Added detection of case when no unwind tables are available
This commit is contained in:
etagle
parent
b210bdf032
commit
c3b23974bd
3 changed files with 228 additions and 72 deletions
|
|
@ -114,7 +114,9 @@ static void TXDec(uint32_t v) {
|
|||
|
||||
// Dump a backtrace entry
|
||||
static void backtrace_dump_fn(int idx, const backtrace_t* bte, void* ctx) {
|
||||
TX('#'); TXDec(idx); TX(' '); TX(bte->name); TX(" @ ");TXHex((uint32_t)bte->address); TX('\n');
|
||||
TX('#'); TXDec(idx); TX(' ');
|
||||
TX(bte->name); TX('@');TXHex((uint32_t)bte->function); TX('+'); TXDec((uint32_t)bte->address - (uint32_t)bte->function);
|
||||
TX(" PC:");TXHex((uint32_t)bte->address); TX('\n');
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -176,6 +178,19 @@ void HardFault_HandlerC(unsigned long *hardfault_args, unsigned long cause) {
|
|||
btf.pc = ((unsigned long)hardfault_args[6]);
|
||||
backtrace_dump(&btf, backtrace_dump_fn, nullptr);
|
||||
|
||||
// Disable all NVIC interrupts
|
||||
NVIC->ICER[0] = 0xFFFFFFFF;
|
||||
NVIC->ICER[1] = 0xFFFFFFFF;
|
||||
|
||||
// Relocate VTOR table to default position
|
||||
SCB->VTOR = 0;
|
||||
|
||||
// Disable USB
|
||||
otg_disable();
|
||||
|
||||
// Restart watchdog
|
||||
WDT_Restart(WDT);
|
||||
|
||||
// Reset controller
|
||||
NVIC_SystemReset();
|
||||
while(1) { WDT_Restart(WDT); }
|
||||
|
|
|
|||
|
|
@ -6,9 +6,9 @@
|
|||
* 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/.
|
||||
*
|
||||
* This library was modified and adapted to be used in Marlin 3D printer
|
||||
* firmware as backtracer for exceptions for debugging purposes in 2018
|
||||
* by Eduardo José Tagle.
|
||||
* This library was modified, some bugs fixed, stack address validated
|
||||
* and adapted to be used in Marlin 3D printer firmware as backtracer
|
||||
* for exceptions for debugging purposes in 2018 by Eduardo José Tagle.
|
||||
*/
|
||||
|
||||
#ifdef ARDUINO_ARCH_SAM
|
||||
|
|
@ -43,10 +43,30 @@ void __aeabi_unwind_cpp_pr2(void) {};
|
|||
extern const int _sstack;
|
||||
extern const int _estack;
|
||||
|
||||
/* Validate stack pointer */
|
||||
/* These symbols point to the start and end of the code section */
|
||||
extern const int _sfixed;
|
||||
extern const int _efixed;
|
||||
|
||||
/* These symbols point to the start and end of initialized data (could be SRAM functions!) */
|
||||
extern const int _srelocate;
|
||||
extern const int _erelocate;
|
||||
|
||||
/* Validate stack pointer (SP): It must be in the stack area */
|
||||
static inline __attribute__((always_inline)) int validate_sp(const void* sp) {
|
||||
if ((uint32_t)sp < (uint32_t)&_sstack || (uint32_t)sp > (uint32_t)&_estack)
|
||||
// SP must point into the allocated stack area
|
||||
if ((uint32_t)sp >= (uint32_t)&_sstack && (uint32_t)sp <= (uint32_t)&_estack)
