S32K328(Arm Cortex-M7)适配CmBacktrace错误追踪

CmBacktrace 相当于重写了hard_fault函数，在hard_fault函数里面去分析SCB寄存器的信息和堆栈信息，然后把这些信息打印出来(或者写到flash)；通过使用串口输出产生hard_fault的堆栈信息，然后利用addr2line工具反推出具体的代码执行函数，快速定位hard_fault问题；

1：CmBacktrace获取

看两个git的更新记录，github应该是比较新的；作者都是同一个人

github地址

https://github.com/armink/CmBacktrace

gitee地址

https://gitee.com/Armink/CmBacktrace

使用说明介绍这个博主讲的挺详细的

https://blog.csdn.net/weiqifa0/article/details/120499893

然后大家自行搜索一下 addr2line 工具的说明即可

2：CmBackTrace代码修改适配

cmb_cfg.h 修改

#ifndef _CMB_CFG_H_
#define _CMB_CFG_H_
#include "mocar_log.h"

#ifdef	CMB_USER_CFG
#include "cmb_user_cfg.h"
#else
/* print line, must config by user */
#define cmb_println(...)    log_print(SLOG_INFO, __VA_ARGS__);            /* e.g., printf(__VA_ARGS__);printf("\r\n")  or  SEGGER_RTT_printf(0, __VA_ARGS__);SEGGER_RTT_WriteString(0, "\r\n")  */
/* enable bare metal(no OS) platform */
/* #define CMB_USING_BARE_METAL_PLATFORM */
/* enable OS platform */
#define CMB_USING_OS_PLATFORM
/* OS platform type, must config when CMB_USING_OS_PLATFORM is enable */
#define CMB_OS_PLATFORM_TYPE    CMB_OS_PLATFORM_FREERTOS    /* CMB_OS_PLATFORM_RTT or CMB_OS_PLATFORM_UCOSII or CMB_OS_PLATFORM_UCOSIII or CMB_OS_PLATFORM_FREERTOS or CMB_OS_PLATFORM_RTX5 or CMB_OS_PLATFORM_THREADX */
/* cpu platform type, must config by user */
#define CMB_CPU_PLATFORM_TYPE   CMB_CPU_ARM_CORTEX_M7          /* CMB_CPU_ARM_CORTEX_M0 or CMB_CPU_ARM_CORTEX_M3 or CMB_CPU_ARM_CORTEX_M4 or CMB_CPU_ARM_CORTEX_M7 or CMB_CPU_ARM_CORTEX_M33 */
/* enable dump stack information */
#define CMB_USING_DUMP_STACK_INFO
/* language of print information */
#define CMB_PRINT_LANGUAGE      CMB_PRINT_LANGUAGE_ENGLISH  /* CMB_PRINT_LANGUAGE_ENGLISH(default) or CMB_PRINT_LANGUAGE_CHINESE or CMB_PRINT_LANGUAGE_CHINESE_UTF8 */
#endif

#endif /* _CMB_CFG_H_ */

cmb_def.h 修改

S32DS默认使用gcc编译器；
注意这里要结合.ld文件去里面的 SECTIONS{...}适配, 不同的.ld文件名称可能不一致；

......
#elif defined(__GNUC__)
    /* C stack block start address, defined on linker script file, default is _sstack */
    #ifndef CMB_CSTACK_BLOCK_START
    #define CMB_CSTACK_BLOCK_START         __Stack_dtcm_start
    #endif
    /* C stack block end address, defined on linker script file, default is _estack */
    #ifndef CMB_CSTACK_BLOCK_END
    #define CMB_CSTACK_BLOCK_END           __Stack_dtcm_end
    #endif
    /* code section start address, defined on linker script file, default is _stext */
    #ifndef CMB_CODE_SECTION_START
    #define CMB_CODE_SECTION_START         __text_start
    #endif
    /* code section end address, defined on linker script file, default is _etext */
    #ifndef CMB_CODE_SECTION_END
    #define CMB_CODE_SECTION_END           __text_end
    #endif
#else
    #error "not supported compiler"
#endif

task.c修改

......
/*适配CmBacktrace插件*/
uint32_t *vTaskStackAddr(void)
{
    return (uint32_t)pxCurrentTCB->pxStack;
}

uint32_t vTaskStackSize(void)
{
    return (uint32_t)pxCurrentTCB - (uint32_t)pxCurrentTCB->pxStack - 4;
}

char * vTaskName()
{
    return pxCurrentTCB->pcTaskName;
}

在现场里面自己写了个触发hard_fault的代码；参考例程里面的代码，测试不会产生 HardFault_Handler

/*cm_backtrace 临时测试产生hardfault的函数 */
#include "C40_Ip.h"
static void tmp_test_create_hardfault(void)
{
    C40_Ip_StatusType c40_erase_status=C40_IP_STATUS_ERROR;

	if (C40_IP_STATUS_SECTOR_PROTECTED == C40_Ip_GetLock(C40_CODE_ARRAY_0_BLOCK_0_S000))
	{
		C40_Ip_ClearLock(C40_CODE_ARRAY_0_BLOCK_0_S000, 0);
	}
    c40_erase_status = C40_Ip_MainInterfaceSectorErase(C40_CODE_ARRAY_0_BLOCK_0_S000, 0);
    if (c40_erase_status == C40_IP_STATUS_SUCCESS)
    {        
        // 擦除之后必须调用该接口，不然会报 EHV 错误; 很容易就busy了...
        c40_erase_status = C40_Ip_MainInterfaceSectorEraseStatus();
    }
}

