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Merge pull request #10185 from ejtagle/bugfix-2.0.x

[2.0.x] DUE debugging: Solve WDT startup delay, add traceback & crash report uses programming port baud rate
pull/1/head
Bob-the-Kuhn 7 years ago
committed by GitHub
parent
commit
f7857ac8a8
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
  1. 53
      Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp
  2. 544
      Marlin/src/HAL/HAL_DUE/backtrace/backtrace.c
  3. 53
      Marlin/src/HAL/HAL_DUE/backtrace/backtrace.h
  4. 4
      Marlin/src/HAL/HAL_DUE/usb/usb_task.c
  5. 12
      platformio.ini

53
Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp

@ -24,6 +24,7 @@
#include "../../inc/MarlinConfig.h"
#include "../../Marlin.h"
#include "backtrace/backtrace.h"
// Debug monitor that dumps to the Programming port all status when
// an exception or WDT timeout happens - And then resets the board
@ -57,8 +58,8 @@ static void TXBegin(void) {
// Configure mode: 8bit, No parity, 1 bit stop
UART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;
// Configure baudrate (asynchronous, no oversampling) to 250000 bauds
UART->UART_BRGR = (SystemCoreClock / (250000 << 4));
// Configure baudrate (asynchronous, no oversampling) to BAUDRATE bauds
UART->UART_BRGR = (SystemCoreClock / (BAUDRATE << 4));
// Enable receiver and transmitter
UART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
@ -92,6 +93,32 @@ static void TXHex(uint32_t v) {
}
}
// Send Decimal number thru UART
static void TXDec(uint32_t v) {
if (!v) {
TX('0');
return;
}
char nbrs[14];
char *p = &nbrs[0];
while (v != 0) {
*p++ = '0' + (v % 10);
v /= 10;
}
do {
p--;
TX(*p);
} while (p != &nbrs[0]);
}
// 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->function); TX('+'); TXDec((uint32_t)bte->address - (uint32_t)bte->function);
TX(" PC:");TXHex((uint32_t)bte->address); TX('\n');
}
/**
* HardFaultHandler_C:
* This is called from the HardFault_HandlerAsm with a pointer the Fault stack
@ -142,6 +169,28 @@ void HardFault_HandlerC(unsigned long *hardfault_args, unsigned long cause) {
// Bus Fault Address Register
TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n');
// Perform a backtrace
TX("\nBacktrace:\n\n");
backtrace_frame_t btf;
btf.sp = ((unsigned long)hardfault_args[7]);
btf.fp = btf.sp;
btf.lr = ((unsigned long)hardfault_args[5]);
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); }