|
||||
return 0;
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Validate code pointer (PC): It must be either in TEXT or in SRAM */
|
||||
static inline __attribute__((always_inline)) int validate_pc(const void* pc) {
|
||||
// PC must point into the text (CODE) area
|
||||
if ((uint32_t)pc >= (uint32_t)&_sfixed && (uint32_t)pc <= (uint32_t)&_efixed)
|
||||
return 0;
|
||||
// Or into the SRAM function area
|
||||
if ((uint32_t)pc >= (uint32_t)&_srelocate && (uint32_t)pc <= (uint32_t)&_erelocate)
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -103,11 +123,11 @@ static int unwind_control_block_init(unwind_control_block_t *ucb, const uint32_t
|
|||
memset(ucb, 0, sizeof(unwind_control_block_t));
|
||||
ucb->current = instructions;
|
||||
|
||||
/* Is the a short unwind description */
|
||||
/* Is a short unwind description */
|
||||
if ((*instructions & 0xff000000) == 0x80000000) {
|
||||
ucb->remaining = 3;
|
||||
ucb->byte = 2;
|
||||
/* Is the a long unwind description */
|
||||
/* Is a long unwind description */
|
||||
} else if ((*instructions & 0xff000000) == 0x81000000) {
|
||||
ucb->remaining = ((*instructions & 0x00ff0000) >> 14) + 2;
|
||||
ucb->byte = 1;
|
||||
|
|
@ -115,12 +135,10 @@ static int unwind_control_block_init(unwind_control_block_t *ucb, const uint32_t
|
|||
return -1;
|
||||
|
||||
/* Initialize the virtual register set */
|
||||
if (frame) {
|
||||
ucb->vrs[7] = frame->fp;
|
||||
ucb->vrs[13] = frame->sp;
|
||||
ucb->vrs[14] = frame->lr;
|
||||
ucb->vrs[15] = 0;
|
||||
}
|
||||
|
||||
/* All good */
|
||||
return 0;
|
||||
|
|
@ -136,46 +154,49 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
|
|||
/* Consume all instruction byte */
|
||||
while ((instruction = unwind_get_next_byte(ucb)) != -1) {
|
||||
|
||||
if ((instruction & 0xc0) == 0x00) {
|
||||
if ((instruction & 0xc0) == 0x00) { // ARM_EXIDX_CMD_DATA_POP
|
||||
/* vsp = vsp + (xxxxxx << 2) + 4 */
|
||||
ucb->vrs[13] += ((instruction & 0x3f) << 2) + 4;
|
||||
|
||||
} else if ((instruction & 0xc0) == 0x40) {
|
||||
} else
|
||||
if ((instruction & 0xc0) == 0x40) { // ARM_EXIDX_CMD_DATA_PUSH
|
||||
/* vsp = vsp - (xxxxxx << 2) - 4 */
|
||||
ucb->vrs[13] -= ((instruction & 0x3f) << 2) - 4;
|
||||
|
||||
} else if ((instruction & 0xf0) == 0x80) {
|
||||
} else
|
||||
if ((instruction & 0xf0) == 0x80) {
|
||||
/* pop under mask {r15-r12},{r11-r4} or refuse to unwind */
|
||||
instruction = instruction << 8 | unwind_get_next_byte(ucb);
|
||||
|
||||
/* Check for refuse to unwind */
|
||||
if (instruction == 0x8000)
|
||||
if (instruction == 0x8000) // ARM_EXIDX_CMD_REFUSED
|
||||
return 0;
|
||||
|
||||
/* Pop registers using mask */
|
||||
/* Pop registers using mask */ // ARM_EXIDX_CMD_REG_POP
|
