[2.0.x] Move backtrace to a shared location (#10237)

- And implement the `backtrace()` function call

Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp

@@ -24,7 +24,8 @@
 
 #include "../../inc/MarlinConfig.h"
 #include "../../Marlin.h"
-#include "backtrace/unwinder.h"
+#include "../../backtrace/unwinder.h"
+#include "../../backtrace/unwmemaccess.h"
 
 // Debug monitor that dumps to the Programming port all status when
 // an exception or WDT timeout happens - And then resets the board
@@ -112,45 +113,6 @@ static void TXDec(uint32_t v) {
   } while (p != &nbrs[0]);
 }
 
-/* Validate address */
-static bool validate_addr(uint32_t addr) {
-
-  // Address must be in SRAM (0x20070000 - 0x20088000)
-  if (addr >= 0x20070000 && addr < 0x20088000)
-    return true;
-
-  // Or in FLASH (0x00080000 - 0x00100000)
-  if (addr >= 0x00080000 && addr < 0x00100000)
-    return true;
-
-  return false;
-}
-
-static bool UnwReadW(const uint32_t a, uint32_t *v) {
-  if (!validate_addr(a))
-    return false;
-
-  *v = *(uint32_t *)a;
-  return true;
-}
-
-static bool UnwReadH(const uint32_t a, uint16_t *v) {
-  if (!validate_addr(a))
-    return false;
-
-  *v = *(uint16_t *)a;
-  return true;
-}
-
-static bool UnwReadB(const uint32_t a, uint8_t *v) {
-  if (!validate_addr(a))
-    return false;
-
-  *v = *(uint8_t *)a;
-  return true;
-}
-
-
 // Dump a backtrace entry
 static bool UnwReportOut(void* ctx, const UnwReport* bte) {
   int* p = (int*)ctx;
@@ -270,7 +232,8 @@ void HardFault_HandlerC(unsigned long *sp, unsigned long lr, unsigned long cause
 }
 
 __attribute__((naked)) void NMI_Handler(void) {
-  __asm volatile (
+  __asm__ __volatile__ (
+    ".syntax unified        \n"
     " tst lr, #4            \n"
     " ite eq                \n"
     " mrseq r0, msp         \n"
@@ -282,7 +245,8 @@ __attribute__((naked)) void NMI_Handler(void) {
 }
 
 __attribute__((naked)) void HardFault_Handler(void) {
-  __asm volatile (
+  __asm__ __volatile__ (
+    ".syntax unified        \n"
     " tst lr, #4            \n"
     " ite eq                \n"
     " mrseq r0, msp         \n"
@@ -294,7 +258,8 @@ __attribute__((naked)) void HardFault_Handler(void) {
 }
 
 __attribute__((naked)) void MemManage_Handler(void) {
-  __asm volatile (
+  __asm__ __volatile__ (
+    ".syntax unified        \n"
     " tst lr, #4            \n"
     " ite eq                \n"
     " mrseq r0, msp         \n"
@@ -306,7 +271,8 @@ __attribute__((naked)) void MemManage_Handler(void) {
 }
 
 __attribute__((naked)) void BusFault_Handler(void) {
-  __asm volatile (
+  __asm__ __volatile__ (
+    ".syntax unified        \n"
     " tst lr, #4            \n"
     " ite eq                \n"
     " mrseq r0, msp         \n"
@@ -318,7 +284,8 @@ __attribute__((naked)) void BusFault_Handler(void) {
 }
 
 __attribute__((naked)) void UsageFault_Handler(void) {
-  __asm volatile (
+  __asm__ __volatile__ (
+    ".syntax unified        \n"
     " tst lr, #4            \n"
     " ite eq                \n"
     " mrseq r0, msp         \n"
@@ -330,7 +297,8 @@ __attribute__((naked)) void UsageFault_Handler(void) {
 }
 
 __attribute__((naked)) void DebugMon_Handler(void) {
-  __asm volatile (
+  __asm__ __volatile__ (
+    ".syntax unified        \n"
     " tst lr, #4            \n"
     " ite eq                \n"
     " mrseq r0, msp         \n"
@@ -343,7 +311,8 @@ __attribute__((naked)) void DebugMon_Handler(void) {
 
