile__ (
- ".syntax unified" "\n\t"
- A("tst lr, #4")
- A("ite eq")
- A("mrseq r0, msp")
- A("mrsne r0, psp")
- A("mov r1,lr")
- A("mov r2,#2")
- A("b HardFault_HandlerC")
- );
- }
-
- __attribute__((naked)) void BusFault_Handler() {
- __asm__ __volatile__ (
- ".syntax unified" "\n\t"
- A("tst lr, #4")
- A("ite eq")
- A("mrseq r0, msp")
- A("mrsne r0, psp")
- A("mov r1,lr")
- A("mov r2,#3")
- A("b HardFault_HandlerC")
- );
- }
-
- __attribute__((naked)) void UsageFault_Handler() {
- __asm__ __volatile__ (
- ".syntax unified" "\n\t"
- A("tst lr, #4")
- A("ite eq")
- A("mrseq r0, msp")
- A("mrsne r0, psp")
- A("mov r1,lr")
- A("mov r2,#4")
- A("b HardFault_HandlerC")
- );
- }
-
- __attribute__((naked)) void DebugMon_Handler() {
- __asm__ __volatile__ (
- ".syntax unified" "\n\t"
- A("tst lr, #4")
- A("ite eq")
- A("mrseq r0, msp")
- A("mrsne r0, psp")
- A("mov r1,lr")
- A("mov r2,#5")
- A("b HardFault_HandlerC")
- );
- }
-
- /* This is NOT an exception, it is an interrupt handler - Nevertheless, the framing is the same */
- __attribute__((naked)) void WDT_IRQHandler() {
- __asm__ __volatile__ (
- ".syntax unified" "\n\t"
- A("tst lr, #4")
- A("ite eq")
- A("mrseq r0, msp")
- A("mrsne r0, psp")
- A("mov r1,lr")
- A("mov r2,#6")
- A("b HardFault_HandlerC")
- );
- }
-
- __attribute__((naked)) void RSTC_Handler() {
- __asm__ __volatile__ (
- ".syntax unified" "\n\t"
- A("tst lr, #4")
- A("ite eq")
- A("mrseq r0, msp")
- A("mrsne r0, psp")
- A("mov r1,lr")
- A("mov r2,#7")
- A("b HardFault_HandlerC")
- );
- }
- }
- #endif // TARGET_LPC1768
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