544
Marlin/src/HAL/HAL_DUE/backtrace/backtrace.c

@ -0,0 +1,544 @@
/*
* Libbacktrace
* Copyright 2015 Stephen Street <stephen@redrocketcomputing.com>
*
* This Source Code Form is subject to the terms of the Mozilla Public
* 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, 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
#include "backtrace.h"
#include <stdint.h>
#include <string.h>
typedef struct unwind_control_block {
uint32_t vrs[16];
const uint32_t *current;
int remaining;
int byte;
} unwind_control_block_t;
typedef struct unwind_index {
uint32_t addr_offset;
uint32_t insn;
} unwind_index_t;
/* These symbols point to the unwind index and should be provide by the linker script */
extern const unwind_index_t __exidx_start[];
extern const unwind_index_t __exidx_end[];
/* This prevents the linking of libgcc unwinder code */
void __aeabi_unwind_cpp_pr0(void) {};
void __aeabi_unwind_cpp_pr1(void) {};
void __aeabi_unwind_cpp_pr2(void) {};
/* These symbols point to the start and end of stack */
extern const int _sstack;
extern const int _estack;
/* 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) {
// 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;
}
static inline __attribute__((always_inline)) uint32_t prel31_to_addr(const uint32_t *prel31) {
int32_t offset = (((int32_t)(*prel31)) << 1) >> 1;
return ((uint32_t)prel31 + offset) & 0x7fffffff;
}
static const struct unwind_index *unwind_search_index(const unwind_index_t *start, const unwind_index_t *end, uint32_t ip) {
const struct unwind_index *middle;
/* Perform a binary search of the unwind index */
while (start < end - 1) {
middle = start + ((end - start + 1) >> 1);
if (ip < prel31_to_addr(&middle->addr_offset))
end = middle;
else
start = middle;
}
return start;
}
static const char *unwind_get_function_name(void *address) {
uint32_t flag_word = *(uint32_t *)(address - 4);
if ((flag_word & 0xff000000) == 0xff000000) {
return (const char *)(address - 4 - (flag_word & 0x00ffffff));
}
return "unknown";
}
static int unwind_get_next_byte(unwind_control_block_t *ucb) {
int instruction;
/* Are there more instructions */
if (ucb->remaining == 0)
return -1;
/* Extract the current instruction */
instruction = ((*ucb->current) >> (ucb->byte << 3)) & 0xff;
/* Move the next byte */
--ucb->byte;
if (ucb->byte < 0) {
++ucb->current;
ucb->byte = 3;
}
--ucb->remaining;
return instruction;
}
static int unwind_control_block_init(unwind_control_block_t *ucb, const uint32_t *instructions, const backtrace_frame_t *frame) {
/* Initialize control block */
memset(ucb, 0, sizeof(unwind_control_block_t));
ucb->current = instructions;
/* Is a short unwind description */
if ((*instructions & 0xff000000) == 0x80000000) {
ucb->remaining = 3;
ucb->byte = 2;
/* Is a long unwind description */
} else if ((*instructions & 0xff000000) == 0x81000000) {
ucb->remaining = ((*instructions & 0x00ff0000) >> 14) + 2;
ucb->byte = 1;
} else
return -1;
/* Initialize the virtual register set */
ucb->vrs[7] = frame->fp;
ucb->vrs[13] = frame->sp;
ucb->vrs[14] = frame->lr;
ucb->vrs[15] = 0;
/* All good */
return 0;
}
static int unwind_execute_instruction(unwind_control_block_t *ucb) {
int instruction;
uint32_t mask;
uint32_t reg;
uint32_t *vsp;
/* Consume all instruction byte */
while ((instruction = unwind_get_next_byte(ucb)) != -1) {
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) { // ARM_EXIDX_CMD_DATA_PUSH
/* vsp = vsp - (xxxxxx << 2) - 4 */
ucb->vrs[13] -= ((instruction & 0x3f) << 2) - 4;
} 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) // ARM_EXIDX_CMD_REFUSED
return 0;
/* Pop registers using mask */ // ARM_EXIDX_CMD_REG_POP
vsp = (uint32_t *)ucb->vrs[13];
mask = instruction & 0xfff;
reg = 4;
while (mask) {
if ((mask & 1) != 0) {
if (validate_sp(vsp))
return -1;
ucb->vrs[reg] = *vsp++;
}
mask >>= 1;
++reg;
}
/* Patch up the vrs sp if it was in the mask */
if ((instruction & (1 << (13 - 4))) != 0)
ucb->vrs[13] = (uint32_t)vsp;
} 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) { // ARM_EXIDX_CMD_REG_POP
/* pop r4-r[4+nnn] or pop r4-r[4+nnn], r14*/
vsp = (uint32_t *)ucb->vrs[13];
for (reg = 4; reg <= (instruction & 0x07) + 4; ++reg) {
if (validate_sp(vsp))
return -1;
ucb->vrs[reg] = *vsp++;
}
if (instruction & 0x08) { // ARM_EXIDX_CMD_REG_POP
if (validate_sp(vsp))
return -1;
ucb->vrs[14] = *vsp++;
}
ucb->vrs[13] = (uint32_t)vsp;
} else
if (instruction == 0xb0) { // ARM_EXIDX_CMD_FINISH
/* finished */
if (ucb->vrs[15] == 0)
ucb->vrs[15] = ucb->vrs[14];
/* All done unwinding */
return 0;
} 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) {
if ((mask & 1) != 0) {
if (validate_sp(vsp))
return -1;
ucb->vrs[reg] = *vsp++;
}
mask >>= 1;
++reg;
}
ucb->vrs[13] = (uint32_t)vsp;
