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stm32f4_chibios_vectors.c
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1 /*
2  ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
3  2011,2012,2013 Giovanni Di Sirio.
4 
5  This file is part of ChibiOS/RT.
6 
7  ChibiOS/RT is free software; you can redistribute it and/or modify
8  it under the terms of the GNU General Public License as published by
9  the Free Software Foundation; either version 3 of the License, or
10  (at your option) any later version.
11 
12  ChibiOS/RT is distributed in the hope that it will be useful,
13  but WITHOUT ANY WARRANTY; without even the implied warranty of
14  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  GNU General Public License for more details.
16 
17  You should have received a copy of the GNU General Public License
18  along with this program. If not, see <http://www.gnu.org/licenses/>.
19 */
20 
28 #include "stm32f4_chibios_vectors.h"
29 #include "mcuconf.h"
30 
31 #include <ch.h>
32 
36 typedef void (*irq_vector_t)(void);
37 enum HardwareFaultType {HardwareFault_NONE, HardwareFault_BUS, HardwareFault_MEM, HardwareFault_USAGE};
38 static enum HardwareFaultType hardwareFaultType = HardwareFault_NONE;
39 void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress) __attribute__((unused));
40 
44 typedef struct {
45  uint32_t *init_stack;
46  irq_vector_t reset_vector;
47  irq_vector_t nmi_vector;
48  irq_vector_t hardfault_vector;
49  irq_vector_t memmanage_vector;
50  irq_vector_t busfault_vector;
51  irq_vector_t usagefault_vector;
52  irq_vector_t vector1c;
53  irq_vector_t vector20;
54  irq_vector_t vector24;
55  irq_vector_t vector28;
56  irq_vector_t svcall_vector;
57  irq_vector_t debugmonitor_vector;
58  irq_vector_t vector34;
59  irq_vector_t pendsv_vector;
60  irq_vector_t systick_vector;
61  irq_vector_t vectors[82];
62 } vectors_t;
63 
64 #if !defined(__DOXYGEN__)
65 
66 
67 
68 
69 extern uint32_t __main_stack_end__;
70 extern void ResetHandler(void);
71 extern void NMIVector(void);
72 extern void HardFaultVector(void);
73 extern void MemManageVector(void);
74 extern void BusFaultVector(void);
75 extern void UsageFaultVector(void);
76 extern void Vector1C(void);
77 extern void Vector20(void);
78 extern void Vector24(void);
79 extern void Vector28(void);
80 extern void SVCallVector(void);
81 extern void DebugMonitorVector(void);
82 extern void Vector34(void);
83 extern void PendSVVector(void);
84 extern void SysTickVector(void);
85 extern void Vector40(void);
86 extern void Vector44(void);
87 extern void Vector48(void);
88 extern void Vector4C(void);
89 extern void Vector50(void);
90 extern void Vector54(void);
91 extern void Vector58(void);
92 extern void Vector5C(void);
93 extern void Vector60(void);
94 extern void Vector64(void);
95 extern void Vector68(void);
96 extern void Vector6C(void);
97 extern void Vector70(void);
98 extern void Vector74(void);
99 extern void Vector78(void);
100 extern void Vector7C(void);
101 extern void Vector80(void);
102 extern void Vector84(void);
103 extern void Vector88(void);
104 extern void Vector8C(void);
105 extern void Vector90(void);
106 extern void Vector94(void);
107 extern void Vector98(void);
108 extern void Vector9C(void);
109 extern void VectorA0(void);
110 extern void VectorA4(void);
111 extern void VectorA8(void);
112 extern void VectorAC(void);
113 extern void VectorB0(void);
114 extern void VectorB4(void);
115 extern void VectorB8(void);
116 extern void VectorBC(void);
117 extern void VectorC0(void);
118 extern void VectorC4(void);
119 extern void VectorC8(void);
120 extern void VectorCC(void);
121 extern void VectorD0(void);
