crash_report.cpp

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#include "utils/logging.h"
#include <CrashReport.h> // core/teensy4
 
namespace utils {

void check_and_log_crash() {
  if (CrashReport) {
    // StringPrint buf;
    // crash.printTo(buf);
    // buf.str();
    msg::Log::get().println("ALERT: Previous System crash detected. Post Mortem Report:");
    msg::Log::get().println(CrashReport);
  }
}
 
// Teensy 4.x (Cortex-M7) hard fault handler with full register dump
 
extern "C" {
 
  // This runs in assembly to capture SP before it changes,
  // then calls our C function with a pointer to the saved frame.
  __attribute__((naked)) void hard_fault_isr(void) {
    __asm volatile (
      // On fault entry, ARM has already pushed {r0-r3, r12, lr, pc, xpsr}
      // onto either MSP or PSP. Figure out which stack was active:
      "tst lr, #4          \n"  // test EXC_RETURN bit 2
      "ite eq              \n"
      "mrseq r0, msp       \n"  // if 0: came from MSP (main stack)
      "mrsne r0, psp       \n"  // if 1: came from PSP (thread stack)
      "b hard_fault_handler_c \n"
    );
  }
 
  // r0 now points to the saved stack frame
  void hard_fault_handler_c(uint32_t *frame) {
    Serial.println("\n=== HARD FAULT ===");
    Serial.printf("R0  = 0x%08X\n", frame[0]);
    Serial.printf("R1  = 0x%08X\n", frame[1]);
    Serial.printf("R2  = 0x%08X\n", frame[2]);
    Serial.printf("R3  = 0x%08X\n", frame[3]);
    Serial.printf("R12 = 0x%08X\n", frame[4]);
    Serial.printf("LR  = 0x%08X\n", frame[5]);  // ← return address = caller
    Serial.printf("PC  = 0x%08X\n", frame[6]);  // ← where crash happened
    Serial.printf("PSR = 0x%08X\n", frame[7]);
 
    // Also dump fault status registers
    Serial.printf("CFSR  = 0x%08X\n", *(volatile uint32_t*)0xE000ED28);
    Serial.printf("HFSR  = 0x%08X\n", *(volatile uint32_t*)0xE000ED2C);
    Serial.printf("MMFAR = 0x%08X\n", *(volatile uint32_t*)0xE000ED34); // mem fault addr
    Serial.printf("BFAR  = 0x%08X\n", *(volatile uint32_t*)0xE000ED38); // bus fault addr
 
    Serial.flush();
    delay(1000);
    SCB_AIRCR = 0x05FA0004;
  }
 
} // extern "C"
 
} // namespace utils