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HAL_ChibiOS: optionally print information on a HardFault

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This commit is contained in:
Andrew Tridgell 2019-11-26 15:03:05 +11:00
parent ef993f380f
commit 0c4a4ccb74
1 changed files with 20 additions and 0 deletions
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20
libraries/AP_HAL_ChibiOS/system.cpp
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@ -20,6 +20,7 @@
#include <AP_HAL/system.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "hwdef/common/watchdog.h"
#include "hwdef/common/stm32_util.h"
#include <ch.h>
#include "hal.h"
@ -93,6 +94,25 @@ void HardFault_Handler(void) {
save_fault_watchdog(__LINE__, faultType, faultAddress);
#ifdef HAL_GPIO_PIN_FAULT
while (true) {
fault_printf("HARDFAULT\n");
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) {}
}