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Add secure hardfault handler function

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This commit is contained in:
William Vinnicombe 2025-10-07 15:55:36 +01:00
parent 52c22c74d1
commit 021b00fbb5
2 changed files with 81 additions and 0 deletions
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10
src/rp2_common/pico_secure/include/pico/secure.h
View file

@ -46,6 +46,16 @@ void secure_sau_configure_region(uint region, uint32_t base, uint32_t limit, boo
void secure_sau_set_enabled(bool enabled);
typedef void (*secure_hardfault_callback_t)(void);
/*! \brief Install default hardfault handler
* \ingroup pico_secure
*
* \param callback The callback to call when a hardfault occurs after printing the information
*/
void secure_install_default_hardfault_handler(secure_hardfault_callback_t callback);
#ifdef __cplusplus
}
#endif

71
src/rp2_common/pico_secure/secure.c
View file

@ -4,11 +4,13 @@
* SPDX-License-Identifier: BSD-3-Clause
*/
#include <stdio.h>
#include "pico/secure.h"
#include "pico/runtime_init.h"
#include "hardware/timer.h"
#include "hardware/irq.h"
#include "hardware/exception.h"
#include "hardware/structs/scb.h"
#include "hardware/structs/sau.h"
@ -56,6 +58,75 @@ void secure_sau_set_enabled(bool enabled) {
}
static secure_hardfault_callback_t hardfault_callback = NULL;
static void secure_hardfault_handler(void) {
printf("Hard fault occurred\n");
// # First eight values on stack will always be:
// # r0, r1, r2, r3, r12, LR, pc, xPSR
uint32_t sp;
pico_default_asm_volatile(
"mrs %0, msp_ns"
: "=r" (sp)
);
printf("sp: %08x\n", sp);
printf("r0: %08x\n", *((uint32_t*)sp + 0));
printf("r1: %08x\n", *((uint32_t*)sp + 1));
printf("r2: %08x\n", *((uint32_t*)sp + 2));
printf("r3: %08x\n", *((uint32_t*)sp + 3));
printf("r12: %08x\n", *((uint32_t*)sp + 4));
printf("lr: %08x\n", *((uint32_t*)sp + 5));
printf("pc: %08x\n", *((uint32_t*)sp + 6));
printf("xPSR: %08x\n", *((uint32_t*)sp + 7));
if (scb_hw->hfsr & M33_HFSR_DEBUGEVT_BITS) printf("HardFault: Debug Event\n");
if (scb_hw->hfsr & M33_HFSR_FORCED_BITS) printf("HardFault: Forced\n");
if (scb_hw->hfsr & M33_HFSR_VECTTBL_BITS) printf("HardFault: Vector Table Read Error\n");
if (m33_hw->sfsr & M33_SFSR_LSERR_BITS) printf("SecureFault: Error occurred during lazy state activation/deactivation\n");
if (m33_hw->sfsr & M33_SFSR_LSPERR_BITS) printf("SecureFault: Error occurred during lazy preservation of floating-point state\n");
if (m33_hw->sfsr & M33_SFSR_INVTRAN_BITS) printf("SecureFault: Secure branched to Non-secure code\n");
if (m33_hw->sfsr & M33_SFSR_AUVIOL_BITS) printf("SecureFault: Non-secure accessed Secure memory\n");
if (m33_hw->sfsr & M33_SFSR_INVER_BITS) printf("SecureFault: Invalid Non-secure exception state when returning\n");
if (m33_hw->sfsr & M33_SFSR_INVIS_BITS) printf("SecureFault: Invalid integrity signature in exception stack\n");
if (m33_hw->sfsr & M33_SFSR_INVEP_BITS) printf("SecureFault: Non-secure branched to Secure code\n");
if (m33_hw->sfsr & M33_SFSR_SFARVALID_BITS) printf("SecureFault address: %08x\n", m33_hw->sfar);
if (scb_hw->cfsr & M33_CFSR_UFSR_DIVBYZERO_BITS) printf("UsageFault: Division by zero\n");
if (scb_hw->cfsr & M33_CFSR_UFSR_UNALIGNED_BITS) printf("UsageFault: Unaligned access\n");
if (scb_hw->cfsr & M33_CFSR_UFSR_STKOF_BITS) printf("UsageFault: Stack overflow\n");
if (scb_hw->cfsr & M33_CFSR_UFSR_NOCP_BITS) printf("UsageFault: No Coprocessor\n");
if (scb_hw->cfsr & M33_CFSR_UFSR_INVPC_BITS) printf("UsageFault: Invalid PC\n");
if (scb_hw->cfsr & M33_CFSR_UFSR_INVSTATE_BITS) printf("UsageFault: Invalid state\n");
if (scb_hw->cfsr & M33_CFSR_UFSR_UNDEFINSTR_BITS) printf("UsageFault: Undefined instruction\n");
if (scb_hw->cfsr & M33_CFSR_BFSR_LSPERR_BITS) printf("BusFault: Error occurred during lazy preservation of floating-point state\n");
if (scb_hw->cfsr & M33_CFSR_BFSR_STKERR_BITS) printf("BusFault: Error occurred during exception entry stacking\n");
if (scb_hw->cfsr & M33_CFSR_BFSR_UNSTKERR_BITS) printf("BusFault: Error occurred during exception return unstacking\n");
if (scb_hw->cfsr & M33_CFSR_BFSR_IMPRECISERR_BITS) printf("BusFault: Imprecise data access error\n");
if (scb_hw->cfsr & M33_CFSR_BFSR_PRECISERR_BITS) printf("BusFault: Precise data access error\n");
if (scb_hw->cfsr & M33_CFSR_BFSR_IBUSERR_BITS) printf("BusFault: Bus fault on instruction prefetch\n");
if (scb_hw->cfsr & M33_CFSR_BFSR_BFARVALID_BITS) printf("BusFault address: %08x\n", scb_hw->bfar);
if (scb_hw->cfsr & M33_CFSR_MMFSR_BITS) printf("MemManageFault: %02x\n", scb_hw->cfsr & M33_CFSR_MMFSR_BITS);
if (scb_hw->cfsr & 0x80) printf("MemManageFault address: %08x\n", scb_hw->mmfar);
if (hardfault_callback) {
hardfault_callback();
}
}
void secure_install_default_hardfault_handler(secure_hardfault_callback_t callback) {
hardfault_callback = callback;
exception_set_exclusive_handler(HARDFAULT_EXCEPTION, secure_hardfault_handler);
}
#if !PICO_RUNTIME_NO_INIT_NONSECURE_COPROCESSORS
void __weak runtime_init_nonsecure_coprocessors() {
// Enable NS coprocessor access to anything secure has enabled