forked from xuos/xiuos
First commit XiUOS
This commit is contained in:
xuetest
4
arch/arm/shared/Makefile
Normal file
4
arch/arm/shared/Makefile
Normal file
@@ -0,0 +1,4 @@
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SRC_FILES := pendsv.S prepare_ahwstack.c arm32_switch.c
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include $(KERNEL_ROOT)/compiler.mk
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154
arch/arm/shared/arm32_switch.c
Normal file
154
arch/arm/shared/arm32_switch.c
Normal file
@@ -0,0 +1,154 @@
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/*
|
||||
* Copyright (c) 2020 AIIT XUOS Lab
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||||
* XiUOS is licensed under Mulan PSL v2.
|
||||
* You can use this software according to the terms and conditions of the Mulan PSL v2.
|
||||
* You may obtain a copy of Mulan PSL v2 at:
|
||||
* http://license.coscl.org.cn/MulanPSL2
|
||||
* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
|
||||
* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
|
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* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
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||||
* See the Mulan PSL v2 for more details.
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*/
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#include <xs_base.h>
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#include <xs_ktask.h>
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#define SCB_VTOR "0xE000ED08"
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#define NVIC_INT_CTRL "0xE000ED04"
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#define NVIC_SYSPRI2 "0xE000ED20"
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#define NVIC_PENDSV_PRI "0x00FF0000"
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#define NVIC_PENDSVSET "0x10000000"
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void __attribute__((naked)) HwInterruptcontextSwitch(x_ubase from, x_ubase to, struct TaskDescriptor *to_task, void *context)
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{
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asm volatile ("LDR r4, =KtaskSwitchInterruptFlag");
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asm volatile ("LDR r5, [r4]");
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asm volatile ("CMP r5, #1");
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asm volatile ("BEQ Arm32SwitchReswitch");
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asm volatile ("MOV r5, #1");
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asm volatile ("STR r5, [r4]");
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asm volatile ("LDR r4, =InterruptFromKtask");
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asm volatile ("STR r0, [r4]");
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asm volatile ("B Arm32SwitchReswitch");
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}
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void __attribute__((naked)) Arm32SwitchReswitch()
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{
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asm volatile ("LDR r4, =InterruptToKtask");
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asm volatile ("STR r1, [r4]");
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asm volatile ("LDR r4, =InterruptToKtaskDescriptor");
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asm volatile ("STR r2, [r4]");
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asm volatile ("LDR r0, =" NVIC_INT_CTRL);
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asm volatile ("LDR r1, =" NVIC_PENDSVSET);
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asm volatile ("STR r1, [r0]");
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asm volatile ("BX LR");
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}
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void __attribute__((naked)) SwitchKtaskContext(x_ubase from, x_ubase to, struct TaskDescriptor *to_task)
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{
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asm volatile("B HwInterruptcontextSwitch");
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}
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void __attribute__((naked)) SwitchKtaskContextTo(x_ubase to, struct TaskDescriptor *to_task)
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{
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asm volatile ("LDR r2, =InterruptToKtask");
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asm volatile ("STR r0, [r2]");
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asm volatile ("LDR r2, =InterruptToKtaskDescriptor");
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asm volatile ("STR r1, [r2]");
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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asm volatile ("MRS r2, CONTROL");
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asm volatile ("BIC r2, #0x04");
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asm volatile ("MSR CONTROL, r2");
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#endif
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asm volatile ("LDR r1, =InterruptFromKtask");
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asm volatile ("MOV r0, #0x0");
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asm volatile ("STR r0, [r1]");
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asm volatile ("LDR r1, =KtaskSwitchInterruptFlag");
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asm volatile ("MOV r0, #1");
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asm volatile ("STR r0, [r1]");
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asm volatile ("LDR r0, =" NVIC_SYSPRI2);
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asm volatile ("LDR r1, =" NVIC_PENDSV_PRI);
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asm volatile ("LDR.W r2, [r0,#0x00]");
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asm volatile ("ORR r1,r1,r2");
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asm volatile ("STR r1, [r0]");
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asm volatile ("LDR r0, =" NVIC_INT_CTRL);
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asm volatile ("LDR r1, =" NVIC_PENDSVSET);
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asm volatile ("STR r1, [r0]");