 /* This is NOT an exception, it is an interrupt handler - Nevertheless, the framing is the same */
 __attribute__((naked)) void WDT_Handler(void) {
-  __asm volatile (
+  __asm__ __volatile__ (
+    ".syntax unified        \n"
     " tst lr, #4            \n"
     " ite eq                \n"
     " mrseq r0, msp         \n"
@@ -355,7 +324,8 @@ __attribute__((naked)) void WDT_Handler(void) {
 }
 
 __attribute__((naked)) void RSTC_Handler(void) {
-  __asm volatile (
+  __asm__ __volatile__ (
+    ".syntax unified        \n"
     " tst lr, #4            \n"
     " ite eq                \n"
     " mrseq r0, msp         \n"

Marlin/src/backtrace/backtrace.cpp

@@ -0,0 +1,102 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "backtrace.h"
+
+#if defined(__arm__) || defined(__thumb__)
+
+#include "unwinder.h"
+#include "unwmemaccess.h"
+#include "../Marlin.h"
+
+// Dump a backtrace entry
+static bool UnwReportOut(void* ctx, const UnwReport* bte) {
+  int* p = (int*)ctx;
+
+  (*p)++;
+
+  SERIAL_CHAR('#'); SERIAL_PRINT(*p,DEC); SERIAL_ECHOPGM(" : ");
+  SERIAL_ECHOPGM(bte->name?bte->name:"unknown"); SERIAL_ECHOPGM("@0x"); SERIAL_PRINT(bte->function,HEX);
+  SERIAL_CHAR('+'); SERIAL_PRINT(bte->address - bte->function,DEC);
+  SERIAL_ECHOPGM(" PC:"); SERIAL_PRINT(bte->address,HEX); SERIAL_CHAR('\n');
+  return true;
+}
+
+#if defined(UNW_DEBUG)
+void UnwPrintf(const char* format, ...) {
+  char dest[256];
+  va_list argptr;
+  va_start(argptr, format);
+  vsprintf(dest, format, argptr);
+  va_end(argptr);
+  TX(&dest[0]);
+}
+#endif
+
+/* Table of function pointers for passing to the unwinder */
+static const UnwindCallbacks UnwCallbacks = {
+  UnwReportOut,
+  UnwReadW,
+  UnwReadH,
+  UnwReadB
+#if defined(UNW_DEBUG)
+ ,UnwPrintf
+#endif
+};
+
+void backtrace(void) {
+
+  UnwindFrame btf;
+  uint32_t sp,lr,pc;
+
+  // Capture the values of the registers to perform the traceback
+  __asm__ __volatile__ (
+    " mov %[lrv],lr\n"
+    " mov %[spv],sp\n"
+    " mov %[pcv],pc\n"
+    : [spv]"+r"( sp ),
+      [lrv]"+r"( lr ),
+      [pcv]"+r"( pc )
+    ::
+  );
+
+  // Fill the traceback structure
+  btf.sp = sp;
+  btf.fp = btf.sp;
+  btf.lr = lr;
+  btf.pc = pc | 1; // Force Thumb, as CORTEX only support it
+
+  // Perform a backtrace
+  SERIAL_ERROR_START();
+  SERIAL_ERRORLNPGM("Backtrace:");
+  int ctr = 0;
+  UnwindStart(&btf, &UnwCallbacks, &ctr);
+}
+
+#else
+
+void backtrace(void) {}
+
+#endif
+
+
+

Marlin/src/backtrace/backtrace.h

@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef _BACKTRACE_H_
+#define _BACKTRACE_H_
+
+// Perform a backtrace to the serial port
+void backtrace(void);
+
+#endif

Marlin/src/backtrace/unwarm.cpp

@@ -12,12 +12,11 @@
  * File Description: Utility functions and glue for ARM unwinding sub-modules.
  **************************************************************************/
 
-#ifdef ARDUINO_ARCH_SAM
+#if defined(__arm__) || defined(__thumb__)
 
 #define MODULE_NAME "UNWARM"
 
 #include <stdint.h>
-#include <stdbool.h>
 #include <stdio.h>
 #include <stdarg.h>
 #include <string.h>