||||
vsp = (uint32_t *)ucb->vrs[13];
|
||||
mask = instruction & 0xfff;
|
||||
|
||||
reg = 4;
|
||||
while (mask != 0) {
|
||||
if ((mask & 0x001) != 0) {
|
||||
while (mask) {
|
||||
if ((mask & 1) != 0) {
|
||||
if (validate_sp(vsp))
|
||||
return -1;
|
||||
ucb->vrs[reg] = *vsp++;
|
||||
}
|
||||
mask = mask >> 1;
|
||||
mask >>= 1;
|
||||
++reg;
|
||||
}
|
||||
|
||||
/* Patch up the vrs sp if it was in the mask */
|
||||
if ((mask & (1 << (13 - 4))) != 0)
|
||||
if ((instruction & (1 << (13 - 4))) != 0)
|
||||
ucb->vrs[13] = (uint32_t)vsp;
|
||||
|
||||
} else if ((instruction & 0xf0) == 0x90 && instruction != 0x9d && instruction != 0x9f) {
|
||||
} else
|
||||
if ((instruction & 0xf0) == 0x90 && // ARM_EXIDX_CMD_REG_TO_SP
|
||||
instruction != 0x9d &&
|
||||
instruction != 0x9f) {
|
||||
/* vsp = r[nnnn] */
|
||||
ucb->vrs[13] = ucb->vrs[instruction & 0x0f];
|
||||
|
||||
} else if ((instruction & 0xf0) == 0xa0) {
|
||||
} else
|
||||
if ((instruction & 0xf0) == 0xa0) { // ARM_EXIDX_CMD_REG_POP
|
||||
/* pop r4-r[4+nnn] or pop r4-r[4+nnn], r14*/
|
||||
vsp = (uint32_t *)ucb->vrs[13];
|
||||
|
||||
|
|
@ -185,7 +206,7 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
|
|||
ucb->vrs[reg] = *vsp++;
|
||||
}
|
||||
|
||||
if (instruction & 0x80) {
|
||||
if (instruction & 0x08) { // ARM_EXIDX_CMD_REG_POP
|
||||
if (validate_sp(vsp))
|
||||
return -1;
|
||||
ucb->vrs[14] = *vsp++;
|
||||
|
|
@ -193,7 +214,8 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
|
|||
|
||||
ucb->vrs[13] = (uint32_t)vsp;
|
||||
|
||||
} else if (instruction == 0xb0) {
|
||||
} else
|
||||
if (instruction == 0xb0) { // ARM_EXIDX_CMD_FINISH
|
||||
/* finished */
|
||||
if (ucb->vrs[15] == 0)
|
||||
ucb->vrs[15] = ucb->vrs[14];
|
||||
|
|
@ -201,28 +223,34 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
|
|||
/* All done unwinding */
|
||||
return 0;
|
||||
|
||||
} else if (instruction == 0xb1) {
|
||||
} else
|
||||
if (instruction == 0xb1) { // ARM_EXIDX_CMD_REG_POP
|
||||
/* pop register under mask {r3,r2,r1,r0} */
|
||||
vsp = (uint32_t *)ucb->vrs[13];
|
||||
mask = unwind_get_next_byte(ucb);
|
||||
|
||||
reg = 0;
|
||||
while (mask != 0) {
|
||||
if ((mask & 0x01) != 0) {
|
||||
while (mask) {
|
||||
if ((mask & 1) != 0) {
|
||||
if (validate_sp(vsp))
|
||||
return -1;
|
||||
ucb->vrs[reg] = *vsp++;
|
||||
}
|
||||
mask = mask >> 1;
|
||||
mask >>= 1;
|
||||
++reg;
|
||||
}
|
||||
ucb->vrs[13] = (uint32_t)vsp;
|
||||
|
||||
} else if (instruction == 0xb2) {
|
||||
} else
|
||||
if (instruction == 0xb2) { // ARM_EXIDX_CMD_DATA_POP
|
||||
/* vps = vsp + 0x204 + (uleb128 << 2) */
|
||||
ucb->vrs[13] += 0x204 + (unwind_get_next_byte(ucb) << 2);
|
||||
|
||||
} else if (instruction == 0xb3 || instruction == 0xc8 || instruction == 0xc9) {
