[fault] Add CrashCatcher coredump for HardFaults

.gitmodules

@@ -22,3 +22,6 @@
 [submodule "ext/aws/freertos"]
 	path = ext/aws/freertos
 	url = https://github.com/modm-ext/freertos-partial.git
+[submodule "ext/adamgreen/crashcatcher"]
+	path = ext/adamgreen/crashcatcher
+	url = https://github.com/modm-ext/CrashCatcher-partial.git

examples/README.md

@@ -106,7 +106,8 @@ boards:
 - NUCLEO-F031K6:
 [Blinky & Serial](https://github.com/modm-io/modm/tree/develop/examples/nucleo_f031k6/blink/main.cpp).
 - NUCLEO-F103RB:
-[Blinky & Serial](https://github.com/modm-io/modm/blob/develop/examples/nucleo_f103rb/blink/main.cpp).
+[Blinky & Serial](https://github.com/modm-io/modm/blob/develop/examples/nucleo_f103rb/blink/main.cpp),
+[Debugging hard faults](https://github.com/modm-io/modm/blob/develop/examples/nucleo_f103rb/hard_fault/main.cpp).
 - STM32F072 Discovery:
 [Blinky](https://github.com/modm-io/modm/blob/develop/examples/stm32f072_discovery/blink/main.cpp),
 [CAN](https://github.com/modm-io/modm/blob/develop/examples/stm32f072_discovery/can/main.cpp),
@@ -120,8 +121,7 @@ boards:
 [Blinky](https://github.com/modm-io/modm/blob/develop/examples/stm32f4_discovery/blink/main.cpp),
 [CAN](https://github.com/modm-io/modm/blob/develop/examples/stm32f4_discovery/can/main.cpp),
 [Accelerometer](https://github.com/modm-io/modm/blob/develop/examples/stm32f4_discovery/accelerometer/main.cpp),
-[Timer & LED Animations](https://github.com/modm-io/modm/blob/develop/examples/stm32f4_discovery/timer/main.cpp),
-[Debugging hard faults](https://github.com/modm-io/modm/blob/develop/examples/stm32f4_discovery/hard_fault/main.cpp).
+[Timer & LED Animations](https://github.com/modm-io/modm/blob/develop/examples/stm32f4_discovery/timer/main.cpp).
 - STM32F469 Discovery:
 [Blinky](https://github.com/modm-io/modm/blob/develop/examples/stm32f469_discovery/blink/main.cpp),
 [Drawing on display](https://github.com/modm-io/modm/blob/develop/examples/stm32f469_discovery/display/main.cpp),

examples/nucleo_f103rb/hard_fault/main.cpp

@@ -0,0 +1,83 @@
+/*
+ * Copyright (c) 2019, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+using namespace Board;
+
+__attribute__((noinline))
+void function1(uint32_t bla)
+{
+	static_cast<void>(bla);
+
+	if (Button::read()) {
+		// execute undefined instructed
+		// the hard fault handler will blink the blue LED
+		// or, if the debugger is connected, will trigger a breakpoint
+		asm volatile (".short 0xde00");
+	}
+}
+
+__attribute__((noinline))
+void function2(uint32_t bla, uint8_t blub)
+{
+	static_cast<void>(blub);
+	function1(bla);
+}
+
+void modm_hardfault_entry()
+{
+	// Put hardware in safe mode here
+	Board::Leds::set();
+	// But do not wait forever
+	modm::delayMilliseconds(100);
+	// Do not depend on interrupts in this function (buffered UART etc!)
+}
+
+// ----------------------------------------------------------------------------
+int
+main()
+{
+	Board::initialize();
+	Board::Leds::setOutput(modm::Gpio::High);
+
+	uint32_t *const ptr = new uint32_t[2*1024];
+	MODM_LOG_INFO << "Can I allocate 2kB? answer: " << ptr << modm::endl;
+
+	if (FaultReporter::hasReport())
+	{
+		MODM_LOG_ERROR << "\n\nHardFault! Copy the data into a 'coredump.txt' file, ";
+		MODM_LOG_ERROR << "then execute 'scons postmortem firmware=";
+		MODM_LOG_ERROR << modm::hex << FaultReporter::firmware() << "'.\n\n";
+		for (const uint8_t data : FaultReporter())
+		{
+			MODM_LOG_ERROR << modm::hex << data << modm::flush;
+		}
+		MODM_LOG_ERROR << "\n\n\n" << modm::flush;
+		FaultReporter::clearAndReboot();
+	}
+
+	MODM_LOG_INFO << "Hold Button to cause a Hardfault!" << modm::endl;
+
+	if (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) {
+		MODM_LOG_INFO << "Debugger connected!" << modm::endl;
+	}
+
+	while (1)
+	{
+		Board::Leds::toggle();
+
+		function2(23, 43);
+
+		modm::delayMilliseconds(250);
+	}
+
+	return 0;
+}

