1 files changed, 89 insertions, 0 deletions
diff --git a/sam/applications/sam_e1/hardfault.c b/sam/applications/sam_e1/hardfault.c
new file mode 100644
index 00000000..99523216
--- /dev/null
+++ b/sam/applications/sam_e1/hardfault.c
@@ -0,0 +1,89 @@
+#include <asf.h>
+
+/**
+ * \brief Default HardFault interrupt handler.
+ */
+struct hardfault_args {
+	unsigned long r0;
+	unsigned long r1;
+	unsigned long r2;
+	unsigned long r3;
+	unsigned long r12;
+	unsigned long lr;
+	unsigned long pc;
+	unsigned long psr;
+};
+
+void hard_fault_handler_c(struct hardfault_args *args)
+{
+    printf("\r\nHardFault\r\n");
+    printf("R0=%08x, R1=%08x, R2=%08x, R3=%08x, R12=%08x\r\n",
+	   args->r0, args->r1, args->r2, args->r3, args->r12);
+    printf("LR[R14]=%08x, PC[R15]=%08x, PSR=%08x\r\n",
+	   args->lr, args->pc, args->psr);
+    printf("BFAR=%08x, CFSR=%08x, HFSR=%08x\r\n",
+	   SCB->BFAR, SCB->CFSR, SCB->HFSR);
+    printf("DFSR=%08x, AFSR=%08x, SHCSR=%08x\r\n",
+	   SCB->DFSR, SCB->CFSR, SCB->SHCSR);
+
+    if (SCB->HFSR & 0x40000000)
+	    printf("FORCED ");
+    if (SCB->HFSR & 0x00000002)
+	    printf("VECTTBL ");
+
+    uint32_t ufsr = SCB->CFSR >> 16;
+    if (ufsr & 0x0200)
+	    printf("DIVBYZERO ");
+    if (ufsr & 0x0100)
+	    printf("UNALIGNED ");
+    if (ufsr & 0x0008)
+	    printf("NOCP ");
+    if (ufsr & 0x0004)
+	    printf("INVPC ");
+    if (ufsr & 0x0002)
+	    printf("INVSTATE ");
+    if (ufsr & 0x0001)
+	    printf("UNDEFINSTR ");
+
+    uint32_t bfsr = (SCB->CFSR >> 8) & 0xff;
+    if (bfsr & 0x80)
+	    printf("BFARVALID ");
+    if (bfsr & 0x10)
+	    printf("STKERR ");
+    if (bfsr & 0x08)
+	    printf("UNSTKERR ");
+    if (bfsr & 0x04)
+	    printf("IMPRECISERR ");
+    if (bfsr & 0x02)
+	    printf("PRECISERR ");
+    if (bfsr & 0x01)
+	    printf("IBUSERR ");
+
+    uint32_t mmfsr = (SCB->CFSR & 0xff);
+    if (mmfsr & 0x80)
+	    printf("MMARVALID ");
+    if (mmfsr & 0x10)
+	    printf("MSTKERR ");
+    if (mmfsr & 0x08)
+	    printf("MUNSTKERR ");
+    if (mmfsr & 0x02)
+	    printf("DACCVIOL ");
+    if (mmfsr & 0x01)
+	    printf("IACCVIOL ");
+
+    while ( 1 ) ;
+}
+
+__attribute__((naked))
+void HardFault_Handler( void )
+{
+	__asm volatile(
+		".syntax unified	\n"
+		" tst lr, #4		\n"
+		" ite eq		\n"
+		" mrseq r0, msp		\n"
+		" mrsne r0, psp		\n"
+		//" ldr r1, [r0, #24] 	\n"
+		" b hard_fault_handler_c\n"
+		".syntax divided	\n");
+}