|
||||
} else
|
||||
if (instruction == 0xb3 || // ARM_EXIDX_CMD_VFP_POP
|
||||
instruction == 0xc8 ||
|
||||
instruction == 0xc9) {
|
||||
|
||||
/* pop VFP double-precision registers */
|
||||
vsp = (uint32_t *)ucb->vrs[13];
|
||||
|
||||
|
|
@ -243,7 +271,10 @@ static int unwind_execute_instruction(unwind_control_block_t *ucb) {
|
|||
|
||||
ucb->vrs[13] = (uint32_t)vsp;
|
||||
|
||||
} else if ((instruction & 0xf8) == 0xb8 || (instruction & 0xf8) == 0xd0) {
|
||||
} else
|
||||
if ((instruction & 0xf8) == 0xb8 ||
|
||||
(instruction & 0xf8) == 0xd0) {
|
||||
|
||||
/* Pop VFP double precision registers D[8]-D[8+nnn] */
|
||||
ucb->vrs[14] = 0x80 | (instruction & 0x07);
|
||||
|
||||
|
|
@ -296,7 +327,7 @@ static int unwind_frame(backtrace_frame_t *frame) {
|
|||
if (unwind_control_block_init(&ucb, instructions, frame) < 0)
|
||||
return -1;
|
||||
|
||||
/* Execute the unwind instructions TODO range check the stack pointer */
|
||||
/* Execute the unwind instructions */
|
||||
while ((execution_result = unwind_execute_instruction(&ucb)) > 0);
|
||||
if (execution_result == -1)
|
||||
return -1;
|
||||
|
|
@ -332,8 +363,7 @@ static int unwind_frame(backtrace_frame_t *frame) {
|
|||
stack -= 2;
|
||||
|
||||
/* If there was a VFP exception (0xffffffe1), the PC is located another 18 words down */
|
||||
if ((ucb.vrs[15] & 0xf0) == 0xe0)
|
||||
{
|
||||
if ((ucb.vrs[15] & 0xf0) == 0xe0) {
|
||||
stack -= 18;
|
||||
}
|
||||
}
|
||||
|
|
@ -366,12 +396,110 @@ static int unwind_frame(backtrace_frame_t *frame) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
// Detect if function names are available
|
||||
static int __attribute__ ((noinline)) has_function_names(void) {
|
||||
uint32_t flag_word = ((uint32_t*)&has_function_names)[-1];
|
||||
return ((flag_word & 0xff000000) == 0xff000000) ? 1 : 0;
|
||||
}
|
||||
|
||||
// Detect if unwind information is present or not
|
||||
static int has_unwind_info(void) {
|
||||
return ((char*)(&__exidx_end) - (char*)(&__exidx_start)) > 16 ? 1 : 0; // 16 because there are default entries we can´t supress
|
||||
}
|
||||
|
||||
int backtrace_dump(backtrace_frame_t *frame, backtrace_dump_fn_t dump_entry, void* ctx )
|
||||
{
|
||||
backtrace_t entry;
|
||||
int count = 1;
|
||||
|
||||
/* Unwind all frames */
|
||||
/* If there is no unwind information, perform a RAW try at it. Idea was taken from
|
||||
* https://stackoverflow.com/questions/3398664/how-to-get-a-call-stack-backtrace-deeply-embedded-no-library-support
|
||||
*
|
||||
* And requires code to be compiled with the following flags:
|
||||
* -mtpcs-frame -mtpcs-leaf-frame -fno-omit-frame-pointer
|
||||
* With these options, the Stack pointer is automatically
|
||||
* pushed to the stack at the beginning of each function.