examples/nucleo_f103rb/hard_fault/project.xml

@@ -0,0 +1,10 @@
+<library>
+  <extends>modm:nucleo-f103rb</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f103rb/hard_fault</option>
+  </options>
+  <modules>
+    <module>modm:platform:fault</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

examples/stm32f072_discovery/hard_fault/main.cpp

@@ -37,6 +37,17 @@ main()
 	Usart1::connect<GpioOutputA9::Tx>();
 	Usart1::initialize<Board::SystemClock, 115200_Bd>();
 
+	if (FaultReporter::hasReport())
+	{
+		MODM_LOG_ERROR << "\n\nHardFault! Copy the data into a 'coredump.txt' file, ";
+		MODM_LOG_ERROR << "then execute 'scons postmortem firmware=";
+		MODM_LOG_ERROR << modm::hex << FaultReporter::firmware() << "'.\n\n";
+		for (const uint8_t data : FaultReporter())
+			MODM_LOG_ERROR << modm::hex << data << modm::flush;
+		MODM_LOG_ERROR << "\n\n\n" << modm::flush;
+		FaultReporter::clearAndReboot();
+	}
+
 	MODM_LOG_INFO << "Causing a Hardfault now!" << modm::endl;
 
 	// simulate some stack usage

examples/stm32f072_discovery/hard_fault/project.xml

@@ -5,7 +5,7 @@
   </options>
   <modules>
     <module>modm:debug</module>
-    <module>modm:platform:gpio</module>
+    <module>modm:platform:fault</module>
     <module>modm:platform:uart:1</module>
     <module>modm:build:scons</module>
   </modules>

examples/stm32f469_discovery/hard_fault/main.cpp

@@ -0,0 +1,86 @@
+/*
+ * Copyright (c) 2019, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+using namespace Board;
+
+__attribute__((noinline))
+void function1(uint32_t bla)
+{
+	static_cast<void>(bla);
+
+	if (Button::read()) {
+		// execute undefined instructed
+		// the hard fault handler will blink the blue LED
+		// or, if the debugger is connected, will trigger a breakpoint
+		asm volatile (".short 0xde00");
+	}
+}
+
+__attribute__((noinline))
+void function2(uint32_t bla, uint8_t blub)
+{
+	static_cast<void>(blub);
+	function1(bla);
+}
+
+void modm_hardfault_entry()
+{
+	// Put hardware in safe mode here
+	Board::Leds::set();
+	// But do not wait forever
+	modm::delayMilliseconds(100);
+	// Do not depend on interrupts in this function (buffered UART etc!)
+}
+
+// ----------------------------------------------------------------------------
+int
+main()
+{
+	Board::initialize();
+	LedOrange::set();
+
+	uint32_t *const ptr = new uint32_t[20*1024];
+	MODM_LOG_INFO << "Can I allocate 20kB? answer: " << ptr << modm::endl;
+
+	if (FaultReporter::hasReport())
+	{
+		MODM_LOG_ERROR << "\n\nHardFault! Copy the data into a 'coredump.txt' file, ";
+		MODM_LOG_ERROR << "then execute 'scons postmortem firmware=";
+		MODM_LOG_ERROR << modm::hex << FaultReporter::firmware() << "'.\n\n";
+		for (const uint8_t data : FaultReporter())
+		{
+			MODM_LOG_ERROR << modm::hex << data << modm::flush;
+		}
+		MODM_LOG_ERROR << "\n\n\n" << modm::flush;
+		FaultReporter::clearAndReboot();
+	}
+
+	MODM_LOG_INFO << "Hold Button to cause a Hardfault!" << modm::endl;
+
+	if (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) {
+		// if this LED is on, the debugger is connected
+		LedRed::set();
+		MODM_LOG_INFO << "Debugger connected!" << modm::endl;
+	}
+
+	while (1)
+	{
+		LedGreen::toggle();
+		LedOrange::toggle();
+
+		function2(23, 43);
+
+		modm::delayMilliseconds(250);
+	}
+
+	return 0;
+}

examples/stm32f469_discovery/hard_fault/project.xml

@@ -0,0 +1,10 @@
+<library>
+  <extends>modm:disco-f469ni</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/stm32f469_discovery/hard_fault</option>
+  </options>
+  <modules>
+    <module>modm:platform:fault</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>