AP_HAL_ChibiOS: move CrashCatcher core in-tree

Keep the Cortex-M fault entry and dump-format implementation alongside the ChibiOS crashdump backends.

libraries/AP_HAL_ChibiOS/CrashCatcher.cpp

@@ -0,0 +1,177 @@
+/*
+ * Copyright (C) 2018 Adam Green (https://github.com/adamgreen)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * Adapted for ArduPilot.
+ */
+
+#include <AP_HAL/AP_HAL.h>
+
+#if AP_CRASHDUMP_ENABLED
+
+#include "CrashCatcher.h"
+
+#include <string.h>
+
+#define LR_PSP (1U << 2)
+#define LR_FLOAT (1U << 4)
+#define PSR_STACK_ALIGN (1U << 9)
+
+static constexpr uintptr_t COPROCESSOR_ACCESS_CONTROL_REGISTER = 0xE000ED88U;
+static constexpr uintptr_t FAULT_STATUS_REGISTERS = 0xE000ED28U;
+
+alignas(8) uint32_t g_crashCatcherStack[CRASH_CATCHER_STACK_WORD_COUNT];
+
+struct CrashCatcherObject {
+    const CrashCatcherExceptionRegisters *exception_registers;
+    CrashCatcherStackedRegisters *stacked_registers;
+    uint32_t flags;
+    CrashCatcherInfo info;
+};
+
+static_assert(sizeof(CrashCatcherExceptionRegisters) == 12U * sizeof(uint32_t),
+              "CrashCatcher exception register layout changed");
+static_assert(offsetof(CrashCatcherStackedRegisters, floats) == 8U * sizeof(uint32_t),
+              "CrashCatcher stacked register layout changed");
+
+static void *address_to_pointer(uint32_t address)
+{
+    return reinterpret_cast<void *>(static_cast<uintptr_t>(address));
+}
+
+static uint32_t exception_stack_address(const CrashCatcherExceptionRegisters *exception_registers)
+{
+    if ((exception_registers->exceptionLR & LR_PSP) != 0) {
+        return exception_registers->psp;
+    }
+    return exception_registers->msp;
+}
+
+static CrashCatcherObject initialise(const CrashCatcherExceptionRegisters *exception_registers)
+{
+    CrashCatcherObject object {};
+    object.exception_registers = exception_registers;
+    object.info.sp = exception_stack_address(exception_registers);
+    object.stacked_registers = static_cast<CrashCatcherStackedRegisters *>(address_to_pointer(object.info.sp));
+
+    // Cortex-M always stacks eight integer registers on exception entry.
+    object.info.sp += 8U * sizeof(uint32_t);
+    // An extended exception frame also contains S0-S15, FPSCR and a reserved word.
+    if ((exception_registers->exceptionLR & LR_FLOAT) == 0) {
+        object.info.sp += 18U * sizeof(uint32_t);
+    }
+    // xPSR records the alignment word inserted before the exception frame.
+    if ((object.stacked_registers->psr & PSR_STACK_ALIGN) != 0) {
+        object.info.sp |= 4U;
+    }
+
+    const volatile uint32_t *const cpacr =
+        reinterpret_cast<const volatile uint32_t *>(COPROCESSOR_ACCESS_CONTROL_REGISTER);
+    constexpr uint32_t CP10_CP11_ENABLED = 5U << 20;
+    if ((*cpacr & CP10_CP11_ENABLED) == CP10_CP11_ENABLED) {
+        object.flags |= CRASH_CATCHER_FLAGS_FLOATING_POINT;
+    }
+
+    const uint16_t *const instruction =
+        static_cast<const uint16_t *>(address_to_pointer(object.stacked_registers->pc));
+    object.info.isBKPT = ((*instruction & 0xFF00U) == 0xBE00U);
+    return object;
+}
+
+static void dump_signature()
+{
+    static const uint8_t signature[] = {
+        CRASH_CATCHER_SIGNATURE_BYTE0,
+        CRASH_CATCHER_SIGNATURE_BYTE1,
+        CRASH_CATCHER_VERSION_MAJOR,
+        CRASH_CATCHER_VERSION_MINOR
+    };
+    CrashCatcher_DumpMemory(signature, CRASH_CATCHER_BYTE, sizeof(signature));
