From 3056e083d78b6edec6bab1ebac3fa9e3708644d7 Mon Sep 17 00:00:00 2001
From: Camil Staps
Date: Thu, 20 Aug 2015 22:37:23 +0200
Subject: Initial commit

---
 .../src/system_config/default/system_exceptions.c  | 143 +++++++++++++++++++++
 1 file changed, 143 insertions(+)
 create mode 100644 firmware/src/system_config/default/system_exceptions.c

(limited to 'firmware/src/system_config/default/system_exceptions.c')

diff --git a/firmware/src/system_config/default/system_exceptions.c b/firmware/src/system_config/default/system_exceptions.c
new file mode 100644
index 0000000..73a2380
--- /dev/null
+++ b/firmware/src/system_config/default/system_exceptions.c
@@ -0,0 +1,143 @@
+/*******************************************************************************
+  MPLAB Harmony Exceptions Source File
+
+  File Name:
+    system_exceptions.c
+
+  Summary:
+    This file contains a function which overrides the deafult _weak_ exception 
+    handler provided by the XC32 compiler.
+
+  Description:
+    This file redefines the default _weak_  exception handler with a more debug
+    friendly one. If an unexpected exception occurs the code will stop in a
+    while(1) loop.  The debugger can be halted and two variables _excep_code and
+    _except_addr can be examined to determine the cause and address where the
+    exception occured.
+ *******************************************************************************/
+
+// DOM-IGNORE-BEGIN
+/*******************************************************************************
+Copyright (c) 2013-2015 released Microchip Technology Inc.  All rights reserved.
+
+Microchip licenses to you the right to use, modify, copy and distribute
+Software only when embedded on a Microchip microcontroller or digital signal
+controller that is integrated into your product or third party product
+(pursuant to the sublicense terms in the accompanying license agreement).
+
+You should refer to the license agreement accompanying this Software for
+additional information regarding your rights and obligations.
+
+SOFTWARE AND DOCUMENTATION ARE PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND,
+EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF
+MERCHANTABILITY, TITLE, NON-INFRINGEMENT AND FITNESS FOR A PARTICULAR PURPOSE.
+IN NO EVENT SHALL MICROCHIP OR ITS LICENSORS BE LIABLE OR OBLIGATED UNDER
+CONTRACT, NEGLIGENCE, STRICT LIABILITY, CONTRIBUTION, BREACH OF WARRANTY, OR
+OTHER LEGAL EQUITABLE THEORY ANY DIRECT OR INDIRECT DAMAGES OR EXPENSES
+INCLUDING BUT NOT LIMITED TO ANY INCIDENTAL, SPECIAL, INDIRECT, PUNITIVE OR
+CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF PROCUREMENT OF
+SUBSTITUTE GOODS, TECHNOLOGY, SERVICES, OR ANY CLAIMS BY THIRD PARTIES
+(INCLUDING BUT NOT LIMITED TO ANY DEFENSE THEREOF), OR OTHER SIMILAR COSTS.
+ *******************************************************************************/
+// DOM-IGNORE-END
+
+
+#include <xc.h>                 /* Defines special funciton registers, CP0 regs  */
+#include "system_config.h"
+#include "system_definitions.h"
+#include "system/debug/sys_debug.h"
+
+
+// *****************************************************************************
+// *****************************************************************************
+// Section: Global Data Definitions
+// *****************************************************************************
+// *****************************************************************************
+
+/*******************************************************************************
+  Exception Reason Data
+  
+  <editor-fold defaultstate="expanded" desc="Exception Reason Data">
+  
+  Remarks:
+    These global static items are used instead of local variables in the 
+    _general_exception_handler function because the stack may not be available
+    if an exception has occured.
+*/
+
+/* Code identifying the cause of the exception (CP0 Cause register). */
+static unsigned int _excep_code;
+
+/* Address of instruction that caused the exception. */
+static unsigned int _excep_addr;
+
+/* Pointer to the string describing the cause of the exception. */
+static char *_cause_str;
+
+/* Array identifying the cause (indexed by _exception_code). */
+static char *cause[] = 
+{
+    "Interrupt",
+    "Undefined",
+    "Undefined",
+    "Undefined",
+    "Load/fetch address error",
+    "Store address error",
+    "Instruction bus error",
+    "Data bus error",
+    "Syscall",
+    "Breakpoint",
+    "Reserved instruction",
+    "Coprocessor unusable",
+    "Arithmetic overflow",
+    "Trap",
+    "Reserved",
+    "Reserved",
+    "Reserved",
+    "Reserved",
+    "Reserved"
+};
+
+// </editor-fold>
+
+
+// *****************************************************************************
+// *****************************************************************************
+// Section: Exception Handling
+// *****************************************************************************
+// *****************************************************************************
+
+/*******************************************************************************
+  Function:
+    void _general_exception_handler ( void )
+
+  Summary:
+    Overrides the XC32 _weak_ _generic_exception_handler.
+    
+  Description:
+    This function overrides the XC32 default _weak_ _generic_exception_handler.
+
+  Remarks:
+    Refer to the XC32 User's Guide for additional information.
+ */
+
+void _general_exception_handler ( void )
+{
+    /* Mask off Mask of the ExcCode Field from the Cause Register
+    Refer to the MIPs Software User's manual */
+    _excep_code = (_CP0_GET_CAUSE() & 0x0000007C) >> 2;
+    _excep_addr = _CP0_GET_EPC();
+    _cause_str  = cause[_excep_code];
+
+    SYS_DEBUG_PRINT(SYS_ERROR_ERROR, "\nGeneral Exception %s (cause=%d, addr=%x).\n", 
+                    _cause_str, _excep_code, _excep_addr);
+
+    while (1)
+    {
+        SYS_DEBUG_BreakPoint();
+    }
+}
+
+/*******************************************************************************
+ End of File
+*/
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