Install a hardfault handler on NRF52

src/configuration.h

@@ -305,9 +305,15 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 // What platforms should use SEGGER?
 #ifdef NRF52_SERIES
 
+// Always include the SEGGER code on NRF52 - because useful for debugging
+#include "SEGGER_RTT.h"
+
+// Debug printing to segger console
+#define SEGGER_MSG(...) SEGGER_RTT_printf(0, __VA_ARGS__)
+
 // nrf52 gets its settings via variant files
 #ifndef PIN_SERIAL_RX
-// No serial ports on this board - use segger in memory console
+// No serial ports on this board - ONLY use segger in memory console
 #define USE_SEGGER
 #endif
 
@@ -316,7 +322,6 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #endif
 
 #ifdef USE_SEGGER
-#include "SEGGER_RTT.h"
 #define DEBUG_MSG(...) SEGGER_RTT_printf(0, __VA_ARGS__)
 #else
 #ifdef DEBUG_PORT

src/nrf52/NRF52Bluetooth.cpp

@@ -217,57 +217,3 @@ void updateBatteryLevel(uint8_t level)
 {
     blebas.write(level);
 }
-
-/*
-void loop()
-{
-  digitalToggle(LED_RED);
-
-  if ( Bluefruit.connected() ) {
-    uint8_t hrmdata[2] = { 0b00000110, bps++ };           // Sensor connected, increment BPS value
-
-    // Note: We use .notify instead of .write!
-    // If it is connected but CCCD is not enabled
-    // The characteristic's value is still updated although notification is not sent
-    if ( hrmc.notify(hrmdata, sizeof(hrmdata)) ){
-      Serial.print("Heart Rate Measurement updated to: "); Serial.println(bps);
-    }else{
-      Serial.println("ERROR: Notify not set in the CCCD or not connected!");
-    }
-  }
-
-  // Only send update once per second
-  delay(1000);
-}
-*/
-
-/*
-examples of advanced characteristics. use setReadAuthorizeCallback to prepare data for reads by others
-
-err_t BLEDfu::begin(void)
-{
-  // Invoke base class begin()
-  VERIFY_STATUS( BLEService::begin() );
-
-  // No need to keep packet & revision characteristics
-  BLECharacteristic chr_packet(UUID128_CHR_DFU_PACKET);
-  chr_packet.setTempMemory();
-  chr_packet.setProperties(CHR_PROPS_WRITE_WO_RESP);
-  chr_packet.setMaxLen(20);
-  VERIFY_STATUS( chr_packet.begin() );
-
-  _chr_control.setProperties(CHR_PROPS_WRITE | CHR_PROPS_NOTIFY);
-  _chr_control.setMaxLen(23);
-  _chr_control.setWriteAuthorizeCallback(bledfu_control_wr_authorize_cb);
-  VERIFY_STATUS( _chr_control.begin() );
-
-  BLECharacteristic chr_revision(UUID128_CHR_DFU_REVISON);
-  chr_revision.setTempMemory();
-  chr_revision.setProperties(CHR_PROPS_READ);
-  chr_revision.setFixedLen(2);
-  VERIFY_STATUS( chr_revision.begin());
-  chr_revision.write16(DFU_REV_APPMODE);
-
-  return ERROR_NONE;
-}
-*/

src/nrf52/hardfault.cpp

@@ -5,47 +5,51 @@
 
 enum { r0, r1, r2, r3, r12, lr, pc, psr };
 
+// we can't use the regular DEBUG_MSG for these crash dumps because it depends on threading still being running.  Instead use the
+// segger in memory tool
+#define FAULT_MSG(...) SEGGER_MSG(__VA_ARGS__)
+
 // Per http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0552a/Cihcfefj.html
 static void printUsageErrorMsg(uint32_t cfsr)
 {
-    DEBUG_MSG("Usage fault: ");
+    FAULT_MSG("Usage fault: ");
     cfsr >>= SCB_CFSR_USGFAULTSR_Pos; // right shift to lsb
     if ((cfsr & (1 << 9)) != 0)
-        DEBUG_MSG("Divide by zero\n");
+        FAULT_MSG("Divide by zero\n");
     if ((cfsr & (1 << 8)) != 0)
-        DEBUG_MSG("Unaligned\n");
+        FAULT_MSG("Unaligned\n");
 }
 