+}
+
+static void dump_core_registers(const CrashCatcherObject &object)
+{
+    CrashCatcher_DumpMemory(&object.stacked_registers->r0, CRASH_CATCHER_BYTE, 4U * sizeof(uint32_t));
+    CrashCatcher_DumpMemory(&object.exception_registers->r4, CRASH_CATCHER_BYTE, 8U * sizeof(uint32_t));
+    CrashCatcher_DumpMemory(&object.stacked_registers->r12, CRASH_CATCHER_BYTE, sizeof(uint32_t));
+    CrashCatcher_DumpMemory(&object.info.sp, CRASH_CATCHER_BYTE, sizeof(uint32_t));
+    CrashCatcher_DumpMemory(&object.stacked_registers->lr, CRASH_CATCHER_BYTE, 3U * sizeof(uint32_t));
+    CrashCatcher_DumpMemory(&object.exception_registers->msp, CRASH_CATCHER_BYTE, 3U * sizeof(uint32_t));
+}
+
+static void dump_floating_point_registers(const CrashCatcherObject &object)
+{
+    uint32_t registers[33];
+    if ((object.exception_registers->exceptionLR & LR_FLOAT) == 0) {
+        // Accessing S16-S31 first completes any pending lazy exception stacking.
+        CrashCatcher_CopyUpperFloatingPointRegisters(&registers[16]);
+        memcpy(&registers[0], &object.stacked_registers->floats, sizeof(object.stacked_registers->floats));
+        registers[32] = object.stacked_registers->fpscr;
+    } else {
+        CrashCatcher_CopyAllFloatingPointRegisters(registers);
+    }
+    CrashCatcher_DumpMemory(registers, CRASH_CATCHER_BYTE, sizeof(registers));
+}
+
+static void dump_memory_regions(const CrashCatcherMemoryRegion *region)
+{
+    while (region != nullptr && region->startAddress != UINT32_MAX) {
+        // The dump format stores only the start and end addresses, not elementSize.
+        CrashCatcher_DumpMemory(region, CRASH_CATCHER_BYTE, 2U * sizeof(uint32_t));
+        CrashCatcher_DumpMemory(address_to_pointer(region->startAddress), region->elementSize,
+                                (region->endAddress - region->startAddress) / region->elementSize);
+        region++;
+    }
+}
+
+static void dump_fault_status_registers()
+{
+    const CrashCatcherMemoryRegion regions[] = {
+        {
+            static_cast<uint32_t>(FAULT_STATUS_REGISTERS),
+            static_cast<uint32_t>(FAULT_STATUS_REGISTERS + 5U * sizeof(uint32_t)),
+            CRASH_CATCHER_WORD
+        },
+        {UINT32_MAX, UINT32_MAX, CRASH_CATCHER_BYTE}
+    };
+    dump_memory_regions(regions);
+}
+
+void CrashCatcher_Entry(const CrashCatcherExceptionRegisters *exception_registers)
+{
+    CrashCatcherObject object = initialise(exception_registers);
+
+    do {
+        g_crashCatcherStack[0] = CRASH_CATCHER_STACK_SENTINEL;
+        CrashCatcher_DumpStart(&object.info);
+        dump_signature();
+        CrashCatcher_DumpMemory(&object.flags, CRASH_CATCHER_BYTE, sizeof(object.flags));
+        dump_core_registers(object);
+        if ((object.flags & CRASH_CATCHER_FLAGS_FLOATING_POINT) != 0) {
+            dump_floating_point_registers(object);
+        }
+        dump_memory_regions(CrashCatcher_GetMemoryRegions());
+        dump_fault_status_registers();
+        if (g_crashCatcherStack[0] != CRASH_CATCHER_STACK_SENTINEL) {
+            static const uint8_t overflow_marker[] = {0xAC, 0xCE, 0x55, 0xED};
+            CrashCatcher_DumpMemory(overflow_marker, CRASH_CATCHER_BYTE, sizeof(overflow_marker));
+        }
+    } while (CrashCatcher_DumpEnd() == CRASH_CATCHER_TRY_AGAIN);
+
+    if (object.info.isBKPT) {
+        object.stacked_registers->pc += 2U;
+    }
+}
+
+#endif // AP_CRASHDUMP_ENABLED