122 extern void VectorD4(void);
123 extern void VectorD8(void);
124 extern void VectorDC(void);
125 extern void VectorE0(void);
126 extern void VectorE4(void);
127 extern void VectorE8(void);
128 extern void VectorEC(void);
129 extern void VectorF0(void);
130 extern void VectorF4(void);
131 extern void VectorF8(void);
132 extern void VectorFC(void);
133 extern void Vector100(void);
134 extern void Vector104(void);
135 extern void Vector108(void);
136 extern void Vector10C(void);
137 extern void Vector110(void);
138 extern void Vector114(void);
139 extern void Vector118(void);
140 extern void Vector11C(void);
141 extern void Vector120(void);
142 extern void Vector124(void);
143 extern void Vector128(void);
144 extern void Vector12C(void);
145 extern void Vector130(void);
146 extern void Vector134(void);
147 extern void Vector138(void);
148 extern void Vector13C(void);
149 extern void Vector140(void);
150 extern void Vector144(void);
151 extern void Vector148(void);
152 extern void Vector14C(void);
153 extern void Vector150(void);
154 extern void Vector154(void);
155 extern void Vector158(void);
156 extern void Vector15C(void);
157 extern void Vector160(void);
158 extern void Vector164(void);
159 extern void Vector168(void);
160 extern void Vector16C(void);
161 extern void Vector170(void);
162 extern void Vector174(void);
163 extern void Vector178(void);
164 extern void Vector17C(void);
165 extern void Vector180(void);
166 extern void Vector184(void);
167 #endif
168 
172 #if !defined(__DOXYGEN__)
173 __attribute__((used, section("vectors")))
174 #endif
175 vectors_t _vectors = {
176  &__main_stack_end__, ResetHandler, NMIVector, HardFaultVector,
177  MemManageVector, BusFaultVector, UsageFaultVector, Vector1C,
178  Vector20, Vector24, Vector28, SVCallVector,
179  DebugMonitorVector, Vector34, PendSVVector, SysTickVector,
180  {
181  DECLARE_IRQS
182  }
183 };
184 
195 static void _unhandled_exception(void) __attribute__((naked));
196 
197 
198 void _unhandled_exception(void)
199 {
200  __asm volatile
201  (
202  " tst lr, #4 \n"
203  " ite eq \n"
204  " mrseq r0, msp \n"
205  " mrsne r0, psp \n"
206  " ldr r1, [r0, #24] \n"
207  " ldr r2, handler2_address_const \n"
208  " bx r2 \n"
209  " handler2_address_const: .word prvGetRegistersFromStack \n"
210  );
211 }
212 
213 
214 void _unhandled_exception_NMIVector(void)
215 {
216  while (TRUE);
217 }
218 
219 void _unhandled_exception_MemManageVector(void)
220 {
221  hardwareFaultType = HardwareFault_MEM;
222  _unhandled_exception();
223 }
224 void _unhandled_exception_BusFaultVector(void)
225 {
226  hardwareFaultType = HardwareFault_BUS;
227  _unhandled_exception();
228 }
229 void _unhandled_exception_UsageFaultVector(void)
230 {
231  hardwareFaultType = HardwareFault_USAGE;
232  _unhandled_exception();
233 }
234 
235 void NMIVector(void) __attribute__((weak, alias("_unhandled_exception_NMIVector")));
236 void HardFaultVector(void) __attribute__((weak, alias("_unhandled_exception")));
237 void MemManageVector(void) __attribute__((weak, alias("_unhandled_exception_MemManageVector")));
238 void BusFaultVector(void) __attribute__((weak, alias("_unhandled_exception_BusFaultVector")));
239 void UsageFaultVector(void) __attribute__((weak, alias("_unhandled_exception_UsageFaultVector")));
240 void Vector1C(void) __attribute__((weak, alias("_unhandled_exception")));
241 void Vector20(void) __attribute__((weak, alias("_unhandled_exception")));
242 void Vector24(void) __attribute__((weak, alias("_unhandled_exception")));
243 void Vector28(void) __attribute__((weak, alias("_unhandled_exception")));
244 void SVCallVector(void) __attribute__((weak, alias("_unhandled_exception")));