 static void printBusErrorMsg(uint32_t cfsr)
 {
-    DEBUG_MSG("Usage fault: ");
+    FAULT_MSG("Bus fault: ");
     cfsr >>= SCB_CFSR_BUSFAULTSR_Pos; // right shift to lsb
     if ((cfsr & (1 << 0)) != 0)
-        DEBUG_MSG("Instruction bus error\n");
+        FAULT_MSG("Instruction bus error\n");
     if ((cfsr & (1 << 1)) != 0)
-        DEBUG_MSG("Precise data bus error\n");
+        FAULT_MSG("Precise data bus error\n");
     if ((cfsr & (1 << 2)) != 0)
-        DEBUG_MSG("Imprecise data bus error\n");
+        FAULT_MSG("Imprecise data bus error\n");
 }
 
 static void printMemErrorMsg(uint32_t cfsr)
 {
-    DEBUG_MSG("Usage fault: ");
+    FAULT_MSG("Memory fault: ");
     cfsr >>= SCB_CFSR_MEMFAULTSR_Pos; // right shift to lsb
     if ((cfsr & (1 << 0)) != 0)
-        DEBUG_MSG("Instruction access violation\n");
+        FAULT_MSG("Instruction access violation\n");
     if ((cfsr & (1 << 1)) != 0)
-        DEBUG_MSG("Data access violation\n");
+        FAULT_MSG("Data access violation\n");
 }
 
-static void HardFault_Impl(uint32_t stack[])
+extern "C" void HardFault_Impl(uint32_t stack[])
 {
-    DEBUG_MSG("In Hard Fault Handler\n");
+    FAULT_MSG("In Hard Fault Handler\n");
-    DEBUG_MSG("SCB->HFSR = 0x%08lx\n", SCB->HFSR);
+    FAULT_MSG("SCB->HFSR = 0x%08lx\n", SCB->HFSR);
 
     if ((SCB->HFSR & SCB_HFSR_FORCED_Msk) != 0) {
-        DEBUG_MSG("Forced Hard Fault\n");
+        FAULT_MSG("Forced Hard Fault\n");
-        DEBUG_MSG("SCB->CFSR = 0x%08lx\n", SCB->CFSR);
+        FAULT_MSG("SCB->CFSR = 0x%08lx\n", SCB->CFSR);
 
         if ((SCB->CFSR & SCB_CFSR_USGFAULTSR_Msk) != 0) {
             printUsageErrorMsg(SCB->CFSR);
@@ -57,21 +61,21 @@ static void HardFault_Impl(uint32_t stack[])
             printMemErrorMsg(SCB->CFSR);
         }
 
-        DEBUG_MSG("r0  = 0x%08lx\n", stack[r0]);
+        FAULT_MSG("r0  = 0x%08lx\n", stack[r0]);
-        DEBUG_MSG("r1  = 0x%08lx\n", stack[r1]);
+        FAULT_MSG("r1  = 0x%08lx\n", stack[r1]);
-        DEBUG_MSG("r2  = 0x%08lx\n", stack[r2]);
+        FAULT_MSG("r2  = 0x%08lx\n", stack[r2]);
-        DEBUG_MSG("r3  = 0x%08lx\n", stack[r3]);
+        FAULT_MSG("r3  = 0x%08lx\n", stack[r3]);
-        DEBUG_MSG("r12 = 0x%08lx\n", stack[r12]);
+        FAULT_MSG("r12 = 0x%08lx\n", stack[r12]);
-        DEBUG_MSG("lr  = 0x%08lx\n", stack[lr]);
+        FAULT_MSG("lr  = 0x%08lx\n", stack[lr]);
-        DEBUG_MSG("pc  = 0x%08lx\n", stack[pc]);
+        FAULT_MSG("pc  = 0x%08lx\n", stack[pc]);
-        DEBUG_MSG("psr = 0x%08lx\n", stack[psr]);
+        FAULT_MSG("psr = 0x%08lx\n", stack[psr]);
         asm volatile("bkpt #01");
         while (1)
             ;
     }
 }
 
-void HardFault_Handler(void)
+extern "C" void HardFault_Handler(void)
 {
     asm volatile(" mrs r0,msp\n"
                  " b HardFault_Impl \n");