Marlin/src/backtrace/unwarm.h

@@ -54,7 +54,7 @@ typedef struct {
   /** The origin of the register value.
    * This is used to track how the value in the register was loaded.
    */
-  RegValOrigin o;
+  int o; /* (RegValOrigin) */
 } RegData;
 
 
@@ -131,10 +131,6 @@ typedef struct {
  *  Function Prototypes
  **************************************************************************/
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 UnwResult UnwStartArm(UnwState * const state);
 UnwResult UnwStartThumb(UnwState * const state);
 void UnwInvalidateRegisterFile(RegData *regFile);
@@ -144,10 +140,6 @@ bool UnwMemWriteRegister(UnwState * const state, const uint32_t addr, const RegD
 bool UnwMemReadRegister(UnwState * const state, const uint32_t addr, RegData * const reg);
 void UnwMemHashGC(UnwState * const state);
 
-#ifdef __cplusplus
-}
-#endif
-
 #endif /* UNWARM_H */
 
 /* END OF FILE */

Marlin/src/backtrace/unwarm_arm.cpp

@@ -12,7 +12,7 @@
  * File Description: Abstract interpreter for ARM mode.
  **************************************************************************/
 
-#ifdef ARDUINO_ARCH_SAM
+#if defined(__arm__) || defined(__thumb__)
 
 #define MODULE_NAME "UNWARM_ARM"
 
@@ -180,7 +180,7 @@ UnwResult UnwStartArm(UnwState * const state) {
       uint8_t        rd = (instr & 0x0000f000) >> 12;
       uint16_t operand2 = (instr & 0x00000fff);
       uint32_t        op2val;
-      RegValOrigin op2origin;
+      int             op2origin;
 
       switch(opcode) {
         case  0: UnwPrintd4("AND%s r%d,r%d,", S ? "S" : "", rd, rn); break;
@@ -344,7 +344,7 @@ UnwResult UnwStartArm(UnwState * const state) {
           }
           else {
             state->regData[rd].o = state->regData[rn].o;
-            state->regData[rd].o |= op2origin;
+            state->regData[rd].o = (RegValOrigin)(state->regData[rd].o | op2origin);
           }
           break;
 
@@ -363,7 +363,7 @@ UnwResult UnwStartArm(UnwState * const state) {
 
         case 13: /* MOV: Rd:= Op2 */
         case 15: /* MVN: Rd:= NOT Op2 */
-          state->regData[rd].o = op2origin;
+          state->regData[rd].o = (RegValOrigin) op2origin;
           break;
       }
 

Marlin/src/backtrace/unwarm_thumb.cpp

@@ -12,7 +12,7 @@
  * File Description: Abstract interpretation for Thumb mode.
  **************************************************************************/
 
-#ifdef ARDUINO_ARCH_SAM
+#if defined(__arm__) || defined(__thumb__)
 
 #define MODULE_NAME "UNWARM_THUMB"
 

Marlin/src/backtrace/unwarmbytab.cpp

@@ -11,7 +11,7 @@
  * for exceptions for debugging purposes in 2018 by Eduardo José Tagle.
  */
 
-#ifdef ARDUINO_ARCH_SAM
+#if defined(__arm__) || defined(__thumb__)
 
 #include "unwarmbytab.h"
 
@@ -19,8 +19,8 @@
 #include <string.h>
 
 /* These symbols point to the unwind index and should be provide by the linker script */
-extern const UnwTabEntry __exidx_start[];
+extern "C" const UnwTabEntry __exidx_start[];
-extern const UnwTabEntry __exidx_end[];
+extern "C" const UnwTabEntry __exidx_end[];
 
 /* This prevents the linking of libgcc unwinder code */
 void __aeabi_unwind_cpp_pr0(void) {};

Marlin/src/backtrace/unwarmbytab.h

@@ -29,16 +29,8 @@ typedef struct {
   uint32_t insn;
 } UnwTabEntry;
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 UnwResult UnwindByTableStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data);
 
-#ifdef __cplusplus
-}
-#endif
-
 #endif
 
 /* END OF FILE */

Marlin/src/backtrace/unwarmmem.cpp

@@ -12,7 +12,7 @@
  * File Description: Implementation of the memory tracking sub-system.
  **************************************************************************/
 
