Browse Source
* Add traceback after watchdog timeout Add the cpability to perform a traceback following a watchdog timeout. * Enhanced hardware SPI Allow use of either SSP0 or SSP1. Ensure that no data is left in I/O buffers after calls to enable sharing of SSP hardware. * Make flash emulation of eeprom the default Make use of flash for eeprom storage the default. This means that usage of eeprom will not cause USB drive mount/unmount operations. * Allow sharing of SD card SD card I/O operations from the USB stack take place in idle loop, rather than at interrupt time. Allowing sharing of the SPI bus. New configuration options to allow usage of the SD card to be specified. * Fix problem with hardware SPI pinspull/1/head
Andy Shaw
6 years ago
committed by
Christopher Pepper
Christopher Pepper
14 changed files with 527 additions and 77 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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#ifdef TARGET_LPC1768 |
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#include "../../core/macros.h" |
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#include "../../core/serial.h" |
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#include <stdarg.h> |
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#include "../shared/backtrace/unwinder.h" |
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#include "../shared/backtrace/unwmemaccess.h" |
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#include "watchdog.h" |
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#include <debug_frmwrk.h> |
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// Debug monitor that dumps to the Programming port all status when
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// an exception or WDT timeout happens - And then resets the board
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// All the Monitor routines must run with interrupts disabled and
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// under an ISR execution context. That is why we cannot reuse the
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// Serial interrupt routines or any C runtime, as we don't know the
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// state we are when running them
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// A SW memory barrier, to ensure GCC does not overoptimize loops
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#define sw_barrier() __asm__ volatile("": : :"memory"); |
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// (re)initialize UART0 as a monitor output to 250000,n,8,1
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static void TXBegin(void) { |
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} |
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// Send character through UART with no interrupts
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static void TX(char c) { |
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_DBC(c); |
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} |
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// Send String through UART
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static void TX(const char* s) { |
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while (*s) TX(*s++); |
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} |
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static void TXDigit(uint32_t d) { |
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if (d < 10) TX((char)(d+'0')); |
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else if (d < 16) TX((char)(d+'A'-10)); |
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else TX('?'); |
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} |
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// Send Hex number thru UART
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static void TXHex(uint32_t v) { |
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TX("0x"); |
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for (uint8_t i = 0; i < 8; i++, v <<= 4) |
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TXDigit((v >> 28) & 0xF); |
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} |
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// Send Decimal number thru UART
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static void TXDec(uint32_t v) { |
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if (!v) { |
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TX('0'); |
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return; |
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} |
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char nbrs[14]; |
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char *p = &nbrs[0]; |
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while (v != 0) { |
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*p++ = '0' + (v % 10); |
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v /= 10; |
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} |
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do { |
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p--; |
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TX(*p); |
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} while (p != &nbrs[0]); |
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} |
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// Dump a backtrace entry
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static bool UnwReportOut(void* ctx, const UnwReport* bte) { |
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int* p = (int*)ctx; |
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(*p)++; |
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TX('#'); TXDec(*p); TX(" : "); |
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TX(bte->name?bte->name:"unknown"); TX('@'); TXHex(bte->function); |
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TX('+'); TXDec(bte->address - bte->function); |
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TX(" PC:");TXHex(bte->address); TX('\n'); |
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return true; |
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} |
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#ifdef UNW_DEBUG |
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void UnwPrintf(const char* format, ...) { |
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char dest[256]; |
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va_list argptr; |
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va_start(argptr, format); |
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vsprintf(dest, format, argptr); |
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va_end(argptr); |
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TX(&dest[0]); |
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} |
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#endif |
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/* Table of function pointers for passing to the unwinder */ |
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static const UnwindCallbacks UnwCallbacks = { |
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UnwReportOut, |
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UnwReadW, |
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UnwReadH, |
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UnwReadB |
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#if defined(UNW_DEBUG) |
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,UnwPrintf |
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#endif |
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}; |
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/**
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* HardFaultHandler_C: |
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* This is called from the HardFault_HandlerAsm with a pointer the Fault stack |
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* as the parameter. We can then read the values from the stack and place them |
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* into local variables for ease of reading. |
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* We then read the various Fault Status and Address Registers to help decode |
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* cause of the fault. |
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* The function ends with a BKPT instruction to force control back into the debugger |
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*/ |
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extern "C" |
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void HardFault_HandlerC(unsigned long *sp, unsigned long lr, unsigned long cause) { |
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static const char* causestr[] = { |
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"NMI","Hard","Mem","Bus","Usage","Debug","WDT","RSTC" |
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}; |
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UnwindFrame btf; |
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// Dump report to the Programming port (interrupts are DISABLED)
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TXBegin(); |
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TX("\n\n## Software Fault detected ##\n"); |
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TX("Cause: "); TX(causestr[cause]); TX('\n'); |
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TX("R0 : "); TXHex(((unsigned long)sp[0])); TX('\n'); |
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TX("R1 : "); TXHex(((unsigned long)sp[1])); TX('\n'); |
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TX("R2 : "); TXHex(((unsigned long)sp[2])); TX('\n'); |
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TX("R3 : "); TXHex(((unsigned long)sp[3])); TX('\n'); |
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TX("R12 : "); TXHex(((unsigned long)sp[4])); TX('\n'); |
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TX("LR : "); TXHex(((unsigned long)sp[5])); TX('\n'); |
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TX("PC : "); TXHex(((unsigned long)sp[6])); TX('\n'); |
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TX("PSR : "); TXHex(((unsigned long)sp[7])); TX('\n'); |
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// Configurable Fault Status Register
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// Consists of MMSR, BFSR and UFSR
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TX("CFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED28)))); TX('\n'); |
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// Hard Fault Status Register
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TX("HFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED2C)))); TX('\n'); |
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// Debug Fault Status Register
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TX("DFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED30)))); TX('\n'); |
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// Auxiliary Fault Status Register
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TX("AFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED3C)))); TX('\n'); |
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// Read the Fault Address Registers. These may not contain valid values.