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asm volatile ("LDR r0, =" SCB_VTOR);
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asm volatile ("LDR r0, [r0]");
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asm volatile ("LDR r0, [r0]");
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asm volatile ("NOP");
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asm volatile ("MSR msp, r0");
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asm volatile ("CPSIE F");
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asm volatile ("CPSIE I");
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asm volatile ("BX lr");
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}
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void __attribute__((naked)) HardFaultHandler()
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{
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asm volatile ("MRS r0, msp");
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asm volatile ("TST lr, #0x04");
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asm volatile ("BEQ Arm32SwitchGetSpDone");
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asm volatile ("MRS r0, psp");
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asm volatile ("B Arm32SwitchGetSpDone");
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}
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void __attribute__((naked)) Arm32SwitchGetSpDone()
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{
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asm volatile ("MRS r3, primask");
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asm volatile ("STMFD r0!, {r3 - r11}");
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asm volatile ("STMFD r0!, {lr}");
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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asm volatile ("MOV r4, #0x00");
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asm volatile ("TST lr, #0x10");
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asm volatile ("MOVEQ r4, #0x01");
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asm volatile ("STMFD r0!, {r4}");
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#endif
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asm volatile ("TST lr, #0x04");
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asm volatile ("BEQ Arm32SwitchUpdateMsp");
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asm volatile ("MSR psp, r0");
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asm volatile ("B Arm32SwitchUpdateDone");
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asm volatile ("B Arm32SwitchUpdateMsp");
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}
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void __attribute__((naked)) Arm32SwitchUpdateMsp()
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{
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asm volatile ("MSR msp, r0");
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asm volatile ("B Arm32SwitchUpdateDone");
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}
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void __attribute__((naked)) Arm32SwitchUpdateDone()
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{
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asm volatile ("PUSH {LR}");
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asm volatile ("BL HwHardFaultException");
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asm volatile ("POP {LR}");
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asm volatile ("ORR lr, lr, #0x04");
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asm volatile ("BX lr");
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}
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void __attribute__((naked)) MemFaultHandler()
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{
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asm volatile ("MRS r0, msp");
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asm volatile ("TST lr, #0x04");
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asm volatile ("BEQ Arm32Switch1");
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asm volatile ("MRS r0, psp");
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asm volatile ("B Arm32Switch1");
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}
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void __attribute__((naked)) Arm32Switch1()
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{
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asm volatile ("MRS r3, primask");
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asm volatile ("STMFD r0!, {r3 - r11}");
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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asm volatile ("MOV r4, #0x00");
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asm volatile ("TST lr, #0x10");
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asm volatile ("MOVEQ r4, #0x01");
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asm volatile ("STMFD r0!, {r4}");
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#endif
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asm volatile ("STMFD r0!, {lr}");
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asm volatile ("PUSH {LR}");
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asm volatile ("BL MemFaultHandle");
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asm volatile ("POP {LR}");
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asm volatile ("ORR lr, lr, #0x04");
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asm volatile ("BX lr");
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}
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118
arch/arm/shared/pendsv.S
Normal file
118
arch/arm/shared/pendsv.S
Normal file
@@ -0,0 +1,118 @@
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/*
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* Copyright (c) 2006-2018, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2009-10-11 Bernard first version
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* 2012-01-01 aozima support context switch load/store FPU register.
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* 2013-06-18 aozima add restore MSP feature.
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* 2013-06-23 aozima support lazy stack optimized.
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* 2018-07-24 aozima enhancement hard fault exception handler.
