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8fbe7c0033
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feat: STM32 watchdog and fault recovery handler (Issue #565)
- New src/fault_handler.c + include/fault_handler.h:
- HardFault/MemManage/BusFault/UsageFault naked ISR stubs with
Cortex-M7 stack-frame capture (R0-R3, LR, PC, xPSR, CFSR, HFSR,
MMFAR, BFAR, SP) and NVIC_SystemReset()
- .noinit SRAM capture ring survives soft reset; persisted to flash
sector 7 (0x08060000, 8x64-byte slots) on subsequent boot
- MPU Region 0 stack guard (32 B at __stack_end, no-access) ->
MemManage fault detected as FAULT_STACK_OVF
- Brownout detect via RCC_CSR_BORRSTF on boot -> FAULT_BROWNOUT
- Watchdog reset detection delegates to existing watchdog.c
- LED blink codes on LED2 (PC14, active-low) for 10 s post-recovery:
HARDFAULT=3, WATCHDOG=2, BROWNOUT=1, STACK_OVF=4 fast blinks
- fault_led_tick(), fault_log_read(), fault_log_get_count(),
fault_get_last_type(), fault_log_clear(), FAULT_ASSERT() macro
- jlink.h: add JLINK_CMD_FAULT_LOG_GET (0x0F), JLINK_TLM_FAULT_LOG
(0x86), jlink_tlm_fault_log_t (20 bytes), fault_log_req in JLinkState,
jlink_send_fault_log() declaration
- jlink.c: dispatch JLINK_CMD_FAULT_LOG_GET; implement
jlink_send_fault_log() (26-byte CRC16-XModem framed response)
- main.c: call fault_handler_init() first in main(); send fault log
TLM on boot if prior fault recorded; fault_led_tick() in main loop;
handle fault_log_req flag to respond to Jetson queries
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-14 13:37:14 -04:00 |
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