[单片机框架][调试功能] 回溯案发现场

程序莫名死机跑飞，不知道问题，那么下面教你回溯错误源

jianqiang.xue

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一、修改HardFault_Handler

1. xx.s 在启动文件，找到HardFault_Handler。并修改。

HardFault_Handler\PROCEXPORT  HardFault_Handler         [WEAK]MOV     R0, spIMPORT  HardFault_Handler_CBL      HardFault_Handler_CENDP

2. 定义HardFault_Handler_C函数。（主要是打印信息并存储Flash）

void HardFault_Handler_C(unsigned int* hardfault_args) {HardFault_t info;info.r0 = ((unsigned long)hardfault_args[0]);info.r1 = ((unsigned long)hardfault_args[1]);info.r2 = ((unsigned long)hardfault_args[2]);info.r3 = ((unsigned long)hardfault_args[3]);info.r12 = ((unsigned long)hardfault_args[4]);info.lr = ((unsigned long)hardfault_args[5]);info.pc = ((unsigned long)hardfault_args[6]);info.psr = ((unsigned long)hardfault_args[7]);info.BFAR = (*((volatile unsigned long*)(0xE000ED38)));info.CFSR = (*((volatile unsigned long*)(0xE000ED28)));info.HFSR = (*((volatile unsigned long*)(0xE000ED2C)));info.DFSR = (*((volatile unsigned long*)(0xE000ED30)));info.AFSR = (*((volatile unsigned long*)(0xE000ED3C)));info.SCB_SHCSR = SCB->SHCSR;uint8_t data[70], len = 0;len = snprintf((char *)data,70, "\n[Hard fault handler - all num in hex] %x\r\n", *hardfault_args);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "R0 = %x\r\nR1 = %x\r\nR2 = %x\r\nR3 = %x\r\n", info.r0, info.r1, info.r2, info.r3);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "R12 = %x\r\n", info.r12);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "LR [R14] = %x,subroutine call return address\r\n", info.lr);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "PC [R15] = %x,program counter\r\n", info.pc);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "PSR = %x\r\nBFAR = %lx\r\n", info.psr, (*((volatile unsigned long*)(0xE000ED38))));McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "CFSR = %lx\r\nHFSR = %lx\r\nDFSR = %lx\r\n",(*((volatile unsigned long*)(0xE000ED28))), (*((volatile unsigned long*)(0xE000ED2C))), (*((volatile unsigned long*)(0xE000ED30))));McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "AFSR = %lx\r\nSCB_SHCSR = %x\r\n",(*((volatile unsigned long*)(0xE000ED3C))), SCB->SHCSR);McuUartWriteString(&ble_uart, data, len);info.event = 0;kv_set_env(0xFF00, &info, sizeof(HardFault_t)); // 记录到Flashwhile (1);
}

3. 根据回读PC和LR地址，通过MAP文件找到对应位置，判断引起硬件错误的原因。

二、定义DefaultISR，查看是否有中断未声明

#define VECTORNUM    (*(volatile uint32_t*)(0xE000ED04))
void DefaultISR(void) {HardFault_t info;uint8_t data[50], len;len = sprintf((char *)data, "\n default_isr %d,%x \n", (uint8_t)VECTORNUM, (uint32_t)VECTORNUM);McuUartWriteString(&ble_uart, data, len);info.event = 1;info.VECTORNUM_ADDR = VECTORNUM;kv_set_env(0xFF00, &info, sizeof(HardFault_t)); // 记录到Flashwhile(1);
}

根据打印出来的数据，判断VECTOR，是怎么原因触发中断的。查对应芯片向量表，得知导致原因。

三、如果使用了RTX，则需要重定义osRtxErrorNotify函数。

uint32_t osRtxErrorNotify(uint32_t code, void* object_id) {HardFault_t info;(void)object_id;uint8_t data[100], len = 0;switch (code) {case osRtxErrorStackOverflow:len = sprintf((char *)data, "\n Stack overflow detected for thread (thread_id=0x%x)\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// Stack overflow detected for thread (thread_id=object_id)break;case osRtxErrorISRQueueOverflow:len = sprintf((char *)data, "\n ISR Queue overflow detected when inserting object 0x%x\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// ISR Queue overflow detected when inserting object (object_id)break;case osRtxErrorTimerQueueOverflow:len = sprintf((char *)data, "\n User Timer Callback Queue overflow detected for timer (timer_id=0x%x)\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// User Timer Callback Queue overflow detected for timer (timer_id=object_id)break;case osRtxErrorClibSpace:len = sprintf((char *)data, "\n Standard C/C++ library libspace not available: increase OS_THREAD_LIBSPACE_NUM 0x%x\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// Standard C/C++ library libspace not available: increase OS_THREAD_LIBSPACE_NUMbreak;case osRtxErrorClibMutex:len = sprintf((char *)data, "\n Standard C/C++ library mutex initialization failed 0x%x\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// Standard C/C++ library mutex initialization failedbreak;default:// Reservedbreak;}info.event = 2;info.RTX_CODE = code;info.RTX_OBJ_ID = (uint32_t)object_id;kv_set_env(0xFF00, &info, sizeof(HardFault_t)); // 记录到Flashfor (;;) {}// return 0U;
}

