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HAL_ChibiOS: disable building CrashCatcher for non 2M boards

This commit is contained in:
bugobliterator 2021-10-29 17:02:03 +05:30 committed by Andrew Tridgell
parent 91fdf6e875
commit 57e1fb1a81
4 changed files with 168 additions and 20 deletions
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9
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
View File

@ -128,11 +128,12 @@ CSRC += $(HWDEF)/common/stubs.c \
# $(TESTSRC) \
# test.c
ifneq ($(CRASHCATCHER),)
LIBCC_CSRC = $(CRASHCATCHER)/Core/src/CrashCatcher.c \
$(HWDEF)/common/crashdump.c
LIBCC_ASMXSRC = $(CRASHCATCHER)/Core/src/CrashCatcher_armv7m.S
endif
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
@ -163,9 +164,11 @@ ASMSRC = $(ALLASMSRC)
ASMXSRC = $(ALLXASMSRC)
INCDIR = $(CHIBIOS)/os/license \
$(ALLINC) $(HWDEF)/common \
$(CRASHCATCHER)/include \
$(ALLINC) $(HWDEF)/common
ifneq ($(CRASHCATCHER),)
INCDIR += $(CRASHCATCHER)/include
endif
#
# Project, sources and paths
##############################################################################

4
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk
View File

@ -334,7 +334,11 @@ else
@echo Done
endif
ifneq ($(CRASHCATCHER),)
lib: $(OBJS) $(LIBCC_OBJS) $(BUILDDIR)/lib$(PROJECT).a $(BUILDDIR)/libcc.a pass
else
lib: $(OBJS) $(BUILDDIR)/lib$(PROJECT).a pass
endif
$(BUILDDIR)/lib$(PROJECT).a: $(OBJS)
@$(AR) -r $@ $^

7
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -850,8 +850,10 @@ def write_mcu_config(f):
storage_flash_page = get_config('STORAGE_FLASH_PAGE', type=int)
f.write('#define STORAGE_FLASH_PAGE %u\n' % storage_flash_page)
if flash_size >= 2048:
if flash_size >= 2048 and not args.bootloader:
# lets pick a flash sector for Crash log
f.write('#define HAL_CRASHDUMP_ENABLE 1\n')
env_vars['ENABLE_CRASHDUMP'] = 1
num_flash_pages = get_flash_npages()
crash_dump_flash_page = get_config('CRASH_DUMP_FLASHPAGE', default=num_flash_pages-1, type=int)
if crash_dump_flash_page >= num_flash_pages:
@ -863,6 +865,9 @@ def write_mcu_config(f):
else:
raise Exception('Unable to find a Crash log flash page')
f.write('#define HAL_CRASH_DUMP_FLASHPAGE %u\n' % crash_dump_flash_page)
else:
f.write('#define HAL_CRASHDUMP_ENABLE 0\n')
env_vars['ENABLE_CRASHDUMP'] = 0
if args.bootloader:
if env_vars['EXTERNAL_PROG_FLASH_MB']:

168
libraries/AP_HAL_ChibiOS/system.cpp
View File

@ -23,7 +23,9 @@
#include "hwdef/common/watchdog.h"
#include "hwdef/common/stm32_util.h"
#include <AP_Vehicle/AP_Vehicle_Type.h>
#if HAL_CRASHDUMP_ENABLE
#include <CrashCatcher.h>
#endif
#include <ch.h>
#include "hal.h"
#include <hrt.h>
@ -50,6 +52,156 @@ extern "C"
{
#define bkpt() __asm volatile("BKPT #0\n")
#if !HAL_CRASHDUMP_ENABLE
// do legacy hardfault handling
void HardFault_Handler(void);
void HardFault_Handler(void) {
//Copy to local variables (not pointers) to allow GDB "i loc" to directly show the info
//Get thread context. Contains main registers including PC and LR
struct port_extctx ctx;
memcpy(&ctx, (void*)__get_PSP(), sizeof(struct port_extctx));
(void)ctx;
//Interrupt status register: Which interrupt have we encountered, e.g. HardFault?
FaultType faultType = (FaultType)__get_IPSR();
(void)faultType;
//For HardFault/BusFault this is the address that was accessed causing the error
uint32_t faultAddress = SCB->BFAR;
(void)faultAddress;
bool forced = SCB->HFSR & SCB_HFSR_FORCED_Msk;
(void)forced;
uint32_t cfsr = SCB->CFSR;
(void)cfsr;
//Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
bool isFaultPrecise = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 1) ? true : false);
bool isFaultImprecise = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 2) ? true : false);
bool isFaultOnUnstacking = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 3) ? true : false);
bool isFaultOnStacking = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 4) ? true : false);
bool isFaultAddressValid = ((SCB->CFSR >> SCB_CFSR_BUSFAULTSR_Pos) & (1 << 7) ? true : false);
(void)isFaultPrecise;
(void)isFaultImprecise;
(void)isFaultOnUnstacking;
(void)isFaultOnStacking;
(void)isFaultAddressValid;
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
#ifdef HAL_GPIO_PIN_FAULT
while (true) {
// forced means that another kind of unhandled fault got escalated to a hardfault
if (faultType == BusFault) {
fault_printf("BUSFAULT\n");
} else if (forced) {
fault_printf("FORCED HARDFAULT\n");
} else {
fault_printf("HARDFAULT(%d)\n", int(faultType));
}
fault_printf("CSFR=0x%08x\n", cfsr);
fault_printf("CUR=0x%08x\n", ch.rlist.current);
if (ch.rlist.current) {
fault_printf("NAME=%s\n", ch.rlist.current->name);
}
fault_printf("FA=0x%08x\n", faultAddress);
fault_printf("PC=0x%08x\n", ctx.pc);
fault_printf("LR=0x%08x\n", ctx.lr_thd);
fault_printf("R0=0x%08x\n", ctx.r0);
fault_printf("R1=0x%08x\n", ctx.r1);
fault_printf("R2=0x%08x\n", ctx.r2);
fault_printf("R3=0x%08x\n", ctx.r3);
fault_printf("R12=0x%08x\n", ctx.r12);
fault_printf("XPSR=0x%08x\n", ctx.xpsr);
fault_printf("\n\n");
}
#endif
//Cause debugger to stop. Ignored if no debugger is attached
while(1) {}
}
// For the BusFault handler to be active SCB_SHCSR_BUSFAULTENA_Msk should be set in SCB->SHCSR
// ChibiOS does not do this by default
void BusFault_Handler(void) __attribute__((alias("HardFault_Handler")));
void UsageFault_Handler(void);
void UsageFault_Handler(void) {
//Copy to local variables (not pointers) to allow GDB "i loc" to directly show the info
//Get thread context. Contains main registers including PC and LR
struct port_extctx ctx;
memcpy(&ctx, (void*)__get_PSP(), sizeof(struct port_extctx));
(void)ctx;
//Interrupt status register: Which interrupt have we encountered, e.g. HardFault?
FaultType faultType = (FaultType)__get_IPSR();
(void)faultType;
uint32_t faultAddress = SCB->BFAR;
//Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
bool isUndefinedInstructionFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 0) ? true : false);
bool isEPSRUsageFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 1) ? true : false);
bool isInvalidPCFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 2) ? true : false);
bool isNoCoprocessorFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 3) ? true : false);
bool isUnalignedAccessFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 8) ? true : false);
bool isDivideByZeroFault = ((SCB->CFSR >> SCB_CFSR_USGFAULTSR_Pos) & (1 << 9) ? true : false);
(void)isUndefinedInstructionFault;
(void)isEPSRUsageFault;
(void)isInvalidPCFault;
(void)isNoCoprocessorFault;
(void)isUnalignedAccessFault;
(void)isDivideByZeroFault;
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
//Cause debugger to stop. Ignored if no debugger is attached
while(1) {}
}
void MemManage_Handler(void);
void MemManage_Handler(void) {
//Copy to local variables (not pointers) to allow GDB "i loc" to directly show the info
//Get thread context. Contains main registers including PC and LR
struct port_extctx ctx;
memcpy(&ctx, (void*)__get_PSP(), sizeof(struct port_extctx));
(void)ctx;
//Interrupt status register: Which interrupt have we encountered, e.g. HardFault?
FaultType faultType = (FaultType)__get_IPSR();
(void)faultType;
//For HardFault/BusFault this is the address that was accessed causing the error
uint32_t faultAddress = SCB->MMFAR;
(void)faultAddress;
//Flags about hardfault / busfault
//See http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihdjcfc.html for reference
bool isInstructionAccessViolation = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 0) ? true : false);
bool isDataAccessViolation = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 1) ? true : false);
bool isExceptionUnstackingFault = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 3) ? true : false);
bool isExceptionStackingFault = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 4) ? true : false);
bool isFaultAddressValid = ((SCB->CFSR >> SCB_CFSR_MEMFAULTSR_Pos) & (1 << 7) ? true : false);
(void)isInstructionAccessViolation;
(void)isDataAccessViolation;
(void)isExceptionUnstackingFault;
(void)isExceptionStackingFault;
(void)isFaultAddressValid;
save_fault_watchdog(__LINE__, faultType, faultAddress, (uint32_t)ctx.lr_thd);
while(1) {}
}
#else
// Handle via Crash Catcher
extern void HardFault_Handler(void);
void BusFault_Handler(void);
void BusFault_Handler(void) {
HardFault_Handler();
}
void UsageFault_Handler(void);
void UsageFault_Handler(void) {
HardFault_Handler();
}
void MemManage_Handler(void);
void MemManage_Handler(void) {
HardFault_Handler();
}
#endif
/*
save watchdog data for a hard fault
*/
@ -88,22 +240,6 @@ void __cxa_pure_virtual() { while (1); } //TODO: Handle properly, maybe generate
void NMI_Handler(void);
void NMI_Handler(void) { while (1); }
extern void HardFault_Handler(void);
void BusFault_Handler(void);
void BusFault_Handler(void) {
HardFault_Handler();
}
void UsageFault_Handler(void);
void UsageFault_Handler(void) {
HardFault_Handler();
}
void MemManage_Handler(void);
void MemManage_Handler(void) {
HardFault_Handler();
}
}
namespace AP_HAL {