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// ****************************************************************************
// semihost_hardfault.c
// - Provides hard fault handler to allow semihosting code not
// to hang application when debugger not connected.
// ****************************************************************************
// Copyright 2017-2019 NXP
// All rights reserved.
// Software that is described herein is for illustrative purposes only
// which provides customers with programming information regarding the
// NXP Cortex-M based MCUs. This software is supplied "AS IS" without any
// warranties of any kind, and NXP Semiconductors and its licensor disclaim any
// and all warranties, express or implied, including all implied warranties of
// merchantability, fitness for a particular purpose and non-infringement of
// intellectual property rights. NXP Semiconductors assumes no responsibility
// or liability for the use of the software, conveys no license or rights under
// any patent, copyright, mask work right, or any other intellectual property
// rights in or to any products. NXP Semiconductors reserves the right to make
// changes in the software without notification. NXP Semiconductors also makes
// no representation or warranty that such application will be suitable for the
// specified use without further testing or modification.
// Permission to use, copy, modify, and distribute this software and its
// documentation is hereby granted, under NXP Semiconductors' and its
// licensor's relevant copyrights in the software, without fee, provided that it
// is used in conjunction with NXP Semiconductors microcontrollers. This
// copyright, permission, and disclaimer notice must appear in all copies of
// this code.
// ****************************************************************************
// ===== DESCRIPTION =====
// One of the issues with applications that make use of semihosting operations
// (such as printf calls) is that the code will not execute correctly when the
// debugger is not connected. Generally this will show up with the application
// appearing to just hang. This may include the application running from reset
// or powering up the board (with the application already in FLASH), and also
// as the application failing to continue to execute after a debug session is
// terminated.
// The problem here is that the "bottom layer" of the semihosted variants of
// the C library, semihosting is implemented by a "BKPT 0xAB" instruction.
// When the debug tools are not connected, this instruction triggers a hard
// fault - and the default hard fault handler within an application will
// typically just contains an infinite loop - causing the application to
// appear to have hang when no debugger is connected.
// The below code provides an example hard fault handler which instead looks
// to see what the instruction that caused the hard fault was - and if it
// was a "BKPT 0xAB", then it instead returns back to the user application.
// In most cases this will allow applications containing semihosting
// operations to execute (to some degree) when the debugger is not connected.
// == NOTE ==
// Correct execution of the application containing semihosted operations
// which are vectored onto this hard fault handler cannot be guaranteed. This
// is because the handler may not return data or return codes that the higher
// level C library code or application code expects. This hard fault handler
// is meant as a development aid, and it is not recommended to leave
// semihosted code in a production build of your application!
// ****************************************************************************
// Allow handler to be removed by setting a define (via command line)
void HardFault_Handler(void){
__asm( ".syntax unified\n"
// Check which stack is in use
"MOVS R0, #4 \n"
"MOV R1, LR \n"
"TST R0, R1 \n"
"BEQ _MSP \n"
"MRS R0, PSP \n"
"B _process \n"
"_MSP: \n"
"MRS R0, MSP \n"
// Load the instruction that triggered hard fault
"_process: \n"
"LDR R1,[R0,#24] \n"
"LDRH R2,[r1] \n"
// Semihosting instruction is "BKPT 0xAB" (0xBEAB)
"LDR R3,=0xBEAB \n"
"CMP R2,R3 \n"
"BEQ _semihost_return \n"
// Wasn't semihosting instruction so enter infinite loop
"B . \n"
// Was semihosting instruction, so adjust location to
// return to by 1 instruction (2 bytes), then exit function
"_semihost_return: \n"
"ADDS R1,#2 \n"
"STR R1,[R0,#24] \n"
// Set a return value from semihosting operation.
// 32 is slightly arbitrary, but appears to allow most
// C Library IO functions sitting on top of semihosting to
// continue to operate to some degree
"MOVS R1,#32 \n"
"STR R1,[ R0,#0 ] \n" // R0 is at location 0 on stack
// Return from hard fault handler to application
"BX LR \n"
".syntax divided\n") ;