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*/
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/*************************************************
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File name: pendsv.S
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Description: PendSV interrupt handler
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Others: take RT-Thread v4.0.2/libcpu/arm/cortex-m4/context_gcc.S for references
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https://github.com/RT-Thread/rt-thread/tree/v4.0.2
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History:
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1. Date: 2021-04-25
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Author: AIIT XUOS Lab
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*************************************************/
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#include <xsconfig.h>
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.cpu cortex-m4
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.syntax unified
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.thumb
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.text
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.equ SCB_VTOR, 0xE000ED08
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.equ NVIC_INT_CTRL, 0xE000ED04
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.equ NVIC_SYSPRI2, 0xE000ED20
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.equ NVIC_PENDSV_PRI, 0x00FF0000
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.equ NVIC_PENDSVSET, 0x10000000
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.globl PendSV_Handler
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.type PendSV_Handler, %function
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PendSV_Handler:
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MRS r3, PRIMASK
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CPSID I
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LDR r0, =KtaskSwitchInterruptFlag
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LDR r1, [r0]
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CBZ r1, pendsv_exit
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MOV r1, #0x00
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STR r1, [r0]
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LDR r0, =InterruptFromKtask
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LDR r1, [r0]
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CBZ r1, switch_to_task
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MRS r1, psp
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STMFD r1!, {r3 - r11}
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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MOV r4, #0x00
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TST lr, #0x10
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MOVEQ r4, #0x01
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STMFD r1!, {r4}
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#endif
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LDR r0, [r0]
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STR r1, [r0]
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switch_to_task:
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PUSH {lr}
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BL UpdateRunningTask
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POP {lr}
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#ifdef TASK_ISOLATION
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PUSH {lr}
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BL GetTaskPrivilege
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POP {lr}