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// Check BFARVALID/MMARVALID to see if they are valid values
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// MemManage Fault Address Register
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TX("MMAR : "); TXHex((*((volatile unsigned long *)(0xE000ED34)))); TX('\n'); |
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// Bus Fault Address Register
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TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n'); |
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TX("ExcLR: "); TXHex(lr); TX('\n'); |
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TX("ExcSP: "); TXHex((unsigned long)sp); TX('\n'); |
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btf.sp = ((unsigned long)sp) + 8*4; // The original stack pointer
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btf.fp = btf.sp; |
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btf.lr = ((unsigned long)sp[5]); |
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btf.pc = ((unsigned long)sp[6]) | 1; // Force Thumb, as CORTEX only support it
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// Perform a backtrace
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TX("\nBacktrace:\n\n"); |
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int ctr = 0; |
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UnwindStart(&btf, &UnwCallbacks, &ctr); |
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// Disable all NVIC interrupts
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NVIC->ICER[0] = 0xFFFFFFFF; |
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NVIC->ICER[1] = 0xFFFFFFFF; |
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// Relocate VTOR table to default position
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SCB->VTOR = 0; |
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// Clear cause of reset to prevent entering smoothie bootstrap
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HAL_clear_reset_source(); |
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// Restart watchdog
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//WDT_Restart(WDT);
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watchdog_init(); |
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// Reset controller
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NVIC_SystemReset(); |
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while(1) { watchdog_init(); } |
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} |
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extern "C" { |
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__attribute__((naked)) void NMI_Handler(void) { |
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__asm__ __volatile__ ( |
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".syntax unified" "\n\t" |
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A("tst lr, #4") |
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A("ite eq") |
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A("mrseq r0, msp") |
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A("mrsne r0, psp") |
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A("mov r1,lr") |
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A("mov r2,#0") |
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A("b HardFault_HandlerC") |
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); |
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} |
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__attribute__((naked)) void HardFault_Handler(void) { |
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__asm__ __volatile__ ( |
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".syntax unified" "\n\t" |
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A("tst lr, #4") |
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A("ite eq") |
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A("mrseq r0, msp") |
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A("mrsne r0, psp") |
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A("mov r1,lr") |
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A("mov r2,#1") |
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A("b HardFault_HandlerC") |
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); |
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} |
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__attribute__((naked)) void MemManage_Handler(void) { |
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__asm__ __volatile__ ( |
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".syntax unified" "\n\t" |
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A("tst lr, #4") |
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A("ite eq") |
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A("mrseq r0, msp") |
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A("mrsne r0, psp") |
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A("mov r1,lr") |
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A("mov r2,#2") |
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A("b HardFault_HandlerC") |
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); |
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} |
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__attribute__((naked)) void BusFault_Handler(void) { |
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__asm__ __volatile__ ( |
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".syntax unified" "\n\t" |
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A("tst lr, #4") |
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A("ite eq") |
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A("mrseq r0, msp") |
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A("mrsne r0, psp") |
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A("mov r1,lr") |
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A("mov r2,#3") |
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A("b HardFault_HandlerC") |
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); |
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} |
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__attribute__((naked)) void UsageFault_Handler(void) { |
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__asm__ __volatile__ ( |
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".syntax unified" "\n\t" |
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A("tst lr, #4") |
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A("ite eq") |
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A("mrseq r0, msp") |
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A("mrsne r0, psp") |
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A("mov r1,lr") |
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A("mov r2,#4") |
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A("b HardFault_HandlerC") |
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); |
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} |
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__attribute__((naked)) void DebugMon_Handler(void) { |
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__asm__ __volatile__ ( |
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".syntax unified" "\n\t" |
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A("tst lr, #4") |
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A("ite eq") |
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A("mrseq r0, msp") |
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A("mrsne r0, psp") |
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A("mov r1,lr") |
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A("mov r2,#5") |
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A("b HardFault_HandlerC") |
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); |
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} |
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/* This is NOT an exception, it is an interrupt handler - Nevertheless, the framing is the same */ |
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__attribute__((naked)) void WDT_IRQHandler(void) { |
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__asm__ __volatile__ ( |
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".syntax unified" "\n\t" |
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A("tst lr, #4") |
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A("ite eq") |
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A("mrseq r0, msp") |
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A("mrsne r0, psp") |
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A("mov r1,lr") |
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A("mov r2,#6") |
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A("b HardFault_HandlerC") |
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); |
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} |
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__attribute__((naked)) void RSTC_Handler(void) { |
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__asm__ __volatile__ ( |
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".syntax unified" "\n\t" |
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A("tst lr, #4") |
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A("ite eq") |
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A("mrseq r0, msp") |
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A("mrsne r0, psp") |
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A("mov r1,lr") |
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A("mov r2,#7") |
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A("b HardFault_HandlerC") |
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); |
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} |
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} |
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#endif // ARDUINO_ARCH_SAM
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