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[2.0.x] DUE debugging: Solve WDT startup delay, add traceback & crash report uses programming port baud rate #10185

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Merged
Bob-the-Kuhn merged 3 commits into from
Mar 24, 2018
Merged

[2.0.x] DUE debugging: Solve WDT startup delay, add traceback & crash report uses programming port baud rate #10185

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c5730cf
As Bob-The-Khun suggested, resetting the USB peripheral solves the hu…
ejtagle Mar 22, 2018
b210bdf
Now the Crash reporter uses the configured BAUDRATE to send the repor…
ejtagle Mar 22, 2018
c3b2397
Added detection of case when no unwind tables are available
ejtagle Mar 23, 2018
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53 changes: 51 additions & 2 deletions Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@

#include "../../inc/MarlinConfig.h"
#include "../../Marlin.h"
#include "backtrace/backtrace.h"

// Debug monitor that dumps to the Programming port all status when
// an exception or WDT timeout happens - And then resets the board
Expand Down Expand Up @@ -57,8 +58,8 @@ static void TXBegin(void) {
// Configure mode: 8bit, No parity, 1 bit stop
UART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;

// Configure baudrate (asynchronous, no oversampling) to 250000 bauds
UART->UART_BRGR = (SystemCoreClock / (250000 << 4));
// Configure baudrate (asynchronous, no oversampling) to BAUDRATE bauds
UART->UART_BRGR = (SystemCoreClock / (BAUDRATE << 4));

// Enable receiver and transmitter
UART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
Expand Down Expand Up @@ -92,6 +93,32 @@ static void TXHex(uint32_t v) {
}
}

// Send Decimal number thru UART
static void TXDec(uint32_t v) {
if (!v) {
TX('0');
return;
}

char nbrs[14];
char *p = &nbrs[0];
while (v != 0) {
*p++ = '0' + (v % 10);
v /= 10;
}
do {
p--;
TX(*p);
} while (p != &nbrs[0]);
}

// Dump a backtrace entry
static void backtrace_dump_fn(int idx, const backtrace_t* bte, void* ctx) {
TX('#'); TXDec(idx); TX(' ');
TX(bte->name); TX('@');TXHex((uint32_t)bte->function); TX('+'); TXDec((uint32_t)bte->address - (uint32_t)bte->function);
TX(" PC:");TXHex((uint32_t)bte->address); TX('\n');
}

/**
* HardFaultHandler_C:
* This is called from the HardFault_HandlerAsm with a pointer the Fault stack
Expand Down Expand Up @@ -142,6 +169,28 @@ void HardFault_HandlerC(unsigned long *hardfault_args, unsigned long cause) {
// Bus Fault Address Register
TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n');

// Perform a backtrace
TX("\nBacktrace:\n\n");
backtrace_frame_t btf;
btf.sp = ((unsigned long)hardfault_args[7]);
btf.fp = btf.sp;
btf.lr = ((unsigned long)hardfault_args[5]);
btf.pc = ((unsigned long)hardfault_args[6]);
backtrace_dump(&btf, backtrace_dump_fn, nullptr);

// Disable all NVIC interrupts
NVIC->ICER[0] = 0xFFFFFFFF;
NVIC->ICER[1] = 0xFFFFFFFF;

// Relocate VTOR table to default position
SCB->VTOR = 0;

// Disable USB
otg_disable();

// Restart watchdog
WDT_Restart(WDT);

// Reset controller
NVIC_SystemReset();
while(1) { WDT_Restart(WDT); }
Expand Down
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