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#endif
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LDR r1, =InterruptToKtask
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LDR r1, [r1]
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LDR r1, [r1]
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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LDMFD r1!, {r2}
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#endif
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LDMFD r1!, {r3 - r11}
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MSR psp, r1
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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ORR lr, lr, #0x10
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CMP r2, #0
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BICNE lr, lr, #0x10
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#endif
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MRS r2, control
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#ifdef TASK_ISOLATION
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CMP r0, #1
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BEQ unprivilege
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privilege:
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BIC r2, r2, #0x01
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B exit
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unprivilege:
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ORR r2, r2, #0x01
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#else
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BIC r2, r2, #0x01
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#endif
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exit:
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MSR control, r2
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pendsv_exit:
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ORR lr, lr, #0x04
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MSR PRIMASK, r3
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BX lr
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425
arch/arm/shared/prepare_ahwstack.c
Normal file
425
arch/arm/shared/prepare_ahwstack.c
Normal file
@@ -0,0 +1,425 @@
|
||||
/*
|
||||
* Copyright (c) 2020 AIIT XUOS Lab
|
||||
* XiUOS is licensed under Mulan PSL v2.
|
||||
* You can use this software according to the terms and conditions of the Mulan PSL v2.
|
||||
* You may obtain a copy of Mulan PSL v2 at:
|
||||
* http://license.coscl.org.cn/MulanPSL2
|
||||
* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
|
||||
* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
|
||||
* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
|
||||
* See the Mulan PSL v2 for more details.
|
||||
*/
|
||||
|
||||
#include <xs_base.h>
|
||||
#include <xs_ktask.h>
|
||||
#include <xs_assign.h>
|
||||
#include "svc_handle.h"
|
||||
#include "stm32f4xx.h"
|
||||
#include <board.h>
|
||||
|
||||
#if (defined ( __GNUC__ ) && defined ( __VFP_FP__ ) && !defined(__SOFTFP__))
|
||||
#define USE_FPU 1
|
||||
#else
|
||||
#define USE_FPU 0
|
||||
#endif
|
||||
|
||||
uint32 InterruptFromKtask;
|
||||
uint32 InterruptToKtask;
|
||||
uint32 KtaskSwitchInterruptFlag;
|
||||
uint32 InterruptToKtaskDescriptor;
|
||||
#define RunningKTask Assign.os_running_task
|
||||
|
||||
static x_err_t (*ExceptionHook)(void *context) = NONE;
|
||||
|
||||
struct ExceptionStackRegister
|
||||
{
|
||||
uint32 r0;
|
||||
uint32 r1;
|
||||
uint32 r2;
|
||||
uint32 r3;
|
||||
uint32 r12;
|
||||
uint32 lr;
|
||||
uint32 pc;
|
||||
uint32 psr;
|
||||
};
|
||||
|
||||
struct StackRegisterContent
|
||||
{
|
||||
#if defined ( __VFP_FP__ ) && !defined(__SOFTFP__)
