HardFault_Handler

os_port.c

@@ -145,3 +145,102 @@ void SVC_Handler_C(os_uintptr_t* svc_args){
     }
 }
 
+/* ------------------------------------------------------------------------------------------------------------------ */
+/*  */
+
+// https://interrupt.memfault.com/blog/cortex-m-hardfault-debug
+// Logic for dealing with the exception. Typically:
+//  - log the fault which occurred for postmortem analysis
+//  - If the fault is recoverable,
+//    - clear errors and return back to Thread Mode
+//  - else
+//    - reboot system
+
+
+#define AUTO_REBOOT_ENABLE                  /* 允许自动重启 */
+#define OUTPUT_FAULT_TO_CONSOLE_ENABLE      /* 在调试终端输出运行时信息 */
+#define RECOVER_FROM_FAULT_ENABLE           /* 尝试从错误中继续运行 */
+
+#if defined(RECOVER_FROM_FAULT_ENABLE)
+static void recover_from_task_fault(void){
+    while(1){
+        os_task_yield();
+    }
+}
+#endif
+
+typedef OS_PACKED_STRUCT(ContextStateFrame) {
+    uint32_t r0;
+    uint32_t r1;
+    uint32_t r2;
+    uint32_t r3;
+    uint32_t r12;
+    uint32_t lr;
+    uint32_t return_address;
+    uint32_t xpsr;
+} ContextStateFrame_t;
+
+void HardFault_Handler_C(ContextStateFrame_t* frame, uint32_t lr_value){
+    uint32_t bus_fault_address = SCB->BFAR;
+    uint32_t mem_manage_fault_address = SCB->MMFAR;
+    uint32_t cfsr = SCB->CFSR;
+
+#if defined(AUTO_REBOOT_ENABLE)
+    const uint32_t usage_fault_mask = 0xffff0000;
+    const bool non_usage_fault_occurred =
+            (cfsr & ~usage_fault_mask) != 0;
+    // the bottom 8 bits of the xpsr hold the exception number of the
+    // executing exception or 0 if the processor is in Thread mode
+    const bool faulted_from_exception = ((frame->xpsr & 0xFF) != 0);
+
+    if (faulted_from_exception || non_usage_fault_occurred) {
+        // For any fault within an ISR or non-usage faults
+        // let's reboot the system
+        volatile uint32_t *aircr = (volatile uint32_t *)0xE000ED0C;
+        *aircr = (0x05FA << 16) | 0x1 << 2;
+        while (1) { } // should be unreachable
+    }
+#endif
+
+#if defined(OUTPUT_FAULT_TO_CONSOLE_ENABLE)
+    printf("[HardFault]\n");
+    printf("- Stack frame:\n");
+    printf(" R0    = %08"OS_PRIx"\n", frame->r0);
+    printf(" R1    = %08"OS_PRIx"\n", frame->r1);
+    printf(" R2    = %08"OS_PRIx"\n", frame->r2);
+    printf(" R3    = %08"OS_PRIx"\n", frame->r3);
+    printf(" R12   = %08"OS_PRIx"\n", frame->r12);
+    printf(" LR    = %08"OS_PRIx"\n", frame->lr);
+    printf(" PC    = %08"OS_PRIx"\n", frame->return_address);
+    printf(" PSR   = %08"OS_PRIx"\n", frame->xpsr);
+    printf("- FSR/FAR:\n");
+    printf(" CFSR  = %08"OS_PRIx"\n", cfsr);
+    printf(" HFSR  = %08"OS_PRIx"\n", SCB->HFSR);
+    printf(" DFSR  = %08"OS_PRIx"\n", SCB->DFSR);
+    printf(" AFSR  = %08"OS_PRIx"\n", SCB->AFSR);
+    if(cfsr & 0x0080){
+        printf(" MMFAR = %08"OS_PRIx"\n", mem_manage_fault_address);
+    }
+    if(cfsr & 0x8000){
+        printf(" BFAR  = %08"OS_PRIx"\n", bus_fault_address);
+    }
+    printf("- Misc:\n");
+    printf(" LR/EXC_RETURN = %08"OS_PRIx"\n", lr_value);
+#endif
+
+#if defined(RECOVER_FROM_FAULT_ENABLE)
+    // Clear any logged faults from the CFSR
+    SCB->CFSR |= SCB->CFSR;
+    // the instruction we will return to when we exit from the exception
+    frame->return_address = (uint32_t)recover_from_task_fault;
+    // the function we are returning to should never branch
+    // so set lr to a pattern that would fault if it did
+    frame->lr = 0xdeadbeef;
+    // reset the psr state and only leave the
+    // "thumb instruction interworking" bit set
+    frame->xpsr = (1 << 24);
+#else
+    while(1);
+#endif
+}
+

os_port_armcc.S

@@ -67,5 +67,15 @@ __PendSV_SwitchTo
 
     ENDP
 
+HardFault_Handler PROC
+    EXPORT  HardFault_Handler
+        tst lr, #4                           // 检查 EXC_RETURN (LR) 的位 2
+        ite eq
+        mrseq r0, msp                        // 如果位 2 是 0，栈帧在 MSP
+        mrsne r0, psp                        // 如果位 2 是 1，栈帧在 PSP
+        mov r1, lr
+        b HardFault_Handler_C                // 跳转到 C 实现，r0 作为第一个参数传入
+    ENDP
+
     END
 

os_port_gnu.S

@@ -76,5 +76,18 @@ cpu_clz:
     CLZ R0, R0
     BX LR
 
+    .section .text.HardFault_Handler,"ax",%progbits
+    .global HardFault_Handler
+    .thumb_func
+HardFault_Handler:
+    tst lr, #4
+    ite eq
+    mrseq r0, msp
+    mrsne r0, psp
+    mov r1, lr
+    b HardFault_Handler_C
+
+
+
     .align 4
     .end