|
||||
*/
|
||||
if (!has_unwind_info()) {
|
||||
|
||||
/*
|
||||
* We basically iterate through the current stack finding the
|
||||
* following combination of values:
|
||||
* - <Frame Address>
|
||||
* - <Link Address>
|
||||
* This combination will occur for each function in the call stack
|
||||
*/
|
||||
|
||||
uint32_t previous_frame_address = (uint32_t)frame->sp;
|
||||
uint32_t* stack_pointer = (uint32_t*)frame->sp;
|
||||
|
||||
// loop following stack frames
|
||||
while (1) {
|
||||
|
||||
// Validate stack address
|
||||
if (validate_sp(stack_pointer))
|
||||
break;
|
||||
|
||||
// Attempt to obtain next stack pointer
|
||||
// The link address should come immediately after
|
||||
const uint32_t possible_frame_address = *stack_pointer;
|
||||
const uint32_t possible_link_address = *(stack_pointer+1);
|
||||
|
||||
// Next check that the frame addresss (i.e. stack pointer for the function)
|
||||
// and Link address are within an acceptable range
|
||||
if(possible_frame_address > previous_frame_address &&
|
||||
validate_sp((const void *)possible_frame_address) == 0 &&
|
||||
(possible_link_address & 1) != 0 && // in THUMB mode the address will be odd
|
||||
validate_pc((const void *)possible_link_address) == 0) {
|
||||
|
||||
// We found two acceptable values.
|
||||
entry.name = "unknown";
|
||||
entry.address = (void*)possible_link_address;
|
||||
entry.function = 0;
|
||||
|
||||
// If there are function names, try to solve name
|
||||
if (has_function_names()) {
|
||||
// Lets find the function name, if possible
|
||||
|
||||
// Align address to 4 bytes
|
||||
uint32_t* pf = (uint32_t*) (((uint32_t)possible_link_address) & (-4));
|
||||
|
||||
// Scan backwards until we find the function name
|
||||
while(validate_pc(pf-1) == 0) {
|
||||
|
||||
// Get name descriptor value
|
||||
uint32_t v = pf[-1];
|
||||
|
||||
// Check if name descriptor is valid and name is terminated in 0.
|
||||
if ((v & 0xffffff00) == 0xff000000 &&
|
||||
(v & 0xff) > 1) {
|
||||
|
||||
// Assume the name was found!
|
||||
entry.name = ((const char*)pf) - 4 - (v & 0xff);
|
||||
entry.function = (void*)pf;
|
||||
break;
|
||||
}
|
||||
|
||||
// Go backwards to the previous word
|
||||
--pf;
|
||||
}
|
||||
}
|
||||
dump_entry(count, &entry, ctx);
|
||||
++count;
|
||||
|
||||
// Update the book-keeping registers for the next search
|
||||
previous_frame_address = possible_frame_address;
|
||||
stack_pointer = (uint32_t*)(possible_frame_address + 4);
|
||||
|
||||
} else {
|
||||
// Keep iterating through the stack until we find an acceptable combination
|
||||
++stack_pointer;
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
|
||||
/* Otherwise, unwind information is present. Use it to unwind frames */
|
||||
do {
|
||||
if (frame->pc == 0) {
|
||||
/* Reached __exidx_end. */
|
||||
|
|
@ -407,6 +535,7 @@ int backtrace_dump(backtrace_frame_t *frame, backtrace_dump_fn_t dump_entry, voi
|
|||
++count;
|
||||
|
||||
} while (unwind_frame(frame) == 1);
|
||||
}
|
||||
|
||||
/* All done */
|
||||
return count;
|
||||
|
|
|
|||
|
|
@ -97,6 +97,18 @@ lib_deps = ${common.lib_deps}
|
|||
lib_ignore = c1921b4
|
||||
src_filter = ${common.default_src_filter}
|
||||
monitor_baud = 250000
|
||||
[env:DUE_debug]
|
||||
# Used when WATCHDOG_RESET_MANUAL is enabled
|
||||
platform = atmelsam
|
||||
framework = arduino
|
||||
board = due
|
||||
build_flags = ${common.build_flags}
|
||||
-funwind-tables
|
||||
-mpoke-function-name
|
||||
lib_deps = ${common.lib_deps}
|
||||
lib_ignore = c1921b4
|
||||
src_filter = ${common.default_src_filter}
|
||||
monitor_baud = 250000
|
||||
|
||||
#
|
||||
# NXP LPC1768 ARM Cortex-M3
|
||||
|
|
|
|||
Loading…
Reference in a new issue