From 296f25f89bb48646a3c83ff41f998100699ecb01 Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Tue, 14 Jul 2026 17:34:02 +0300
Subject: [PATCH] =?UTF-8?q?=D0=94=D0=BE=D0=B1=D0=B0=D0=B2=D0=BB=D0=B5?=
 =?UTF-8?q?=D0=BD=20=D0=B2=D1=8B=D0=B2=D0=BE=D0=B4=20=D1=81=D1=82=D0=B5?=
 =?UTF-8?q?=D0=BA=D0=B0=20=D0=BF=D1=80=D0=B8=20HardFault?=
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---
 HardFault.c  | 54 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 HardFault.h  | 16 ++++++++++++++++
 HardFault.s  | 21 ++++++++++++++++++++
 modular.json | 11 +++++++++++
 4 files changed, 102 insertions(+)
 create mode 100644 HardFault.c
 create mode 100644 HardFault.h
 create mode 100644 HardFault.s
 create mode 100644 modular.json

diff --git a/HardFault.c b/HardFault.c
new file mode 100644
index 0000000..5aae42f
--- /dev/null
+++ b/HardFault.c
@@ -0,0 +1,54 @@
+//
+// Created by cfif on 14.07.2026.
+//
+#include "HardFault.h"
+#include CMSIS_device_header
+#include "cmsis_os2.h"
+#include "InternalFlashPage.h"
+
+extern uint32_t __StackTop;
+
+#define START_FLASH_ADR 0x04001000
+
+#define CODE_START  (0x01000000 + 64  * 1024)
+#define CODE_END    (CODE_START + 704 * 1024)   // или используйте символ из линкера
+
+__attribute__((section(".ncache_bss"))) volatile uint32_t hardFault_addresses[SIZE_BUF_HARD_FAULT];   // массив для адресов возврата (достаточно 32)
+__attribute__((section(".ncache_bss"))) volatile uint32_t hardFault_count;
+__attribute__((section(".ncache_bss"))) volatile uint32_t hardFault_magic;
+
+void vTaskGetCurrentTaskStackInfo(void **ppvStackStart, void **ppvStackEnd);
+
+void HardFault_C_Handler(uint32_t *sp, uint32_t stack_flag) {
+
+    uint32_t *src = sp;
+
+    const uint32_t max_ret = sizeof(hardFault_addresses) / sizeof(uint32_t) - 1;
+    uint32_t *stack_end = NULL;
+
+    if (stack_flag == 0) { // Использовался MSP – стек ядра
+        //src += 8;          // пропускаем контекст
+        stack_end = &__StackTop;
+    } else {  // Использовался PSP – стек задачи
+        void *pvStackStart, *pvStackEnd;
+        vTaskGetCurrentTaskStackInfo(&pvStackStart, &pvStackEnd);
+        // uint32_t *stack_start = (uint32_t *) pvStackStart;
+        stack_end = (uint32_t *) pvStackEnd;
+    }
+
+    hardFault_count = 0;
+
+    while (src < stack_end && hardFault_count < max_ret) {
+        uint32_t val = *src;
+        // Проверяем, принадлежит ли значение области кода
+        if (val >= CODE_START && val < CODE_END) {
+            hardFault_addresses[hardFault_count++] = val & ~1;  // убираем Thumb-бит
+        }
+        src++;
+    }
+
+    hardFault_magic = 0xDEADBEEF;
+
+    NVIC_SystemReset();
+
+}
\ No newline at end of file
diff --git a/HardFault.h b/HardFault.h
new file mode 100644
index 0000000..0a11983
--- /dev/null
+++ b/HardFault.h
@@ -0,0 +1,16 @@
+//
+// Created by cfif on 14.07.2026.
+//
+
+#ifndef HVAC_M7_HARDFAULT_H
+#define HVAC_M7_HARDFAULT_H
+
+#include "stdint.h"
+
+#define SIZE_BUF_HARD_FAULT 32
+
+extern __attribute__((section(".ncache_bss"))) volatile uint32_t hardFault_addresses[32];
+extern __attribute__((section(".ncache_bss"))) volatile uint32_t hardFault_count;
+extern __attribute__((section(".ncache_bss"))) volatile uint32_t hardFault_magic;
+
+#endif //HVAC_M7_HARDFAULT_H
diff --git a/HardFault.s b/HardFault.s
new file mode 100644
index 0000000..f1a61a3
--- /dev/null
+++ b/HardFault.s
@@ -0,0 +1,21 @@
+.syntax unified
+.thumb
+.section .text
+.global HardFault_Handler
+.type HardFault_Handler, %function
+
+HardFault_Handler:
+    // Проверяем бит 2 в LR: если 1, то использовался PSP, иначе MSP
+    TST     LR, #4
+    BNE     UsePSP
+UseMSP:
+    MRS     R0, MSP          // R0 = указатель MSP
+    MOVS    R1, #0           // R1 = флаг 0 (MSP)
+    B       CallHandler
+UsePSP:
+    MRS     R0, PSP          // R0 = указатель PSP
+    MOVS    R1, #1           // R1 = флаг 1 (PSP)
+CallHandler:
+    LDR     R2, =HardFault_C_Handler
+    BX      R2
+    .size   HardFault_Handler, . - HardFault_Handler
\ No newline at end of file
diff --git a/modular.json b/modular.json
new file mode 100644
index 0000000..388b3da
--- /dev/null
+++ b/modular.json
@@ -0,0 +1,11 @@
+{
+  "cmake": {
+    "inc_dirs": [
+      "./"
+    ],
+    "srcs": [
+      "./**.c",
+      "./**.s"
+    ]
+  }
+}