-#ifdef ARDUINO_ARCH_SAM
+#if defined(__arm__) || defined(__thumb__)
 #define MODULE_NAME "UNWARMMEM"
 
 #include <stdio.h>

Marlin/src/backtrace/unwarmmem.h

@@ -17,17 +17,9 @@
 
 #include "unwarm.h"
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 bool UnwMemHashRead(MemData * const memData, uint32_t addr, uint32_t * const data, bool * const tracked);
 bool UnwMemHashWrite(MemData * const memData, uint32_t addr, uint32_t val, bool valValid);
 void UnwMemHashGC(UnwState * const state);
 
-#ifdef __cplusplus
-}
-#endif
-
 #endif
 

Marlin/src/backtrace/unwinder.cpp

@@ -12,7 +12,7 @@
  * File Description: Implementation of the interface into the ARM unwinder.
  **************************************************************************/
 
-#ifdef ARDUINO_ARCH_SAM
+#if defined(__arm__) || defined(__thumb__)
 
 #define MODULE_NAME "UNWINDER"
 
@@ -23,8 +23,8 @@
 #include "unwarmbytab.h"
 
 /* These symbols point to the unwind index and should be provide by the linker script */
-extern const UnwTabEntry __exidx_start[];
+extern "C" const UnwTabEntry __exidx_start[];
-extern const UnwTabEntry __exidx_end[];
+extern "C" const UnwTabEntry __exidx_end[];
 
 // Detect if unwind information is present or not
 static int HasUnwindTableInfo(void) {

Marlin/src/backtrace/unwinder.h

@@ -17,7 +17,6 @@
 #define UNWINDER_H
 
 #include <stdint.h>
-#include <stdbool.h>
 
 /** \def UNW_DEBUG
  * If this define is set, additional information will be produced while
@@ -161,10 +160,6 @@ typedef struct {
   uint32_t pc;
 } UnwindFrame;
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 /** Start unwinding the current stack.
  * This will unwind the stack starting at the PC value supplied to in the
  * link register (i.e. not a normal register) and the stack pointer value
@@ -177,8 +172,4 @@ extern "C" {
  */
 UnwResult UnwindStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data);
 
