/* (Called from exc.S with global interrupts disabled.) */
void __error(int num) {
nvic_globalirq_enable();
usart_putstr(ERROR_USART, "\r\nexception: ");
usart_putudec(ERROR_USART, num);
usart_putc(ERROR_USART, '\n');
usart_putc(ERROR_USART, '\r');
for(;;);
throb();
/* Turn off peripheral interrupts */
nvic_irq_disable_all();
/* Turn off timers */
timer_disable_all();
/* Turn off ADC */
adc_disable_all();
/* Turn off all USARTs */
usart_disable_all();
/* Turn the USB interrupt back on so the bootloader keeps on functioning */
nvic_irq_enable(NVIC_USB_HP_CAN_TX);
nvic_irq_enable(NVIC_USB_LP_CAN_RX0);
/* Reenable global interrupts */
nvic_globalirq_enable();
throb();
}
/**
* @brief Print an error message on a UART upon a failed assertion
* and throb the error LED, if there is one defined.
* @param file Source file of failed assertion
* @param line Source line of failed assertion
* @param exp String representation of failed assertion
* @sideeffect Turns of all peripheral interrupts except USB.
*/
void _fail(const char* file, int line, const char* exp) {
/* Initialize the error USART */
gpio_set_mode(ERROR_TX_PORT, ERROR_TX_PIN, GPIO_AF_OUTPUT_PP);
usart_init(ERROR_USART);
usart_set_baud_rate(ERROR_USART, ERROR_USART_CLK_SPEED, ERROR_USART_BAUD);
/* Print failed assert message */
usart_putstr(ERROR_USART, "ERROR: FAILED ASSERT(");
usart_putstr(ERROR_USART, exp);
usart_putstr(ERROR_USART, "): ");
usart_putstr(ERROR_USART, file);
usart_putstr(ERROR_USART, ": ");
usart_putudec(ERROR_USART, line);
usart_putc(ERROR_USART, '\n');
usart_putc(ERROR_USART, '\r');
/* Error fade */
__error();
}
// new common exception code
// TODO: we have task switching so if fault occures in task we can just remove task from queue
//
void __attribute__((noreturn)) __error(uint32_t num, uint32_t pc, uint32_t lr)
{
#ifdef DEBUG_BUILD
static const char * const faults[] = {
"", // 0
"", // 1
"HardFault", // 2
"MemManage fault", // 3
"BusFault", // 4
"UsageFault", // 5
"illegal Flash Write", // 6
"", // 7
"", // 8
"", // 9
"", // 10
"PureVirtual function call", // 11
"failed to setup clock", // 12
"exit from main()", // 13
"", // 14
};
#endif
/* Turn off peripheral interrupts */
__disable_irq();
timer_disable_all(); // turn off all PWM
if(is_bare_metal()) // bare metal build without bootloader should reboot to DFU after any fault
board_set_rtc_register(DFU_RTC_SIGNATURE, RTC_SIGNATURE_REG);
/* Turn the USB interrupt back on so "the reboot to bootloader" keeps on functioning */
NVIC_EnableIRQ(OTG_HS_EP1_OUT_IRQn);
NVIC_EnableIRQ(OTG_HS_EP1_IN_IRQn);
NVIC_EnableIRQ(OTG_HS_EP1_IN_IRQn);
NVIC_EnableIRQ(OTG_HS_IRQn);
NVIC_EnableIRQ(OTG_FS_IRQn);
__enable_irq();
if(boardEmergencyHandler) boardEmergencyHandler(); // call emergency handler
#if 0
#ifdef ERROR_USART
usart_putstr(ERROR_USART, "\r\n!!! Exception: ");
#ifdef DEBUG_BUILD
usart_putstr(ERROR_USART, faults[num]);
#else
usart_putudec(ERROR_USART, num);
#endif
usart_putstr(ERROR_USART, " at ");
usart_putudec(ERROR_USART, pc);
usart_putstr(ERROR_USART, " lr ");
usart_putudec(ERROR_USART, lr);
usart_putc(ERROR_USART, '\n');
usart_putc(ERROR_USART, '\r');
#endif
#else
#ifdef DEBUG_BUILD
printf("\r\n!!! Exception: %s at %x LR=%x\n",faults[num], pc, lr);
#else
printf("\r\n!!! Exception: %d at %x LR=%x\n",num, pc, lr);
#endif
#endif
error_throb(num);
}