libraries/AP_HAL_ChibiOS/CrashCatcher.h

@@ -0,0 +1,125 @@
+/*
+ * Copyright (C) 2017-2019 Adam Green (https://github.com/adamgreen)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * Adapted for ArduPilot.
+ */
+
+#pragma once
+
+#define CRASH_CATCHER_STACK_WORD_COUNT 192
+
+#ifdef __ARM_ARCH_7EM__
+#define CRASH_CATCHER_WITH_FPU 1
+#else
+#define CRASH_CATCHER_WITH_FPU 0
+#endif
+
+#if !defined(__ASSEMBLER__) || (!__ASSEMBLER__)
+
+#include <stddef.h>
+#include <stdint.h>
+
+#define CRASH_CATCHER_SIGNATURE_BYTE0 'c'
+#define CRASH_CATCHER_SIGNATURE_BYTE1 'C'
+#define CRASH_CATCHER_VERSION_MAJOR 3
+#define CRASH_CATCHER_VERSION_MINOR 0
+
+#define CRASH_CATCHER_FLAGS_FLOATING_POINT (1U << 0)
+#define CRASH_CATCHER_STACK_SENTINEL 0xACCE55EDU
+
+typedef struct {
+    uint32_t sp;
+    int isBKPT;
+} CrashCatcherInfo;
+
+typedef struct {
+    uint32_t startAddress;
+    uint32_t endAddress;
+} CrashCatcherMemoryRegionInfo;
+
+typedef enum {
+    CRASH_CATCHER_BYTE = 1,
+    CRASH_CATCHER_HALFWORD = 2,
+    CRASH_CATCHER_WORD = 4
+} CrashCatcherElementSizes;
+
+typedef enum {
+    CRASH_CATCHER_TRY_AGAIN = 0,
+    CRASH_CATCHER_EXIT
+} CrashCatcherReturnCodes;
+
+typedef struct {
+    uint32_t startAddress;
+    uint32_t endAddress;
+    CrashCatcherElementSizes elementSize;
+} CrashCatcherMemoryRegion;
+
+typedef struct {
+    uint32_t r0;
+    uint32_t r1;
+    uint32_t r2;
+    uint32_t r3;
+    uint32_t r12;
+    uint32_t lr;
+    uint32_t pc;
+    uint32_t psr;
+    uint32_t floats[16];
+    uint32_t fpscr;
+    uint32_t reserved;
+} CrashCatcherStackedRegisters;
+
+typedef struct {
+    uint32_t msp;
+    uint32_t psp;
+    uint32_t exceptionPSR;
+    uint32_t r4;
+    uint32_t r5;
+    uint32_t r6;
+    uint32_t r7;
+    uint32_t r8;
+    uint32_t r9;
+    uint32_t r10;
+    uint32_t r11;
+    uint32_t exceptionLR;
+} CrashCatcherExceptionRegisters;
+
+#ifdef RUNNING_HOST_TESTS
+#define CRASH_CATCHER_TEST_WRITEABLE
+#else
+#define CRASH_CATCHER_TEST_WRITEABLE static const
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void CrashCatcher_DumpStart(const CrashCatcherInfo *info);
+const CrashCatcherMemoryRegion *CrashCatcher_GetMemoryRegions(void);
+void CrashCatcher_DumpMemory(const void *memory, CrashCatcherElementSizes element_size, size_t element_count);
+CrashCatcherReturnCodes CrashCatcher_DumpEnd(void);
+
+int CrashCatcher_getc(void);
+void CrashCatcher_putc(int character);
+
+extern uint32_t g_crashCatcherStack[CRASH_CATCHER_STACK_WORD_COUNT];
+void CrashCatcher_Entry(const CrashCatcherExceptionRegisters *exception_registers);
+void CrashCatcher_CopyAllFloatingPointRegisters(uint32_t *buffer);
+void CrashCatcher_CopyUpperFloatingPointRegisters(uint32_t *buffer);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !__ASSEMBLER__