-#ifdef __cplusplus
-}
-#endif
-
 #endif /* UNWINDER_H */

Marlin/src/backtrace/unwmemaccess.cpp

@@ -0,0 +1,136 @@
+/***************************************************************************
+ * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
+ * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
+ *
+ * This program is PUBLIC DOMAIN.
+ * This means that there is no copyright and anyone is able to take a copy
+ * for free and use it as they wish, with or without modifications, and in
+ * any context, commercially or otherwise. The only limitation is that I
+ * don't guarantee that the software is fit for any purpose or accept any
+ * liability for it's use or misuse - this software is without warranty.
+ ***************************************************************************
+ * File Description: Utility functions to access memory
+ **************************************************************************/
+
+#if defined(__arm__) || defined(__thumb__)
+
+#include "unwmemaccess.h"
+
+/* Validate address */
+
+#ifdef ARDUINO_ARCH_SAM
+// For DUE, valid address ranges are
+//  SRAM  (0x20070000 - 0x20088000) (96kb)
+//  FLASH (0x00080000 - 0x00100000) (512kb)
+//
+#define START_SRAM_ADDR   0x20070000
+#define END_SRAM_ADDR     0x20088000
+#define START_FLASH_ADDR  0x00080000
+#define END_FLASH_ADDR    0x00100000
+#endif
+
+#ifdef TARGET_LPC1768
+// For LPC1769:
+//  SRAM  (0x10000000 - 0x10008000) (32kb)
+//  FLASH (0x00000000 - 0x00080000) (512kb)
+//
+#define START_SRAM_ADDR   0x10000000
+#define END_SRAM_ADDR     0x10008000
+#define START_FLASH_ADDR  0x00000000
+#define END_FLASH_ADDR    0x00080000
+#endif
+
+#if 0
+// For STM32F103CBT6
+//  SRAM  (0x20000000 - 0x20005000) (20kb)
+//  FLASH (0x00000000 - 0x00020000) (128kb)
+//
+#define START_SRAM_ADDR   0x20000000
+#define END_SRAM_ADDR     0x20005000
+#define START_FLASH_ADDR  0x00000000
+#define END_FLASH_ADDR    0x00020000
+#endif
+
+#ifdef __STM32F1__
+// For STM32F103ZET6/STM32F103VET6
+//  SRAM  (0x20000000 - 0x20010000) (64kb)
+//  FLASH (0x00000000 - 0x00080000) (512kb)
+//
+#define START_SRAM_ADDR   0x20000000
+#define END_SRAM_ADDR     0x20010000
+#define START_FLASH_ADDR  0x00000000
+#define END_FLASH_ADDR    0x00080000
+#endif
+
+#ifdef STM32F7
+// For STM32F765 in BORG
+//  SRAM  (0x20000000 - 0x20080000) (512kb)
+//  FLASH (0x08000000 - 0x08100000) (1024kb)
+//
+#define START_SRAM_ADDR   0x20000000
+#define END_SRAM_ADDR     0x20080000
+#define START_FLASH_ADDR  0x08000000
+#define END_FLASH_ADDR    0x08100000
+#endif
+
+#ifdef __MK64FX512__
+// For MK64FX512 in TEENSY 3.5
+//  SRAM  (0x1FFF0000 - 0x20020000) (192kb)
+//  FLASH (0x00000000 - 0x00080000) (512kb)
+//
+#define START_SRAM_ADDR   0x1FFF0000
+#define END_SRAM_ADDR     0x20020000
+#define START_FLASH_ADDR  0x00000000
+#define END_FLASH_ADDR    0x00080000
+#endif
+
+#ifdef __MK66FX1M0__
+// For MK66FX1M0 in TEENSY 3.6
+//  SRAM  (0x1FFF0000 - 0x20030000) (256kb)
+//  FLASH (0x00000000 - 0x00140000) (1.25Mb)
+//
+#define START_SRAM_ADDR   0x1FFF0000
+#define END_SRAM_ADDR     0x20030000
+#define START_FLASH_ADDR  0x00000000
+#define END_FLASH_ADDR    0x00140000
+#endif
+
+static bool validate_addr(uint32_t addr) {
+
+  // Address must be in SRAM range
+  if (addr >= START_SRAM_ADDR && addr < END_SRAM_ADDR)
+    return true;
+
+  // Or in FLASH range
+  if (addr >= START_FLASH_ADDR && addr < END_FLASH_ADDR)
+    return true;
+
+  return false;
+}
+
+bool UnwReadW(const uint32_t a, uint32_t *v) {
+  if (!validate_addr(a))
+    return false;
+
+  *v = *(uint32_t *)a;
+  return true;
+}
+
+bool UnwReadH(const uint32_t a, uint16_t *v) {
+  if (!validate_addr(a))
+    return false;
+
+  *v = *(uint16_t *)a;
+  return true;
+}
+
+bool UnwReadB(const uint32_t a, uint8_t *v) {
+  if (!validate_addr(a))
+    return false;
+
+  *v = *(uint8_t *)a;
+  return true;
+}
+
+#endif
+

Marlin/src/backtrace/unwmemaccess.h

@@ -0,0 +1,26 @@
+/***************************************************************************
+ * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
+ * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
+ *
+ * This program is PUBLIC DOMAIN.
+ * This means that there is no copyright and anyone is able to take a copy
+ * for free and use it as they wish, with or without modifications, and in
+ * any context, commerically or otherwise. The only limitation is that I
+ * don't guarantee that the software is fit for any purpose or accept any
+ * liablity for it's use or misuse - this software is without warranty.
+ ***************************************************************************
+ * File Description: Utility functions to access memory
+ **************************************************************************/
+
+#ifndef UNWMEMACCESS_H
+#define UNWMEMACCESS_H
+
+#include "unwarm.h"
+#include <stdint.h>
+
+bool UnwReadW(const uint32_t a, uint32_t *v);
+bool UnwReadH(const uint32_t a, uint16_t *v);
+bool UnwReadB(const uint32_t a, uint8_t *v);
+
+#endif
+