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AP_HAL_ChibiOS: don't overwrite fault handler data, register forced faults

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This commit is contained in:
Andy Piper 2021-01-25 21:16:46 +00:00 committed by Andrew Tridgell
parent 20d928a86a
commit d41c92d317
1 changed files with 27 additions and 12 deletions
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39
libraries/AP_HAL_ChibiOS/system.cpp
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@ -72,22 +72,22 @@ static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fa
bool using_watchdog = AP_BoardConfig::watchdog_enabled();
if (using_watchdog) {
AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
pd.fault_line = line;
if (pd.fault_type == 0) {
// don't overwrite earlier fault
pd.fault_line = line;
pd.fault_type = fault_type;
}
pd.fault_addr = fault_addr;
thread_t *tp = chThdGetSelfX();
if (tp) {
pd.fault_thd_prio = tp->prio;
// get first 4 bytes of the name, but only of first fault
if (tp->name && pd.thread_name4[0] == 0) {
strncpy_noterm(pd.thread_name4, tp->name, 4);
pd.fault_addr = fault_addr;
thread_t *tp = chThdGetSelfX();
if (tp) {
pd.fault_thd_prio = tp->prio;
// get first 4 bytes of the name, but only of first fault
if (tp->name && pd.thread_name4[0] == 0) {
strncpy_noterm(pd.thread_name4, tp->name, 4);
}
}
pd.fault_icsr = SCB->ICSR;
pd.fault_lr = lr;
}
pd.fault_icsr = SCB->ICSR;
pd.fault_lr = lr;
stm32_watchdog_save((uint32_t *)&hal.util->persistent_data, (sizeof(hal.util->persistent_data)+3)/4);
}
#endif
@ -106,6 +106,10 @@ void HardFault_Handler(void) {
//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);
@ -123,7 +127,15 @@ void HardFault_Handler(void) {
#ifdef HAL_GPIO_PIN_FAULT
while (true) {
fault_printf("HARDFAULT\n");
// 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);
@ -144,6 +156,8 @@ void HardFault_Handler(void) {
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);
@ -208,6 +222,7 @@ void MemManage_Handler(void) {
while(1) {}
}
}
namespace AP_HAL {