esp-idf/components/freertos/panic.c

222 lines
6.5 KiB
C

// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// 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.
#include <stdlib.h>
#include <xtensa/config/core.h>
#include "rom/rtc.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/xtensa_api.h"
#include "soc/uart_register.h"
#include "soc/io_mux_reg.h"
#include "soc/dport_reg.h"
#include "soc/rtc_cntl_reg.h"
#include "gdbstub.h"
/*
Panic handlers; these get called when an unhandled exception occurs or the assembly-level
task switching / interrupt code runs into an unrecoverable error. The default task stack
overflow handler also is in here.
*/
#if !CONFIG_FREERTOS_PANIC_SILENT_REBOOT
//printf may be broken, so we fix our own printing fns...
inline static void panicPutchar(char c) {
while (((READ_PERI_REG(UART_STATUS_REG(0))>>UART_TXFIFO_CNT_S)&UART_TXFIFO_CNT)>=126) ;
WRITE_PERI_REG(UART_FIFO_REG(0), c);
}
inline static void panicPutStr(const char *c) {
int x=0;
while (c[x]!=0) {
panicPutchar(c[x]);
x++;
}
}
inline static void panicPutHex(int a) {
int x;
int c;
panicPutchar(' ');
for (x=0; x<8; x++) {
c=(a>>28)&0xf;
if (c<10) panicPutchar('0'+c); else panicPutchar('a'+c-10);
a<<=4;
}
}
inline static void panicPutDec(int a) {
int n1, n2;
n1=a%10;
n2=a/10;
panicPutchar(' ');
if (n2==0) panicPutchar(' '); else panicPutchar(n2+'0');
panicPutchar(n1+'0');
}
#else
//No printing wanted. Stub out these functions.
inline static void panicPutchar(char c) { }
inline static void panicPutStr(const char *c) { }
inline static void panicPutHex(int a) { }
inline static void panicPutDec(int a) { }
#endif
int xPortGetCoreID();
void __attribute__((weak)) vApplicationStackOverflowHook( TaskHandle_t xTask, signed char *pcTaskName ) {
panicPutStr("***ERROR*** A stack overflow in task");
panicPutStr((char*)pcTaskName);
panicPutStr("has been detected.\n");
}
static const char *edesc[]={
"IllegalInstruction", "Syscall", "InstructionFetchError", "LoadStoreError",
"Level1Interrupt", "Alloca", "IntegerDivideByZero", "PCValue",
"Privileged", "LoadStoreAlignment", "res", "res",
"InstrPDAddrError", "LoadStorePIFDataError", "InstrPIFAddrError", "LoadStorePIFAddrError",
"InstTLBMiss", "InstTLBMultiHit", "InstFetchPrivilege", "res",
"InstrFetchProhibited", "res", "res", "res",
"LoadStoreTLBMiss", "LoadStoreTLBMultihit", "LoadStorePrivilege", "res",
"LoadProhibited", "StoreProhibited", "res", "res",
"Cp0Dis", "Cp1Dis", "Cp2Dis", "Cp3Dis",
"Cp4Dis", "Cp5Dis", "Cp6Dis", "Cp7Dis"
};
void commonErrorHandler(XtExcFrame *frame);
//The fact that we've panic'ed probably means the other CPU is now running wild, possibly
//messing up the serial output, so we kill it here.
static void haltOtherCore() {
if (xPortGetCoreID()==0) {
//Kill app cpu
CLEAR_PERI_REG_MASK(RTC_OPTIONS0, RTC_CNTL_SW_STALL_APPCPU_C1<<RTC_CNTL_SW_STALL_APPCPU_C1_S);
SET_PERI_REG_MASK(RTC_OPTIONS0, 0x21<<RTC_CNTL_SW_STALL_APPCPU_C1_S);
CLEAR_PERI_REG_MASK(RTC_SW_CPU_STALL, RTC_CNTL_SW_STALL_APPCPU_C0<<RTC_CNTL_SW_STALL_APPCPU_C0_S);
SET_PERI_REG_MASK(RTC_SW_CPU_STALL, 2<<RTC_CNTL_SW_STALL_APPCPU_C0_S);
} else {
//Kill pro cpu
CLEAR_PERI_REG_MASK(RTC_OPTIONS0, RTC_CNTL_SW_STALL_PROCPU_C1<<RTC_CNTL_SW_STALL_PROCPU_C1_S);
SET_PERI_REG_MASK(RTC_OPTIONS0, 0x21<<RTC_CNTL_SW_STALL_PROCPU_C1_S);
CLEAR_PERI_REG_MASK(RTC_SW_CPU_STALL, RTC_CNTL_SW_STALL_PROCPU_C0<<RTC_CNTL_SW_STALL_PROCPU_C0_S);
SET_PERI_REG_MASK(RTC_SW_CPU_STALL, 2<<RTC_CNTL_SW_STALL_PROCPU_C0_S);
}
}
//Returns true when a debugger is attached using JTAG.