|
||||
uint32 flag;
|
||||
#endif
|
||||
uint32 primask;
|
||||
uint32 r4;
|
||||
uint32 r5;
|
||||
uint32 r6;
|
||||
uint32 r7;
|
||||
uint32 r8;
|
||||
uint32 r9;
|
||||
uint32 r10;
|
||||
uint32 r11;
|
||||
// uint32 exc_ret;
|
||||
|
||||
struct ExceptionStackRegister ExErrorStackContex;
|
||||
};
|
||||
|
||||
struct ExceptionStackFrameFpu
|
||||
{
|
||||
uint32 r0;
|
||||
uint32 r1;
|
||||
uint32 r2;
|
||||
uint32 r3;
|
||||
uint32 r12;
|
||||
uint32 lr;
|
||||
uint32 pc;
|
||||
uint32 psr;
|
||||
|
||||
#if USE_FPU
|
||||
uint32 S0;
|
||||
uint32 S1;
|
||||
uint32 S2;
|
||||
uint32 S3;
|
||||
uint32 S4;
|
||||
uint32 S5;
|
||||
uint32 S6;
|
||||
uint32 S7;
|
||||
uint32 S8;
|
||||
uint32 S9;
|
||||
uint32 S10;
|
||||
uint32 S11;
|
||||
uint32 S12;
|
||||
uint32 S13;
|
||||
uint32 S14;
|
||||
uint32 S15;
|
||||
uint32 FPSCR;
|
||||
uint32 NO_NAME;
|
||||
#endif
|
||||
};
|
||||
|
||||
struct StackFrameFpu
|
||||
{
|
||||
uint32 flag;
|
||||
|
||||
uint32 r4;
|
||||
uint32 r5;
|
||||
uint32 r6;
|
||||
uint32 r7;
|
||||
uint32 r8;
|
||||
uint32 r9;
|
||||
uint32 r10;
|
||||
uint32 r11;
|
||||
|
||||
#if USE_FPU
|
||||
uint32 s16;
|
||||
uint32 s17;
|
||||
uint32 s18;
|
||||
uint32 s19;
|
||||
uint32 s20;
|
||||
uint32 s21;
|
||||
uint32 s22;
|
||||
uint32 s23;
|
||||
uint32 s24;
|
||||
uint32 s25;
|
||||
uint32 s26;
|
||||
uint32 s27;
|
||||
uint32 s28;
|
||||
uint32 s29;
|
||||
uint32 s30;
|
||||
uint32 s31;
|
||||
#endif
|
||||
|
||||
struct ExceptionStackFrameFpu ExErrorStackContex;
|
||||
};
|
||||
|
||||
uint8 KTaskStackSetup(struct TaskDescriptor *task)
|
||||
{
|
||||
struct StackRegisterContent* StackContex;
|
||||
int i = 0;
|
||||
|
||||
task->stack_point = (uint8 *)ALIGN_MEN_DOWN((x_ubase)(task->task_base_info.stack_start + task->task_base_info.stack_depth), 8);
|
||||
task->stack_point -= sizeof(struct StackRegisterContent);
|
||||
|
||||
StackContex = (struct StackRegisterContent*)task->stack_point;
|
||||
|
||||
for (i = 0; i < sizeof(struct StackRegisterContent) / sizeof(uint32); i++)
|
||||
((uint32 *)StackContex)[i] = 0xfadeface;
|
||||
|
||||
StackContex->ExErrorStackContex.r0 = (unsigned long)task->task_base_info.func_param;
|
||||
|
||||
StackContex->ExErrorStackContex.pc = (unsigned long)task->task_base_info.func_entry ;
|
||||
StackContex->ExErrorStackContex.psr = 0x01000000L;
|
||||
StackContex->primask = 0x00000000L;
|
||||
#ifdef SEPARATE_COMPILE
|
||||
if(task->task_dync_sched_member.isolation_flag == 1 ) {
|
||||
//StackContex->exc_ret = EXC_RETURN_UNPRIVTHR;
|
||||
StackContex->ExErrorStackContex.lr = (unsigned long)USERSPACE->us_taskquit;
|
||||
} else {
|
||||
//StackContex->exc_ret = EXC_RETURN_PRIVTHR;
|
||||
StackContex->ExErrorStackContex.lr = (unsigned long)KTaskQuit;
|
||||
}
|
||||
#else
|
||||
//StackContex->exc_ret = EXC_RETURN_PRIVTHR;
|
||||
StackContex->ExErrorStackContex.lr = (unsigned long)KTaskQuit;
|
||||
#endif
|
||||
|
||||
#if USE_FPU
|
||||
StackContex->flag = 0;
|
||||
#endif
|
||||
|
||||
return EOK;
|
||||
}
|
||||
|
||||
|
||||
void HwExceptionInstall(x_err_t (*exception_handle)(void *context))
|
||||
{
|
||||
ExceptionHook = exception_handle;
|
||||
}
|
||||
|
||||
#define SCB_CFSR (*(volatile const unsigned *)0xE000ED28)
|
||||
#define SCB_HFSR (*(volatile const unsigned *)0xE000ED2C)
|
||||
#define SCB_MMAR (*(volatile const unsigned *)0xE000ED34)
|
||||
#define SCB_BFAR (*(volatile const unsigned *)0xE000ED38)
|
||||
#define SCB_AIRCR (*(volatile unsigned long *)0xE000ED0C)
|
||||
#define SCB_RESET_VALUE 0x05FA0004
|
||||
|
||||
#define SCB_CFSR_MFSR (*(volatile const unsigned char*)0xE000ED28)
|
||||
#define SCB_CFSR_BFSR (*(volatile const unsigned char*)0xE000ED29)
|
||||
#define SCB_CFSR_UFSR (*(volatile const unsigned short*)0xE000ED2A)