245 void DebugMonitorVector(void) __attribute__((weak, alias("_unhandled_exception")));
246 void Vector34(void) __attribute__((weak, alias("_unhandled_exception")));
247 void PendSVVector(void) __attribute__((weak, alias("_unhandled_exception")));
248 void SysTickVector(void) __attribute__((weak, alias("_unhandled_exception")));
249 void Vector40(void) __attribute__((weak, alias("_unhandled_exception")));
250 void Vector44(void) __attribute__((weak, alias("_unhandled_exception")));
251 void Vector48(void) __attribute__((weak, alias("_unhandled_exception")));
252 void Vector4C(void) __attribute__((weak, alias("_unhandled_exception")));
253 void Vector50(void) __attribute__((weak, alias("_unhandled_exception")));
254 void Vector54(void) __attribute__((weak, alias("_unhandled_exception")));
255 void Vector58(void) __attribute__((weak, alias("_unhandled_exception")));
256 void Vector5C(void) __attribute__((weak, alias("_unhandled_exception")));
257 void Vector60(void) __attribute__((weak, alias("_unhandled_exception")));
258 void Vector64(void) __attribute__((weak, alias("_unhandled_exception")));
259 void Vector68(void) __attribute__((weak, alias("_unhandled_exception")));
260 void Vector6C(void) __attribute__((weak, alias("_unhandled_exception")));
261 void Vector70(void) __attribute__((weak, alias("_unhandled_exception")));
262 void Vector74(void) __attribute__((weak, alias("_unhandled_exception")));
263 void Vector78(void) __attribute__((weak, alias("_unhandled_exception")));
264 void Vector7C(void) __attribute__((weak, alias("_unhandled_exception")));
265 void Vector80(void) __attribute__((weak, alias("_unhandled_exception")));
266 void Vector84(void) __attribute__((weak, alias("_unhandled_exception")));
267 void Vector88(void) __attribute__((weak, alias("_unhandled_exception")));
268 void Vector8C(void) __attribute__((weak, alias("_unhandled_exception")));
269 void Vector90(void) __attribute__((weak, alias("_unhandled_exception")));
270 void Vector94(void) __attribute__((weak, alias("_unhandled_exception")));
271 void Vector98(void) __attribute__((weak, alias("_unhandled_exception")));
272 void Vector9C(void) __attribute__((weak, alias("_unhandled_exception")));
273 void VectorA0(void) __attribute__((weak, alias("_unhandled_exception")));
274 void VectorA4(void) __attribute__((weak, alias("_unhandled_exception")));
275 void VectorA8(void) __attribute__((weak, alias("_unhandled_exception")));
276 void VectorAC(void) __attribute__((weak, alias("_unhandled_exception")));
277 void VectorB0(void) __attribute__((weak, alias("_unhandled_exception")));
278 void VectorB4(void) __attribute__((weak, alias("_unhandled_exception")));
279 void VectorB8(void) __attribute__((weak, alias("_unhandled_exception")));
280 void VectorBC(void) __attribute__((weak, alias("_unhandled_exception")));
281 void VectorC0(void) __attribute__((weak, alias("_unhandled_exception")));
282 void VectorC4(void) __attribute__((weak, alias("_unhandled_exception")));
283 void VectorC8(void) __attribute__((weak, alias("_unhandled_exception")));
284 void VectorCC(void) __attribute__((weak, alias("_unhandled_exception")));
285 void VectorD0(void) __attribute__((weak, alias("_unhandled_exception")));
286 void VectorD4(void) __attribute__((weak, alias("_unhandled_exception")));
287 void VectorD8(void) __attribute__((weak, alias("_unhandled_exception")));
288 void VectorDC(void) __attribute__((weak, alias("_unhandled_exception")));
289 void VectorE0(void) __attribute__((weak, alias("_unhandled_exception")));
290 void VectorE4(void) __attribute__((weak, alias("_unhandled_exception")));
291 void VectorE8(void) __attribute__((weak, alias("_unhandled_exception")));