四、读取错误信息

采用ATCMD读取，如下

#ifdef ATCMD_EN
// 在功能模块中定义一个标准函数
static int atcmd_backtrack(atcmd_pack_t *pack) {HardFault_t *info = NULL;uint8_t buff[100], len;info = kv_get_env(0xFF00);if (info == NULL) {strcat((char*)buff, AT_ERROR);} else {if (info->event == 0) {len = snprintf((char *)buff, 100, "R0 = %x\r\nR1 = %x\r\nR2 = %x\r\nR3 = %x\r\nR12 = %x\r\n", info->r0, info->r1, info->r2, info->r3, info->r12);pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "LR [R14] = %x,subroutine call return address\r\n", info->lr);pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "PC [R15] = %x,program counter\r\n", info->pc);pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "PSR = %x\r\nBFAR = %lx\r\n", info->psr, (*((volatile unsigned long*)(0xE000ED38))));pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "CFSR = %lx\r\nHFSR = %lx\r\nDFSR = %lx\r\n",(*((volatile unsigned long*)(0xE000ED28))), (*((volatile unsigned long*)(0xE000ED2C))), (*((volatile unsigned long*)(0xE000ED30))));pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "AFSR = %lx\r\nSCB_SHCSR = %x\r\n",(*((volatile unsigned long*)(0xE000ED3C))), SCB->SHCSR);pack->reply(buff, strlen((char*)buff));memset(buff, 0, 100);} else if (info->event == 1) {len = snprintf((char *)buff, 100, "\n default_isr %d,%x \n", (uint8_t)info->VECTORNUM_ADDR, (uint32_t)info->VECTORNUM_ADDR);} else if (info->event == 2) {len = snprintf((char *)buff, 100, "\n RTX_ERR CODE=0x%x, OBJ_ID=0x%x \n", (uint8_t)info->RTX_CODE, (uint32_t)info->RTX_OBJ_ID);}strcat((char*)buff, AT_OK);}pack->reply(buff, strlen((char*)buff));return 0;
}// 注册AT指令，传入标准函数
ATCMD_INIT("AT+BACKTRACK?", atcmd_backtrack);
#endif