S32DS代码里面的 exceptions.c里面定义的是弱函数，重写之后自动覆盖了; 担心没有覆盖的话可以屏蔽掉

//void HardFault_Handler(void)            __attribute__ ((weak));         /* Hard Fault Handler */
......
//void HardFault_Handler(void)
//{
//    while(TRUE){};
//}

其它的再没修改什么通用的代码了，根据自己的工程初始化"cm_backtrace_init"之后，调用 "tmp_test_create_hardfault"函数即可

3：实测验证

代码烧写运行之后串口日志如下

Bus fault is caused by ... 这里的故障原因就是分析 SCB寄存器的出来的

1969.12.31-23:59:59]info cm_backtrace_fault lr=0xfffffffd sp=0x2000ffe0
[1969.12.31-23:59:59]info Firmware name: FreeRTOS_S32K328, hardware version: hv_v1.0.0, software version: sv_v1.0.1
[1969.12.31-23:59:59]info Fault on thread TaskManager
[1969.12.31-23:59:59]info ===== Thread stack information =====
[1969.12.31-23:59:59]info stack_info pointer=0x20400ff8 addr=0x20400458 size=12272
[1969.12.31-23:59:59]info   addr: 20400ff8    data: 00000000
[1969.12.31-23:59:59]info   addr: 20400ffc    data: 00000000
[1969.12.31-23:59:59]info   addr: 20401000    data: 20401008
[1969.12.31-23:59:59]info   addr: 20401004    data: 0041ebf1
[1969.12.31-23:59:59]info   addr: 20401008    data: 00a5a5a5
[1969.12.31-23:59:59]info   addr: 2040100c    data: 00000010
[1969.12.31-23:59:59]info   addr: 20401010    data: 00400000
[1969.12.31-23:59:59]info   addr: 20401014    data: 00000000
[1969.12.31-23:59:59]info   addr: 20401018    data: 20401020
[1969.12.31-23:59:59]info   addr: 2040101c    data: 004110e1
[1969.12.31-23:59:59]info   addr: 20401020    data: 20400398
[1969.12.31-23:59:59]info   addr: 20401024    data: 00000002
[1969.12.31-23:59:59]info   addr: 20401028    data: 20401030
[1969.12.31-23:59:59]info   addr: 2040102c    data: 00411141
[1969.12.31-23:59:59]info   addr: 20401030    data: 00000000
[1969.12.31-23:59:59]info   addr: 20401034    data: 00000000
[1969.12.31-23:59:59]info ====================================
[1969.12.31-23:59:59]info =================== Registers information ====================
[1969.12.31-23:59:59]info   R0 : 00000000  R1 : 00000000  R2 : 402ec000  R3 : 00000000
[1969.12.31-23:59:59]info   R12: 0000000a  LR : 004407d3  PC : 004407d6  PSR: 61000000
[1969.12.31-23:59:59]info ==============================================================
[1969.12.31-23:59:59]info Bus fault is caused by instruction access violation
[1969.12.31-23:59:59]info Bus fault is caused by precise data access violation
[1969.12.31-23:59:59]info The bus fault occurred address is 00440810
[1969.12.31-23:59:59]info Show more call stack info by run: addr2line -e FreeRTOS_S32K328.elf -afpiC 004407d6 004407d2 0041ebf0 004110e0 00411140 004066f4 0040936e 

addr2line执行如下；我使用相对路径执行的，没有添加环境变量

PS D:\2_gitlab\S32K328\s32k328\FreeRTOS_S32K328\FreeRTOS_S32K328\src\mid\cm_backtrace\exe> .\addr2line.exe -e ..\..\..\..\Debug_FLASH\FreeRTOS_S32K328.elf -afpiC 004407d6 004407d2 0041ebf0 004110e0 00411140 004066f4 0040936e
0x004407d6: SchM_Exit_Mem_43_INFLS_MEM_EXCLUSIVE_AREA_10 at D:\2_gitlab\S32K328\s32k328\FreeRTOS_S32K328\FreeRTOS_S32K328\Debug_FLASH/../RTD/src/SchM_Mem_43_INFLS.c:797
0x004407d2: SchM_Exit_Mem_43_INFLS_MEM_EXCLUSIVE_AREA_10 at D:\2_gitlab\S32K328\s32k328\FreeRTOS_S32K328\FreeRTOS_S32K328\Debug_FLASH/../RTD/src/SchM_Mem_43_INFLS.c:795
0x0041ebf0: C40_Ip_MainInterfaceSectorErase at D:\2_gitlab\S32K328\s32k328\FreeRTOS_S32K328\FreeRTOS_S32K328\Debug_FLASH/../RTD/src/C40_Ip.c:2569      
0x004110e0: tmp_test_create_hardfault at D:\2_gitlab\S32K328\s32k328\FreeRTOS_S32K328\FreeRTOS_S32K328\Debug_FLASH/../src/task/manager/manager.c:243   
0x00411140: task_manage_thread at D:\2_gitlab\S32K328\s32k328\FreeRTOS_S32K328\FreeRTOS_S32K328\Debug_FLASH/../src/task/manager/manager.c:270
0x004066f4: xTaskResumeAll at D:\2_gitlab\S32K328\s32k328\FreeRTOS_S32K328\FreeRTOS_S32K328\Debug_FLASH/../FreeRTOS/Source/tasks.c:4102
0x0040936e: prvTimerTask at D:\2_gitlab\S32K328\s32k328\FreeRTOS_S32K328\FreeRTOS_S32K328\Debug_FLASH/../FreeRTOS/Source/timers.c:777 (discriminator 1)

最后附一张截图