292 void VectorEC(void) __attribute__((weak, alias("_unhandled_exception")));
293 void VectorF0(void) __attribute__((weak, alias("_unhandled_exception")));
294 void VectorF4(void) __attribute__((weak, alias("_unhandled_exception")));
295 void VectorF8(void) __attribute__((weak, alias("_unhandled_exception")));
296 void VectorFC(void) __attribute__((weak, alias("_unhandled_exception")));
297 void Vector100(void) __attribute__((weak, alias("_unhandled_exception")));
298 void Vector104(void) __attribute__((weak, alias("_unhandled_exception")));
299 void Vector108(void) __attribute__((weak, alias("_unhandled_exception")));
300 void Vector10C(void) __attribute__((weak, alias("_unhandled_exception")));
301 void Vector110(void) __attribute__((weak, alias("_unhandled_exception")));
302 void Vector114(void) __attribute__((weak, alias("_unhandled_exception")));
303 void Vector118(void) __attribute__((weak, alias("_unhandled_exception")));
304 void Vector11C(void) __attribute__((weak, alias("_unhandled_exception")));
305 void Vector120(void) __attribute__((weak, alias("_unhandled_exception")));
306 void Vector124(void) __attribute__((weak, alias("_unhandled_exception")));
307 void Vector128(void) __attribute__((weak, alias("_unhandled_exception")));
308 void Vector12C(void) __attribute__((weak, alias("_unhandled_exception")));
309 void Vector130(void) __attribute__((weak, alias("_unhandled_exception")));
310 void Vector134(void) __attribute__((weak, alias("_unhandled_exception")));
311 void Vector138(void) __attribute__((weak, alias("_unhandled_exception")));
312 void Vector13C(void) __attribute__((weak, alias("_unhandled_exception")));
313 void Vector140(void) __attribute__((weak, alias("_unhandled_exception")));
314 void Vector144(void) __attribute__((weak, alias("_unhandled_exception")));
315 void Vector148(void) __attribute__((weak, alias("_unhandled_exception")));
316 void Vector14C(void) __attribute__((weak, alias("_unhandled_exception")));
317 void Vector150(void) __attribute__((weak, alias("_unhandled_exception")));
318 void Vector154(void) __attribute__((weak, alias("_unhandled_exception")));
319 void Vector158(void) __attribute__((weak, alias("_unhandled_exception")));
320 void Vector15C(void) __attribute__((weak, alias("_unhandled_exception")));
321 void Vector160(void) __attribute__((weak, alias("_unhandled_exception")));
322 void Vector164(void) __attribute__((weak, alias("_unhandled_exception")));
323 void Vector168(void) __attribute__((weak, alias("_unhandled_exception")));
324 void Vector16C(void) __attribute__((weak, alias("_unhandled_exception")));
325 void Vector170(void) __attribute__((weak, alias("_unhandled_exception")));
326 void Vector174(void) __attribute__((weak, alias("_unhandled_exception")));
327 void Vector178(void) __attribute__((weak, alias("_unhandled_exception")));
328 void Vector17C(void) __attribute__((weak, alias("_unhandled_exception")));
329 void Vector180(void) __attribute__((weak, alias("_unhandled_exception")));
330 void Vector184(void) __attribute__((weak, alias("_unhandled_exception")));
331 
332 
333 void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress)
334 {
335  /* These are volatile to try and prevent the compiler/linker optimising them
336  away as the variables never actually get used. If the debugger won't show the
337  values of the variables, make them global my moving their declaration outside
338  of this function. */
339 
340  /*
341  When entering hard fault, the stm32 push the value of register on the stack, and loop forever.
342  You can easily retrieve address of faulty instruction in variable pc,
343  status in variable psr.