举例

/********************************************************************************* @file    backtrack.c* @author  jianqiang.xue* @Version V1.0.0* @Date    2023-02-10* @brief   记录错误原因，方便追溯问题源********************************************************************************/
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>#include "cmsis_os2.h"
#include "os_api.h"
#include "SKEAZ1284.h"
#include "atcmd_slave.h" // 自行添加[Module\atcmd\atcmd_slave.c]#include "kv_sys.h"
#include "mcu_uart.h"
#include "ecu_cc2642.h"
#include "edebug.h"typedef struct __PACKED {uint32_t event; // 0--HardFault 1--DefaultISR 2--osRtxErrorNotify// HardFault_Handleruint32_t r0;uint32_t r1;uint32_t r2;uint32_t r3;uint32_t r12;uint32_t lr;uint32_t pc;uint32_t psr;uint64_t BFAR;uint64_t CFSR;uint64_t HFSR;uint64_t DFSR;uint64_t AFSR;uint64_t SCB_SHCSR;// DefaultISRuint32_t VECTORNUM_ADDR;// osRtxErrorNotifyuint32_t RTX_CODE;uint32_t RTX_OBJ_ID;
} HardFault_t;void HardFault_Handler_C(unsigned int* hardfault_args) {HardFault_t info;info.r0 = ((unsigned long)hardfault_args[0]);info.r1 = ((unsigned long)hardfault_args[1]);info.r2 = ((unsigned long)hardfault_args[2]);info.r3 = ((unsigned long)hardfault_args[3]);info.r12 = ((unsigned long)hardfault_args[4]);info.lr = ((unsigned long)hardfault_args[5]);info.pc = ((unsigned long)hardfault_args[6]);info.psr = ((unsigned long)hardfault_args[7]);info.BFAR = (*((volatile unsigned long*)(0xE000ED38)));info.CFSR = (*((volatile unsigned long*)(0xE000ED28)));info.HFSR = (*((volatile unsigned long*)(0xE000ED2C)));info.DFSR = (*((volatile unsigned long*)(0xE000ED30)));info.AFSR = (*((volatile unsigned long*)(0xE000ED3C)));info.SCB_SHCSR = SCB->SHCSR;uint8_t data[70], len = 0;len = snprintf((char *)data,70, "\n[Hard fault handler - all num in hex] %x\r\n", *hardfault_args);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "R0 = %x\r\nR1 = %x\r\nR2 = %x\r\nR3 = %x\r\n", info.r0, info.r1, info.r2, info.r3);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "R12 = %x\r\n", info.r12);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "LR [R14] = %x,subroutine call return address\r\n", info.lr);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "PC [R15] = %x,program counter\r\n", info.pc);McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "PSR = %x\r\nBFAR = %lx\r\n", info.psr, (*((volatile unsigned long*)(0xE000ED38))));McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "CFSR = %lx\r\nHFSR = %lx\r\nDFSR = %lx\r\n",(*((volatile unsigned long*)(0xE000ED28))), (*((volatile unsigned long*)(0xE000ED2C))), (*((volatile unsigned long*)(0xE000ED30))));McuUartWriteString(&ble_uart, data, len);len = snprintf((char *)data,70, "AFSR = %lx\r\nSCB_SHCSR = %x\r\n",(*((volatile unsigned long*)(0xE000ED3C))), SCB->SHCSR);McuUartWriteString(&ble_uart, data, len);info.event = 0;kv_set_env(0xFF00, &info, sizeof(HardFault_t)); // 记录到Flashwhile (1);
}#define VECTORNUM    (*(volatile uint32_t*)(0xE000ED04))
void DefaultISR(void) {HardFault_t info;uint8_t data[50], len;len = sprintf((char *)data, "\n default_isr %d,%x \n", (uint8_t)VECTORNUM, (uint32_t)VECTORNUM);McuUartWriteString(&ble_uart, data, len);info.event = 1;info.VECTORNUM_ADDR = VECTORNUM;kv_set_env(0xFF00, &info, sizeof(HardFault_t)); // 记录到Flashwhile(1);
}uint32_t osRtxErrorNotify(uint32_t code, void* object_id) {HardFault_t info;(void)object_id;uint8_t data[100], len = 0;switch (code) {case osRtxErrorStackOverflow:len = sprintf((char *)data, "\n Stack overflow detected for thread (thread_id=0x%x)\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// Stack overflow detected for thread (thread_id=object_id)break;case osRtxErrorISRQueueOverflow:len = sprintf((char *)data, "\n ISR Queue overflow detected when inserting object 0x%x\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// ISR Queue overflow detected when inserting object (object_id)break;case osRtxErrorTimerQueueOverflow:len = sprintf((char *)data, "\n User Timer Callback Queue overflow detected for timer (timer_id=0x%x)\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// User Timer Callback Queue overflow detected for timer (timer_id=object_id)break;case osRtxErrorClibSpace:len = sprintf((char *)data, "\n Standard C/C++ library libspace not available: increase OS_THREAD_LIBSPACE_NUM 0x%x\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// Standard C/C++ library libspace not available: increase OS_THREAD_LIBSPACE_NUMbreak;case osRtxErrorClibMutex:len = sprintf((char *)data, "\n Standard C/C++ library mutex initialization failed 0x%x\n", (uint32_t)object_id);McuUartWriteString(&ble_uart, data, len);// Standard C/C++ library mutex initialization failedbreak;default:// Reservedbreak;}info.event = 2;info.RTX_CODE = code;info.RTX_OBJ_ID = (uint32_t)object_id;kv_set_env(0xFF00, &info, sizeof(HardFault_t)); // 记录到Flashfor (;;) {}// return 0U;
}#ifdef ATCMD_EN
// 在功能模块中定义一个标准函数
static int atcmd_backtrack(atcmd_pack_t *pack) {HardFault_t *info = NULL;uint8_t buff[100], len;info = kv_get_env(0xFF00);if (info == NULL) {strcat((char*)buff, AT_ERROR);} else {if (info->event == 0) {len = snprintf((char *)buff, 100, "R0 = %x\r\nR1 = %x\r\nR2 = %x\r\nR3 = %x\r\nR12 = %x\r\n", info->r0, info->r1, info->r2, info->r3, info->r12);pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "LR [R14] = %x,subroutine call return address\r\n", info->lr);pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "PC [R15] = %x,program counter\r\n", info->pc);pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "PSR = %x\r\nBFAR = %lx\r\n", info->psr, (*((volatile unsigned long*)(0xE000ED38))));pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "CFSR = %lx\r\nHFSR = %lx\r\nDFSR = %lx\r\n",(*((volatile unsigned long*)(0xE000ED28))), (*((volatile unsigned long*)(0xE000ED2C))), (*((volatile unsigned long*)(0xE000ED30))));pack->reply(buff, strlen((char*)buff));len = snprintf((char *)buff, 100, "AFSR = %lx\r\nSCB_SHCSR = %x\r\n",(*((volatile unsigned long*)(0xE000ED3C))), SCB->SHCSR);pack->reply(buff, strlen((char*)buff));memset(buff, 0, 100);} else if (info->event == 1) {len = snprintf((char *)buff, 100, "\n default_isr %d,%x \n", (uint8_t)info->VECTORNUM_ADDR, (uint32_t)info->VECTORNUM_ADDR);} else if (info->event == 2) {len = snprintf((char *)buff, 100, "\n RTX_ERR CODE=0x%x, OBJ_ID=0x%x \n", (uint8_t)info->RTX_CODE, (uint32_t)info->RTX_OBJ_ID);}strcat((char*)buff, AT_OK);}pack->reply(buff, strlen((char*)buff));return 0;
}// 注册AT指令，传入标准函数
ATCMD_INIT("AT+BACKTRACK?", atcmd_backtrack);
#endif