|
||||
|
||||
#ifdef TOOL_SHELL
|
||||
static void UsageFaultTrack(void)
|
||||
{
|
||||
KPrintf("usage fault:\n");
|
||||
KPrintf("SCB_CFSR_UFSR:0x%02X ", SCB_CFSR_UFSR);
|
||||
|
||||
if(SCB_CFSR_UFSR & (1<<0))
|
||||
KPrintf("UNDEFINSTR ");
|
||||
|
||||
if(SCB_CFSR_UFSR & (1<<1))
|
||||
KPrintf("INVSTATE ");
|
||||
|
||||
if(SCB_CFSR_UFSR & (1<<2))
|
||||
KPrintf("INVPC ");
|
||||
|
||||
if(SCB_CFSR_UFSR & (1<<3))
|
||||
KPrintf("NOCP ");
|
||||
|
||||
if(SCB_CFSR_UFSR & (1<<8))
|
||||
KPrintf("UNALIGNED ");
|
||||
|
||||
if(SCB_CFSR_UFSR & (1<<9))
|
||||
KPrintf("DIVBYZERO ");
|
||||
|
||||
KPrintf("\n");
|
||||
}
|
||||
|
||||
static void BusFaultTrack(void)
|
||||
{
|
||||
KPrintf("bus fault:\n");
|
||||
KPrintf("SCB_CFSR_BFSR:0x%02X ", SCB_CFSR_BFSR);
|
||||
|
||||
if(SCB_CFSR_BFSR & (1<<0))
|
||||
KPrintf("IBUSERR ");
|
||||
|
||||
if(SCB_CFSR_BFSR & (1<<1))
|
||||
KPrintf("PRECISERR ");
|
||||
|
||||
if(SCB_CFSR_BFSR & (1<<2))
|
||||
KPrintf("IMPRECISERR ");
|
||||
|
||||
if(SCB_CFSR_BFSR & (1<<3))
|
||||
KPrintf("UNSTKERR ");
|
||||
|
||||
if(SCB_CFSR_BFSR & (1<<4))
|
||||
KPrintf("STKERR ");
|
||||
|
||||
if(SCB_CFSR_BFSR & (1<<7))
|
||||
KPrintf("SCB->BFAR:%08X\n", SCB_BFAR);
|
||||
else
|
||||
KPrintf("\n");
|
||||
}
|
||||
|
||||
static void MemManageFaultTrack(void)
|
||||
{
|
||||
KPrintf("mem manage fault:\n");
|
||||
KPrintf("SCB_CFSR_MFSR:0x%02X ", SCB_CFSR_MFSR);
|
||||
|
||||
if(SCB_CFSR_MFSR & (1<<0))
|
||||
KPrintf("IACCVIOL ");
|
||||
if(SCB_CFSR_MFSR & (1<<1))
|
||||
KPrintf("DACCVIOL ");
|
||||
|
||||
if(SCB_CFSR_MFSR & (1<<3))
|
||||
KPrintf("MUNSTKERR ");
|
||||
|
||||
if(SCB_CFSR_MFSR & (1<<4))
|
||||
KPrintf("MSTKERR ");
|
||||
|
||||
if(SCB_CFSR_MFSR & (1<<7))
|
||||
KPrintf("SCB->MMAR:%08X\n", SCB_MMAR);
|
||||
else
|
||||
KPrintf("\n");
|
||||
}
|
||||
|
||||
static void HardFaultTrack(void)
|
||||
{
|
||||
if(SCB_HFSR & (1UL<<1))
|
||||
KPrintf("failed vector fetch\n");
|
||||
|
||||
if(SCB_HFSR & (1UL<<30)) {
|
||||
if(SCB_CFSR_BFSR)
|
||||
BusFaultTrack();
|
||||
|
||||
if(SCB_CFSR_MFSR)
|
||||
MemManageFaultTrack();
|
||||
|
||||
if(SCB_CFSR_UFSR)
|
||||
UsageFaultTrack();
|
||||
}
|
||||
|
||||
if(SCB_HFSR & (1UL<<31))
|
||||
KPrintf("debug event\n");
|
||||
}
|
||||
#endif
|
||||
|
||||
struct ExceptionInfo
|
||||
{
|
||||
uint32 ExcReturn;
|
||||
struct StackRegisterContent stackframe;
|
||||
};
|
||||
|
||||
void HwHardFaultException(struct ExceptionInfo *ExceptionInfo)
|
||||
{
|
||||
extern long ShowTask(void);
|
||||
struct ExErrorStackContex* ExceptionStack = &ExceptionInfo->stackframe.ExErrorStackContex;
|
||||
struct StackRegisterContent* context = &ExceptionInfo->stackframe;
|
||||
|
||||
if (ExceptionHook != NONE) {
|
||||
x_err_t result = ExceptionHook(ExceptionStack);
|
||||
if (result == EOK) return;
|
||||
}
|
||||
|
||||
KPrintf("psr: 0x%08x\n", context->ExErrorStackContex.psr);
|
||||
KPrintf("r00: 0x%08x\n", context->ExErrorStackContex.r0);
|
||||
KPrintf("r01: 0x%08x\n", context->ExErrorStackContex.r1);
|
||||
KPrintf("r02: 0x%08x\n", context->ExErrorStackContex.r2);
|
||||
KPrintf("r03: 0x%08x\n", context->ExErrorStackContex.r3);
|
||||
KPrintf("r04: 0x%08x\n", context->r4);
|
||||
KPrintf("r05: 0x%08x\n", context->r5);
|
||||
KPrintf("r06: 0x%08x\n", context->r6);
|
||||
KPrintf("r07: 0x%08x\n", context->r7);
|
||||
KPrintf("r08: 0x%08x\n", context->r8);
|
||||
KPrintf("r09: 0x%08x\n", context->r9);
|
||||
KPrintf("r10: 0x%08x\n", context->r10);
|
||||
KPrintf("r11: 0x%08x\n", context->r11);
|
||||
//KPrintf("exc_ret: 0x%08x\n", context->exc_ret);
|
||||
KPrintf("r12: 0x%08x\n", context->ExErrorStackContex.r12);
|
||||
KPrintf(" lr: 0x%08x\n", context->ExErrorStackContex.lr);
|
||||