libraries/AP_HAL_ChibiOS/CrashDump.cpp

@@ -19,7 +19,7 @@
 
 #if AP_CRASHDUMP_ENABLED
 
-#include <CrashCatcher.h>
+#include "CrashCatcher.h"
 #include <ch.h>
 #include <hal.h>
 #include <string.h>

libraries/AP_HAL_ChibiOS/CrashDump.h

@@ -41,7 +41,7 @@
 #include <stddef.h>
 
 #if AP_CRASHDUMP_FATFS_ENABLED || AP_CRASHDUMP_FLASH_ENABLED
-#include <CrashCatcher.h>
+#include "CrashCatcher.h"
 #endif
 
 #ifdef __cplusplus

libraries/AP_HAL_ChibiOS/CrashDump_flash.cpp

@@ -19,7 +19,7 @@
 
 #if AP_CRASHDUMP_ENABLED && AP_CRASHDUMP_FLASH_ENABLED
 
-#include <CrashCatcher.h>
+#include "CrashCatcher.h"
 #include <ch.h>
 #include <hal.h>
 #include <string.h>

libraries/AP_HAL_ChibiOS/hwdef/common/CrashCatcher_armv7m_asm.S

@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2019 Adam Green (https://github.com/adamgreen)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * Adapted for ArduPilot.
+ */
+
+#include "CrashCatcher.h"
+
+    .text
+    .syntax unified
+    .arch armv7-m
+
+    .global HardFault_Handler
+    .type HardFault_Handler, %function
+    .thumb_func
+HardFault_Handler:
+    /*
+     * Save the exception registers before switching MSP to the dedicated
+     * CrashCatcher stack. The resulting layout is CrashCatcherExceptionRegisters.
+     */
+    mrs     r3, xpsr
+    mrs     r2, psp
+    mrs     r1, msp
+    ldr     sp, =(g_crashCatcherStack + 4 * CRASH_CATCHER_STACK_WORD_COUNT)
+    push.w  {r1-r11,lr}
+
+    mov     r0, sp
+    bl      CrashCatcher_Entry
+
+    /* Only breakpoints which request CRASH_CATCHER_EXIT return here. */
+    pop.w   {r1-r11,lr}
+    mov     sp, r1
+    bx      lr
+
+    .pool
+    .size   HardFault_Handler, .-HardFault_Handler
+
+    .global CrashCatcher_CopyAllFloatingPointRegisters
+    .type CrashCatcher_CopyAllFloatingPointRegisters, %function
+    .thumb_func
+CrashCatcher_CopyAllFloatingPointRegisters:
+#if CRASH_CATCHER_WITH_FPU
+    vmrs        r1, fpscr
+    vstmia.32   r0!, {s0-s31}
+    str         r1, [r0]
+#endif
+    bx          lr
+
+    .pool
+    .size CrashCatcher_CopyAllFloatingPointRegisters, .-CrashCatcher_CopyAllFloatingPointRegisters
+
+    .global CrashCatcher_CopyUpperFloatingPointRegisters
+    .type CrashCatcher_CopyUpperFloatingPointRegisters, %function
+    .thumb_func
+CrashCatcher_CopyUpperFloatingPointRegisters:
+#if CRASH_CATCHER_WITH_FPU
+    vstmia.32   r0!, {s16-s31}
+#endif
+    bx          lr
+
+    .pool
+    .size CrashCatcher_CopyUpperFloatingPointRegisters, .-CrashCatcher_CopyUpperFloatingPointRegisters
+
+    .end

libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk

@@ -148,12 +148,6 @@ endif
 
 #	   $(TESTSRC) \
 #	   test.c
-ifneq ($(CRASHCATCHER),)
-LIBCC_CSRC = $(CRASHCATCHER)/Core/src/CrashCatcher.c
-
-LIBCC_ASMXSRC = $(CRASHCATCHER)/Core/src/CrashCatcher_armv7m.S
-endif
-
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
 CPPSRC = $(sort $(ALLCPPSRC))
@@ -182,11 +176,15 @@ TCPPSRC =
 ASMSRC = $(ALLASMSRC)
 ASMXSRC = $(ALLXASMSRC)
 
+ifeq ($(ENABLE_CRASHDUMP),yes)
+CRASHCATCHER_ASMXSRC = $(HWDEF)/common/CrashCatcher_armv7m_asm.S
+endif
+
 INCDIR = $(CHIBIOS)/os/license \
          $(ALLINC) $(HWDEF)/common
 
-ifneq ($(CRASHCATCHER),)
-INCDIR += $(CRASHCATCHER)/include
+ifeq ($(ENABLE_CRASHDUMP),yes)
+INCDIR += $(AP_HAL)
 endif
 
 ifeq ($(USE_USB_MSD),yes)

libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk

@@ -87,7 +87,7 @@ else
 endif
 ASRC      := $(ACSRC) $(ACPPSRC)
 TSRC      := $(TCSRC) $(TCPPSRC)
-SRCPATHS  := $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)) $(dir $(LIBCC_CSRC)) $(dir $(LIBCC_ASMXSRC)))
+SRCPATHS  := $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)) $(dir $(CRASHCATCHER_ASMXSRC)))
 
 # Various directories
 OBJDIR    := $(BUILDDIR)/obj
@@ -100,10 +100,8 @@ TCOBJS    := $(addprefix $(OBJDIR)/, $(notdir $(TCSRC:.c=.o)))
 TCPPOBJS  := $(addprefix $(OBJDIR)/, $(notdir $(TCPPSRC:.cpp=.o)))
 ASMOBJS   := $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o)))
 ASMXOBJS  := $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o)))
+CRASHCATCHER_ASMXOBJS := $(addprefix $(OBJDIR)/, $(notdir $(CRASHCATCHER_ASMXSRC:.S=.o)))
 OBJS	  := $(ASMXOBJS) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
-LIBCC_ASMXOBJS := $(addprefix $(OBJDIR)/, $(notdir $(LIBCC_ASMXSRC:.S=.o)))
-LIBCC_TCOBJS := $(addprefix $(OBJDIR)/, $(notdir $(LIBCC_CSRC:.c=.o)))
-LIBCC_OBJS := $(LIBCC_ASMXOBJS) $(LIBCC_TCOBJS)
 # Paths
 IINCDIR   := $(patsubst %,-I%,$(INCDIR) $(DINCDIR) $(UINCDIR))
 LLIBDIR   := $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
@@ -122,12 +120,11 @@ ODFLAGS	  = -x --syms
 ASFLAGS   = $(MCFLAGS) $(ADEFS) $(ASOPT)
 ASXFLAGS  = $(MCFLAGS) $(ADEFS) $(ASXOPT)
 ifneq ($(USE_FPU),no)
-  LIBCC_ASXFLAGS = $(ASXFLAGS) $(USE_FPU_OPT)
+  CRASHCATCHER_ASXFLAGS = $(ASXFLAGS) $(USE_FPU_OPT)
 else
-  LIBCC_ASXFLAGS = $(ASXFLAGS)
+  CRASHCATCHER_ASXFLAGS = $(ASXFLAGS)
 endif
 CFLAGS    = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) $(DEFS)
-LIBCC_CFLAGS = $(CFLAGS)
 CPPFLAGS  = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) $(DEFS)
 LDFLAGS   = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
 