} 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 || // ARM_EXIDX_CMD_VFP_POP
instruction == 0xc8 ||
instruction == 0xc9) {
/* pop VFP double-precision registers */
vsp = (uint32_t *)ucb->vrs[13];
/* D[ssss]-D[ssss+cccc] */
if (validate_sp(vsp))
return -1;
ucb->vrs[14] = *vsp++;
if (instruction == 0xc8) {
/* D[16+sssss]-D[16+ssss+cccc] */
ucb->vrs[14] |= 1 << 16;
}
if (instruction != 0xb3) {
/* D[sssss]-D[ssss+cccc] */
ucb->vrs[14] |= 1 << 17;
}
ucb->vrs[13] = (uint32_t)vsp;
} else
if ((instruction & 0xf8) == 0xb8 ||
(instruction & 0xf8) == 0xd0) {
/* Pop VFP double precision registers D[8]-D[8+nnn] */
ucb->vrs[14] = 0x80 | (instruction & 0x07);
if ((instruction & 0xf8) == 0xd0) {
ucb->vrs[14] = 1 << 17;
}
} else
return -1;
}
return instruction != -1;
}
static inline __attribute__((always_inline)) uint32_t *read_psp(void) {
/* Read the current PSP and return its value as a pointer */
uint32_t psp;
__asm volatile (
" mrs %0, psp \n"
: "=r" (psp) : :
);
return (uint32_t*)psp;
}
static int unwind_frame(backtrace_frame_t *frame) {
unwind_control_block_t ucb;
const unwind_index_t *index;
const uint32_t *instructions;
int execution_result;
/* Search the unwind index for the matching unwind table */
index = unwind_search_index(__exidx_start, __exidx_end, frame->pc);
if (index == NULL)
return -1;
/* Make sure we can unwind this frame */
if (index->insn == 0x00000001)
return 0;
/* Get the pointer to the first unwind instruction */
if (index->insn & 0x80000000)
instructions = &index->insn;
else
instructions = (uint32_t *)prel31_to_addr(&index->insn);
/* Initialize the unwind control block */
if (unwind_control_block_init(&ucb, instructions, frame) < 0)
return -1;
/* Execute the unwind instructions */
while ((execution_result = unwind_execute_instruction(&ucb)) > 0);
if (execution_result == -1)
return -1;
/* Set the virtual pc to the virtual lr if this is the first unwind */
if (ucb.vrs[15] == 0)
ucb.vrs[15] = ucb.vrs[14];
/* Check for exception return */
/* TODO Test with other ARM processors to verify this method. */
if ((ucb.vrs[15] & 0xf0000000) == 0xf0000000) {
/* According to the Cortex Programming Manual (p.44), the stack address is always 8-byte aligned (Cortex-M7).
Depending on where the exception came from (MSP or PSP), we need the right SP value to work with.
ucb.vrs[7] contains the right value, so take it and align it by 8 bytes, store it as the current
SP to work with (ucb.vrs[13]) which is then saved as the current (virtual) frame's SP.
*/
uint32_t *stack;
ucb.vrs[13] = (ucb.vrs[7] & ~7);
/* If we need to start from the MSP, we need to go down X words to find the PC, where:
X=2 if it was a non-floating-point exception
X=20 if it was a floating-point (VFP) exception
If we need to start from the PSP, we need to go up exactly 6 words to find the PC.
See the ARMv7-M Architecture Reference Manual p.594 and Cortex-M7 Processor Programming Manual p.44/p.45 for details.
*/
if ((ucb.vrs[15] & 0xc) == 0) {
/* Return to Handler Mode: MSP (0xffffff-1) */
stack = (uint32_t*)(ucb.vrs[13]);
/* The PC is always 2 words down from the MSP, if it was a non-floating-point exception */
stack -= 2;
/* If there was a VFP exception (0xffffffe1), the PC is located another 18 words down */
if ((ucb.vrs[15] & 0xf0) == 0xe0) {
stack -= 18;
}
}
else {
/* Return to Thread Mode: PSP (0xffffff-d) */
stack = read_psp();
/* The PC is always 6 words up from the PSP */
stack += 6;
}
/* Store the PC */
ucb.vrs[15] = *stack--;
/* Store the LR */
ucb.vrs[14] = *stack--;
}
/* We are done if current frame pc is equal to the virtual pc, prevent infinite loop */
if (frame->pc == ucb.vrs[15])
return 0;
/* Update the frame */
frame->fp = ucb.vrs[7];
frame->sp = ucb.vrs[13];
frame->lr = ucb.vrs[14];
frame->pc = ucb.vrs[15];
/* All good */
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;
/* 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. */
entry.name = "<reached end of unwind table>";
entry.address = 0;
entry.function = 0;
dump_entry(count, &entry, ctx);
break;
}
if (frame->pc == 0x00000001) {
/* Reached .cantunwind instruction. */
entry.name = "<reached .cantunwind>";
entry.address = 0;
entry.function = 0;
dump_entry(count, &entry, ctx);
break;
}
/* Find the unwind index of the current frame pc */
const unwind_index_t *index = unwind_search_index(__exidx_start, __exidx_end, frame->pc);
/* Clear last bit (Thumb indicator) */
frame->pc &= 0xfffffffeU;
/* Generate the backtrace information */
entry.address = (void *)frame->pc;
entry.function = (void *)prel31_to_addr(&index->addr_offset);
entry.name = unwind_get_function_name(entry.function);
dump_entry(count, &entry, ctx);
/* Next backtrace frame */
++count;
} while (unwind_frame(frame) == 1);
}
/* All done */
return count;
}
#endif