KPrintf(" pc: 0x%08x\n", context->ExErrorStackContex.pc);
|
||||
|
||||
if (ExceptionInfo->ExcReturn & (1 << 2)) {
|
||||
KPrintf("hard fault on task: %s\r\n\r\n", GetKTaskDescriptor()->task_base_info.name);
|
||||
#ifdef TOOL_SHELL
|
||||
ShowTask();
|
||||
#endif
|
||||
} else {
|
||||
KPrintf("hard fault on handler\r\n\r\n");
|
||||
}
|
||||
|
||||
if ( (ExceptionInfo->ExcReturn & 0x10) == 0)
|
||||
KPrintf("FPU active!\r\n");
|
||||
|
||||
#ifdef TOOL_SHELL
|
||||
HardFaultTrack();
|
||||
#endif
|
||||
|
||||
while (1);
|
||||
}
|
||||
|
||||
void UpdateRunningTask(void)
|
||||
{
|
||||
RunningKTask = (struct TaskDescriptor *)InterruptToKtaskDescriptor;
|
||||
}
|
||||
|
||||
|
||||
void MemFaultExceptionPrint(struct ExceptionInfo *ExceptionInfo)
|
||||
{
|
||||
extern long ShowTask(void);
|
||||
struct ExErrorStackContex* ExceptionStack = &ExceptionInfo->stackframe.ExErrorStackContex;
|
||||
struct StackRegisterContent* context = &ExceptionInfo->stackframe;
|
||||
|
||||
if (ExceptionHook != NONE) {
|
||||
x_err_t result = ExceptionHook(ExceptionStack);
|
||||
if (result == EOK) return;
|
||||
}
|
||||
|
||||
KPrintf("psr: 0x%08x\n", context->ExErrorStackContex.psr);
|
||||
KPrintf("r00: 0x%08x\n", context->ExErrorStackContex.r0);
|
||||
KPrintf("r01: 0x%08x\n", context->ExErrorStackContex.r1);
|
||||
KPrintf("r02: 0x%08x\n", context->ExErrorStackContex.r2);
|
||||
KPrintf("r03: 0x%08x\n", context->ExErrorStackContex.r3);
|
||||
KPrintf("r04: 0x%08x\n", context->r4);
|
||||
KPrintf("r05: 0x%08x\n", context->r5);
|
||||
KPrintf("r06: 0x%08x\n", context->r6);
|
||||
KPrintf("r07: 0x%08x\n", context->r7);
|
||||
KPrintf("r08: 0x%08x\n", context->r8);
|
||||
KPrintf("r09: 0x%08x\n", context->r9);
|
||||
KPrintf("r10: 0x%08x\n", context->r10);
|
||||
KPrintf("r11: 0x%08x\n", context->r11);
|
||||
KPrintf("exc_ret: 0x%08x\n", ExceptionInfo->ExcReturn);
|
||||
KPrintf("r12: 0x%08x\n", context->ExErrorStackContex.r12);
|
||||
KPrintf(" lr: 0x%08x\n", context->ExErrorStackContex.lr);
|
||||
KPrintf(" pc: 0x%08x\n", context->ExErrorStackContex.pc);
|
||||
|
||||
if (ExceptionInfo->ExcReturn & (1 << 2)) {
|
||||
KPrintf("hard fault on task: %s\r\n\r\n", GetKTaskDescriptor()->task_base_info.name);
|
||||
#ifdef TOOL_SHELL
|
||||
ShowTask();
|
||||
#endif
|
||||
} else {
|
||||
KPrintf("hard fault on handler\r\n\r\n");
|
||||
}
|
||||
|
||||
if ((ExceptionInfo->ExcReturn & 0x10) == 0)
|
||||
KPrintf("FPU active!\r\n");
|
||||
|
||||
KPrintf("CFSR: 0x%08x \n", (*((volatile unsigned long *)(SCB->CFSR))) );
|
||||
KPrintf("HFSR: 0x%08x \n", (*((volatile unsigned long *)(SCB->HFSR))) );
|
||||
KPrintf("DFSR: 0x%08x \n",(*((volatile unsigned long *)(SCB->DFSR))) );
|
||||
KPrintf("MMFAR: 0x%08x \n",(*((volatile unsigned long *)(SCB->MMFAR))));
|
||||
KPrintf("BFAR: 0x%08x \n",(*((volatile unsigned long *)(SCB->BFAR))));
|
||||
KPrintf("AFSR: 0x%08x \n",(*((volatile unsigned long *)(SCB->AFSR))));
|
||||
|
||||
#ifdef TOOL_SHELL
|
||||
HardFaultTrack();
|
||||
#endif
|
||||
|
||||
while (1);
|
||||
}
|
||||
|
||||
void MemFaultHandle(uintptr_t *sp)
|
||||
{
|
||||
#ifdef TASK_ISOLATION
|
||||
struct TaskDescriptor *task;
|
||||
task = GetKTaskDescriptor();
|
||||
if( task->task_dync_sched_member.isolation_flag == 1){
|
||||
KPrintf("\nSegmentation fault, task: %s\n", task->task_base_info.name);
|
||||
KTaskQuit();
|
||||
}
|
||||
else
|
||||
#endif
|
||||
{
|
||||
MemFaultExceptionPrint((struct ExceptionInfo *)sp);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void ShutdownCpu(void)
|
||||
{
|
||||
KPrintf("shutdown...\n");
|
||||
CHECK(0);
|
||||
}
|
||||
|
||||
__attribute__((weak)) void HwCpuReset(void)
|
||||
{
|
||||
SCB_AIRCR = SCB_RESET_VALUE;
|
||||
}
|
||||
Reference in New Issue
Block a user