@@ -186,13 +183,13 @@ N := x
 C = $(words $N)$(eval N := x $N)
 ECHO = echo "[$C/$T] ChibiOS:"
 endif
-all: PRE_MAKE_ALL_RULE_HOOK $(OBJS) $(LIBCC_OBJS) $(OUTFILES) POST_MAKE_ALL_RULE_HOOK
+all: PRE_MAKE_ALL_RULE_HOOK $(OBJS) $(CRASHCATCHER_ASMXOBJS) $(OUTFILES) POST_MAKE_ALL_RULE_HOOK
 
 PRE_MAKE_ALL_RULE_HOOK:
 
 POST_MAKE_ALL_RULE_HOOK:
 
-$(LIBCC_OBJS) $(OBJS): | $(BUILDDIR) $(OBJDIR) $(LSTDIR)
+$(OBJS) $(CRASHCATCHER_ASMXOBJS): | $(BUILDDIR) $(OBJDIR) $(LSTDIR)
 
 $(BUILDDIR):
 ifneq ($(USE_VERBOSE_COMPILE),yes)
@@ -244,15 +241,6 @@ else
 	@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
 endif
 
-$(LIBCC_TCOBJS) : $(OBJDIR)/%.o : %.c $(BUILDROOT)/chibios_flags.h
-ifeq ($(USE_VERBOSE_COMPILE),yes)
-	@echo
-	$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
-else
-	@$(ECHO) Compiling $(<F)
-	@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
-endif
-
 $(ASMOBJS) : $(OBJDIR)/%.o : %.s $(BUILDROOT)/chibios_flags.h
 ifeq ($(USE_VERBOSE_COMPILE),yes)
 	@echo
@@ -271,13 +259,13 @@ else
 	@$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
 endif
 
-$(LIBCC_ASMXOBJS) : $(OBJDIR)/%.o : %.S $(BUILDROOT)/chibios_flags.h
+$(CRASHCATCHER_ASMXOBJS) : $(OBJDIR)/%.o : %.S $(BUILDROOT)/chibios_flags.h
 ifeq ($(USE_VERBOSE_COMPILE),yes)
 	@echo
-	$(CC) -c $(LIBCC_ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+	$(CC) -c $(CRASHCATCHER_ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
 else
 	@$(ECHO) Compiling $(<F)
-	@$(CC) -c $(LIBCC_ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+	@$(CC) -c $(CRASHCATCHER_ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
 endif
 
 $(BUILDDIR)/$(PROJECT).elf: $(OBJS) $(LDSCRIPT)
@@ -336,23 +324,13 @@ else
 	@echo Done
 endif
 
-ifneq ($(CRASHCATCHER),)
-lib: $(OBJS) $(LIBCC_OBJS) $(BUILDDIR)/lib$(PROJECT).a $(BUILDDIR)/libcc.a pass
-else
-lib: $(OBJS) $(BUILDDIR)/lib$(PROJECT).a pass
-endif
+lib: $(OBJS) $(CRASHCATCHER_ASMXOBJS) $(BUILDDIR)/lib$(PROJECT).a pass
 
 $(BUILDDIR)/lib$(PROJECT).a: $(OBJS)
 	@$(AR) -r $@ $^
 	@echo
 	@echo ChibiOS: Done!
 
-$(BUILDDIR)/libcc.a: $(LIBCC_OBJS) $(HWDEF)/common/chibios_board.mk
-	@rm -f $@
-	@$(AR) -r $@ $(LIBCC_OBJS)
-	@echo
-	@echo CrashCatcher: Done!
-
 pass: $(BUILDDIR)
 	@echo $(foreach f,$(IINCDIR),"$(f);") > $(BUILDDIR)/include_dirs
 

libraries/AP_HAL_ChibiOS/system.cpp

@@ -24,7 +24,7 @@
 #include "hwdef/common/stm32_util.h"
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #if AP_CRASHDUMP_ENABLED
-#include <CrashCatcher.h>
+#include "CrashCatcher.h"
 #endif
 #include <ch.h>
 #include "hal.h"