344 
345  in gdb, after when hard-fault is triggered, you just have to type some commands :
346 
347  ° print /x pc => retrieve instruction
348  ° info line *pc : see the source code of the line which has triggered exception
349  ° disassemble pc : see the assembly of the address which has triggered exception
350  */
351 
352  volatile uint32_t r0 __attribute__((unused));
353  volatile uint32_t r1 __attribute__((unused));
354  volatile uint32_t r2 __attribute__((unused));
355  volatile uint32_t r3 __attribute__((unused));
356  volatile uint32_t r12 __attribute__((unused));
357  volatile uint32_t lr __attribute__((unused)); /* Link register. */
358  volatile uint32_t pc __attribute__((unused)); /* Program counter. */
359  volatile uint32_t psr __attribute__((unused));/* Program status register. */
360 
361  r0 = pulFaultStackAddress[ 0 ];
362  r1 = pulFaultStackAddress[ 1 ];
363  r2 = pulFaultStackAddress[ 2 ];
364  r3 = pulFaultStackAddress[ 3 ];
365 
366  r12 = pulFaultStackAddress[ 4 ];
367  lr = pulFaultStackAddress[ 5 ];
368  pc = pulFaultStackAddress[ 6 ];
369  psr = pulFaultStackAddress[ 7 ];
370 
371  /* When the following line is hit, the variables contain the register values. */
372  while (1);
373 }
374 
vectors_t::vector1c
irq_vector_t vector1c
Definition: stm32f4_chibios_vectors.c:52
Vector6C
void Vector6C(void)
irq_vector_t
void(* irq_vector_t)(void)
Type of an IRQ vector.
Definition: stm32f4_chibios_vectors.c:36
vectors_t::vector20
irq_vector_t vector20
Definition: stm32f4_chibios_vectors.c:53
vectors_t::vector28
irq_vector_t vector28
Definition: stm32f4_chibios_vectors.c:55
__main_stack_end__
uint32_t __main_stack_end__
VectorB8
void VectorB8(void)
VectorC0
void VectorC0(void)
Vector158
void Vector158(void)
Vector24
void Vector24(void)
VectorEC
void VectorEC(void)
ResetHandler
void ResetHandler(void)
stm32f4_chibios_vectors.h
Vector1C
void Vector1C(void)
Vector34
void Vector34(void)
Vector11C
void Vector11C(void)
vectors_t::systick_vector
irq_vector_t systick_vector
Definition: stm32f4_chibios_vectors.c:60
Vector12C
void Vector12C(void)
VectorDC
void VectorDC(void)
VectorAC
void VectorAC(void)
Vector130
void Vector130(void)
Vector20
void Vector20(void)
Vector168
void Vector168(void)
Vector98
void Vector98(void)
HardwareFault_USAGE
Definition: stm32f4_chibios_vectors.c:37
MemManageVector
void MemManageVector(void)
_unhandled_exception_NMIVector
void _unhandled_exception_NMIVector(void)
Definition: stm32f4_chibios_vectors.c:214
HardwareFault_NONE
Definition: stm32f4_chibios_vectors.c:37
Vector178
void Vector178(void)
Vector134
void Vector134(void)
DebugMonitorVector
void DebugMonitorVector(void)
_unhandled_exception_UsageFaultVector
void _unhandled_exception_UsageFaultVector(void)
Definition: stm32f4_chibios_vectors.c:229
Vector124
void Vector124(void)
_vectors
vectors_t _vectors
STM32 vectors table.
Definition: stm32f4_chibios_vectors.c:175
VectorBC
void VectorBC(void)
Vector120
void Vector120(void)
Vector60
void Vector60(void)
HardwareFault_MEM
Definition: stm32f4_chibios_vectors.c:37
VectorA4
void VectorA4(void)
PendSVVector
void PendSVVector(void)
Vector40
void Vector40(void)
vectors_t::reset_vector
irq_vector_t reset_vector
Definition: stm32f4_chibios_vectors.c:46
Vector14C
void Vector14C(void)
Vector80
void Vector80(void)
VectorD8
void VectorD8(void)
vectors_t
Type of a structure representing the whole vectors table.
