mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-02 10:23:25 +08:00
Andrew Tridgell
e644fdad79
Keep the Cortex-M fault entry and dump-format implementation alongside the ChibiOS crashdump backends.
126 lines
3.1 KiB
C
126 lines
3.1 KiB
C
/*
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* Copyright (C) 2017-2019 Adam Green (https://github.com/adamgreen)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Adapted for ArduPilot.
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*/
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#pragma once
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#define CRASH_CATCHER_STACK_WORD_COUNT 192
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#ifdef __ARM_ARCH_7EM__
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#define CRASH_CATCHER_WITH_FPU 1
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#else
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#define CRASH_CATCHER_WITH_FPU 0
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#endif
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#if !defined(__ASSEMBLER__) || (!__ASSEMBLER__)
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#include <stddef.h>
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#include <stdint.h>
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#define CRASH_CATCHER_SIGNATURE_BYTE0 'c'
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#define CRASH_CATCHER_SIGNATURE_BYTE1 'C'
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#define CRASH_CATCHER_VERSION_MAJOR 3
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#define CRASH_CATCHER_VERSION_MINOR 0
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#define CRASH_CATCHER_FLAGS_FLOATING_POINT (1U << 0)
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#define CRASH_CATCHER_STACK_SENTINEL 0xACCE55EDU
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typedef struct {
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uint32_t sp;
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int isBKPT;
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} CrashCatcherInfo;
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typedef struct {
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uint32_t startAddress;
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uint32_t endAddress;
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} CrashCatcherMemoryRegionInfo;
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typedef enum {
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CRASH_CATCHER_BYTE = 1,
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CRASH_CATCHER_HALFWORD = 2,
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CRASH_CATCHER_WORD = 4
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} CrashCatcherElementSizes;
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typedef enum {
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CRASH_CATCHER_TRY_AGAIN = 0,
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CRASH_CATCHER_EXIT
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} CrashCatcherReturnCodes;
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typedef struct {
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uint32_t startAddress;
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uint32_t endAddress;
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CrashCatcherElementSizes elementSize;
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} CrashCatcherMemoryRegion;
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typedef struct {
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uint32_t r0;
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uint32_t r1;
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uint32_t r2;
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uint32_t r3;
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uint32_t r12;
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uint32_t lr;
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uint32_t pc;
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uint32_t psr;
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uint32_t floats[16];
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uint32_t fpscr;
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uint32_t reserved;
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} CrashCatcherStackedRegisters;
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typedef struct {
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uint32_t msp;
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uint32_t psp;
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uint32_t exceptionPSR;
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uint32_t r4;
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uint32_t r5;
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uint32_t r6;
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uint32_t r7;
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uint32_t r8;
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uint32_t r9;
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uint32_t r10;
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uint32_t r11;
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uint32_t exceptionLR;
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} CrashCatcherExceptionRegisters;
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#ifdef RUNNING_HOST_TESTS
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#define CRASH_CATCHER_TEST_WRITEABLE
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#else
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#define CRASH_CATCHER_TEST_WRITEABLE static const
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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void CrashCatcher_DumpStart(const CrashCatcherInfo *info);
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const CrashCatcherMemoryRegion *CrashCatcher_GetMemoryRegions(void);
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void CrashCatcher_DumpMemory(const void *memory, CrashCatcherElementSizes element_size, size_t element_count);
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CrashCatcherReturnCodes CrashCatcher_DumpEnd(void);
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int CrashCatcher_getc(void);
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void CrashCatcher_putc(int character);
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extern uint32_t g_crashCatcherStack[CRASH_CATCHER_STACK_WORD_COUNT];
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void CrashCatcher_Entry(const CrashCatcherExceptionRegisters *exception_registers);
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void CrashCatcher_CopyAllFloatingPointRegisters(uint32_t *buffer);
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void CrashCatcher_CopyUpperFloatingPointRegisters(uint32_t *buffer);
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#ifdef __cplusplus
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}
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#endif
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#endif // !__ASSEMBLER__
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