static int inOCDMode() {
#if CONFIG_FREERTOS_DEBUG_OCDAWARE
int dcr;
int reg=0x10200C; //DSRSET register
asm("rer %0,%1":"=r"(dcr):"r"(reg));
return (dcr&0x1);
#else
return 0; //Always return no debugger is attached.
#endif
}
void panicHandler(XtExcFrame *frame) {
haltOtherCore();
panicPutStr("Guru Meditation Error: Core ");
panicPutDec(xPortGetCoreID());
panicPutStr(" panic'ed.\r\n");
if (inOCDMode()) {
asm("break.n 1");
}
commonErrorHandler(frame);
}
static void setFirstBreakpoint(uint32_t pc) {
asm(
"wsr.ibreaka0 %0\n" \
"rsr.ibreakenable a3\n" \
"movi a4,1\n" \
"or a4, a4, a3\n" \
"wsr.ibreakenable a4\n" \
::"r"(pc):"a3","a4");
}
void xt_unhandled_exception(XtExcFrame *frame) {
int *regs=(int*)frame;
int x;
haltOtherCore();
panicPutStr("Guru Meditation Error of type ");
x=regs[20];
if (x<40) panicPutStr(edesc[x]); else panicPutStr("Unknown");
panicPutStr(" occured on core ");
panicPutDec(xPortGetCoreID());
if (inOCDMode()) {
panicPutStr(" at pc=");
panicPutHex(regs[1]);
panicPutStr(". Setting bp and returning..\r\n");
//Stick a hardware breakpoint on the address the handler returns to. This way, the OCD debugger
//will kick in exactly at the context the error happened.
setFirstBreakpoint(regs[1]);
return;
}
panicPutStr(". Exception was unhandled.\r\n");
commonErrorHandler(frame);
}
/*
We arrive here after a panic or unhandled exception, when no OCD is detected. Dump the registers to the
serial port and either jump to the gdb stub, halt the CPU or reboot.
*/
void commonErrorHandler(XtExcFrame *frame) {
int *regs=(int*)frame;
int x, y;
const char *sdesc[]={
"PC ","PS ","A0 ","A1 ","A2 ","A3 ","A4 ","A5 ",
"A6 ","A7 ","A8 ","A9 ","A10 ","A11 ","A12 ","A13 ",
"A14 ","A15 ","SAR ","EXCCAUSE","EXCVADDR","LBEG ","LEND ","LCOUNT "};
panicPutStr("Register dump:\r\n");
for (x=0; x<24; x+=4) {
for (y=0; y<4; y++) {
if (sdesc[x+y][0]!=0) {
panicPutStr(sdesc[x+y]);
panicPutStr(": ");
panicPutHex(regs[x+y+1]);
panicPutStr(" ");
}
}
panicPutStr("\r\n");
}
#if CONFIG_FREERTOS_PANIC_GDBSTUB
panicPutStr("Entering gdb stub now.\r\n");
gdbstubPanicHandler(frame);
#elif CONFIG_FREERTOS_PANIC_PRINT_REBOOT || CONFIG_FREERTOS_PANIC_SILENT_REBOOT
panicPutStr("Rebooting...\r\n");
for (x=0; x<100; x++) ets_delay_us(1000);
software_reset();
#else
panicPutStr("CPU halted.\r\n");
while(1);
#endif
}
void setBreakpointIfJtag(void *fn) {
if (!inOCDMode()) return;
setFirstBreakpoint((uint32_t)fn);
}