Definition: stm32f4_chibios_vectors.c:44
VectorC4
void VectorC4(void)
_unhandled_exception_BusFaultVector
void _unhandled_exception_BusFaultVector(void)
Definition: stm32f4_chibios_vectors.c:224
Vector15C
void Vector15C(void)
Vector164
void Vector164(void)
Vector4C
void Vector4C(void)
TRUE
#define TRUE
Definition: std.h:4
vectors_t::vector34
irq_vector_t vector34
Definition: stm32f4_chibios_vectors.c:58
Vector118
void Vector118(void)
Vector128
void Vector128(void)
Vector84
void Vector84(void)
Vector9C
void Vector9C(void)
VectorFC
void VectorFC(void)
Vector78
void Vector78(void)
Vector138
void Vector138(void)
VectorF4
void VectorF4(void)
Vector140
void Vector140(void)
Vector70
void Vector70(void)
Vector54
void Vector54(void)
vectors_t::hardfault_vector
irq_vector_t hardfault_vector
Definition: stm32f4_chibios_vectors.c:48
SysTickVector
void SysTickVector(void)
vectors_t::nmi_vector
irq_vector_t nmi_vector
Definition: stm32f4_chibios_vectors.c:47
uint32_t
unsigned long uint32_t
Definition: types.h:18
Vector94
void Vector94(void)
VectorF8
void VectorF8(void)
VectorE4
void VectorE4(void)
hardwareFaultType
static enum HardwareFaultType hardwareFaultType
Definition: stm32f4_chibios_vectors.c:38
Vector180
void Vector180(void)
VectorB0
void VectorB0(void)
Vector108
void Vector108(void)
Vector44
void Vector44(void)
prvGetRegistersFromStack
void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress)
Definition: stm32f4_chibios_vectors.c:333
Vector88
void Vector88(void)
Vector90
void Vector90(void)
UsageFaultVector
void UsageFaultVector(void)
HardFaultVector
void HardFaultVector(void)
vectors_t::pendsv_vector
irq_vector_t pendsv_vector
Definition: stm32f4_chibios_vectors.c:59
Vector174
void Vector174(void)
VectorC8
void VectorC8(void)
VectorCC
void VectorCC(void)
HardwareFault_BUS
Definition: stm32f4_chibios_vectors.c:37
Vector148
void Vector148(void)
Vector144
void Vector144(void)
VectorE8
void VectorE8(void)
VectorA8
void VectorA8(void)
HardwareFaultType
HardwareFaultType
Definition: stm32f4_chibios_vectors.c:37
Vector104
void Vector104(void)
Vector184
void Vector184(void)
BusFaultVector
void BusFaultVector(void)
Vector170
void Vector170(void)
vectors_t::usagefault_vector
irq_vector_t usagefault_vector
Definition: stm32f4_chibios_vectors.c:51
Vector7C
void Vector7C(void)
Vector100
void Vector100(void)
VectorD4
void VectorD4(void)
VectorD0
void VectorD0(void)
Vector58
void Vector58(void)
vectors_t::busfault_vector
irq_vector_t busfault_vector
Definition: stm32f4_chibios_vectors.c:50
_unhandled_exception
static void _unhandled_exception(void)
Unhandled exceptions handler.
Definition: stm32f4_chibios_vectors.c:198
Vector68
void Vector68(void)
vectors_t::init_stack
uint32_t * init_stack
Definition: stm32f4_chibios_vectors.c:45
Vector160
void Vector160(void)
Vector150
void Vector150(void)
Vector28
void Vector28(void)
VectorF0
void VectorF0(void)
Vector64
void Vector64(void)
Vector74
void Vector74(void)
Vector16C
void Vector16C(void)
Vector13C
void Vector13C(void)
_unhandled_exception_MemManageVector
void _unhandled_exception_MemManageVector(void)
Definition: stm32f4_chibios_vectors.c:219
Vector48
void Vector48(void)
vectors_t::vector24
irq_vector_t vector24
Definition: stm32f4_chibios_vectors.c:54
Vector50
void Vector50(void)
Vector10C
void Vector10C(void)
VectorB4
void VectorB4(void)
NMIVector
void NMIVector(void)
VectorA0
void VectorA0(void)
SVCallVector
void SVCallVector(void)
vectors_t::memmanage_vector
irq_vector_t memmanage_vector
Definition: stm32f4_chibios_vectors.c:49
Vector17C
void Vector17C(void)
Vector114
void Vector114(void)
Vector8C
void Vector8C(void)
vectors_t::debugmonitor_vector
irq_vector_t debugmonitor_vector
Definition: stm32f4_chibios_vectors.c:57
VectorE0
void VectorE0(void)
vectors_t::svcall_vector
irq_vector_t svcall_vector
Definition: stm32f4_chibios_vectors.c:56
Vector5C
void Vector5C(void)
Vector154
void Vector154(void)
Vector110
void Vector110(void)