From 9a4d6455fc8964a928d94bac6f5db0b8d625b652 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Wed, 23 Jan 2013 18:55:23 -0800
Subject: [PATCH] More debug macros.

---
 Debug/ARMv7M | 152 +++++++++++++++++++++++++++++++++++++++++++++++++++
 Debug/PX4    |   1 +
 2 files changed, 153 insertions(+)
 create mode 100644 Debug/ARMv7M

diff --git a/Debug/ARMv7M b/Debug/ARMv7M
new file mode 100644
index 0000000000..3d96da682d
--- /dev/null
+++ b/Debug/ARMv7M
@@ -0,0 +1,152 @@
+#
+# Assorted ARMv7M macros
+#
+
+echo Loading ARMv7M GDB macros.  Use 'help armv7m' for more information.\n
+
+define armv7m
+	echo Use 'help armv7m' for more information.\n
+end
+
+document armv7m
+. Various macros for working with the ARMv7M family of processors.
+.
+.    vecstate
+.        Print information about the current exception handling state.
+.
+. Use 'help <macro>' for more specific help.
+end
+
+
+define vecstate
+	set $icsr  = *(uint32_t *)0xe000ed04
+	set $vect  = $icsr & 0x1ff
+	set $pend  = ($icsr & 0x1ff000) >> 12
+	set $shcsr = *(uint32_t *)0xe000ed24
+	set $cfsr  = *(uint32_t *)0xe000ed28
+	set $mmfsr = $cfsr & 0xff
+	set $bfsr  = ($cfsr >> 8) & 0xff
+	set $ufsr  = ($cfsr >> 16) & 0xffff
+	set $hfsr  = *(uint32_t *)0xe000ed2c
+	set $bfar  = *(uint32_t *)0xe000ed38
+	set $mmfar = *(uint32_t *)0xe000ed34
+
+	# XXX Currently, rather than look at $vect, we just decode the
+	# fault status registers directly.
+
+	if $hfsr != 0
+		printf "HardFault:"
+		if $hfsr & (1<<1)
+			printf " due to vector table read fault\n"
+		end
+		if $hfsr & (1<<30)
+			printf " forced ue to escalated or disabled configurable fault (see below)\n"
+		end
+		if $hfsr & (1<<31)
+			printf " due to an unexpected debug event\n"
+		end
+	end
+	if $mmfsr != 0
+		printf "MemManage:"
+		if $mmfsr & (1<<5)
+			printf " during lazy FP state save"
+		end
+		if $mmfsr & (1<<4)
+			printf " during exception entry"
+		end
+		if $mmfsr & (1<<3)
+			printf " during exception return"
+		end
+		if $mmfsr & (1<<0)
+			printf " during data access"
+		end
+		if $mmfsr & (1<<0)
+			printf " during instruction prefetch"
+		end
+		if $mmfsr & (1<<7)
+			printf " accessing 0x%08x", $mmfar
+		end
+		printf "\n"
+	end
+	if $bfsr != 0
+		printf "BusFault:"
+		if $bfsr & (1<<2)
+			printf " (imprecise)"
+		end
+		if $bfsr & (1<<1)
+			printf " (precise)"
+		end
+		if $bfsr & (1<<5)
+			printf " during lazy FP state save"
+		end
+		if $bfsr & (1<<4)
+			printf " during exception entry"
+		end
+		if $bfsr & (1<<3)
+			printf " during exception return"
+		end
+		if $bfsr & (1<<0)
+			printf " during instruction prefetch"
+		end
+		if $bfsr & (1<<7)
+			printf " accessing 0x%08x", $bfar
+		end
+		printf "\n"
+	end
+	if $ufsr != 0
+		printf "UsageFault"
+		if $ufsr & (1<<9)
+			printf " due to divide-by-zero"
+		end
+		if $ufsr & (1<<8)
+			printf " due to unaligned memory access"
+		end
+		if $ufsr & (1<<3)
+			printf " due to access to disabled/absent coprocessor"
+		end
+		if $ufsr & (1<<2)
+			printf " due to a bad EXC_RETURN value"
+		end
+		if $ufsr & (1<<1)
+			printf " due to bad T or IT bits in EPSR"
+		end
+		if $ufsr & (1<<0)
+			printf " due to executing an undefined instruction"
+		end
+		printf "\n"
+	end
+	if ((uint32_t)$lr & 0xf0000000) == 0xf0000000
+		if ($lr & 1)
+			set $frame_ptr = (uint32_t *)$msp
+		else
+			set $frame_ptr = (uint32_t *)$psp
+		end
+		printf "  r0: %08x  r1: %08x  r2: %08x  r3: %08x\n, $frame_ptr[0], $frame_ptr[1], $frame_ptr[2], $frame_ptr[3]
+		printf "  r4: %08x  r5: %08x  r6: %08x  r7: %08x\n", $r4, $r5, $r6, $r7
+		printf "  r8: %08x  r9: %08x r10: %08x r11: %08x\n", $r8, $r9, $r10, $r11
+		printf " r12: $08x  lr: %08x  pc: %08xx PSR: %08x\n", $frame_ptr[4], $frame_ptr[5], $frame_ptr[6], $frame_ptr[7]
+
+		# Swap to the context of the faulting code and try to print a backtrace
+		set $saved_sp = $sp
+		if $lr & 0x10
+			set $sp = $frame_ptr + (8 * 4)
+		else
+			set $sp = $frame_ptr + (26 * 4)
+		end
+		set $saved_lr = $lr
+		set $lr = $frame_ptr[5]
+		set $saved_pc = $pc
+		set $pc = $frame_ptr[6]
+		bt
+		set $sp = $saved_sp
+		set $lr = $saved_lr
+		set $pc = $saved_pc
+	else
+		printf "(not currently in exception state)\n"
+	end
+end
+
+document vecstate
+.    vecstate
+.        Print information about the current exception handling state.
+end
diff --git a/Debug/PX4 b/Debug/PX4
index 7d59059398..806c495846 100644
--- a/Debug/PX4
+++ b/Debug/PX4
@@ -2,6 +2,7 @@
 # Various PX4-specific macros
 #
 source Debug/NuttX
+source Debug/ARMv7M
 
 echo Loading PX4 GDB macros.  Use 'help px4' for more information.\n