53
Marlin/src/HAL/HAL_DUE/backtrace/backtrace.h

@ -0,0 +1,53 @@
/*
* Libbacktrace
* Copyright 2015 Stephen Street <stephen@redrocketcomputing.com>
*
* This Source Code Form is subject to the terms of the Mozilla Public
* 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.
*/
/*
* For this library to work, you need to compile with the following options
* -funwind-tables => So we will have unwind information to perform the stack trace
* -mpoke-function-name => So we will have function names in the trace
*/
#ifndef _BACKTRACE_H_
#define _BACKTRACE_H_
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
/* A frame */
typedef struct backtrace_frame {
uint32_t fp;
uint32_t sp;
uint32_t lr;
uint32_t pc;
} backtrace_frame_t;
/* A backtrace */
typedef struct backtrace {
void *function;
void *address;
const char *name;
} backtrace_t;
typedef void (*backtrace_dump_fn_t)(int idx, const backtrace_t* bte, void* ctx);
/* Perform a backtrace, given the specified stack start frame */
int backtrace_dump(backtrace_frame_t *startframe, backtrace_dump_fn_t fn, void* ctx );
#ifdef __cplusplus
}
#endif
#endif // _BACKTRACE_H_

4
Marlin/src/HAL/HAL_DUE/usb/usb_task.c

@ -301,7 +301,11 @@ void usb_task_init(void) {
uint16_t *ptr;
// Disable USB peripheral so we start clean and avoid lockups
otg_disable();
udd_disable();
// Set the USB interrupt to our stack
UDD_SetStack(&USBD_ISR);
// Start USB stack to authorize VBus monitoring

12
platformio.ini

@ -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

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