ARM Cortex-R Integration Guide

Getting started

Integrating on an ARM Cortex-R device follows the same workflow as on a Cortex-M device. Complete the steps in the guide linked below, then return here to implement any Cortex-R specific integration steps.

ARM Cortex-M integration guide

ARM Cortex-R specific steps

The ARMv7-R architecture has a different exception/interrupt handler dispatching mechanism as compared to Cortex-M devices (excerpt below is from the ARM Architecture Reference Manual ARMv7-A and ARMv7-R edition):

To integrate the Memfault fault handlers into the exception handlers, install the following functions into the program’s vector table:

• UndefinedInstruction_Handler
• DataAbort_Handler
• PrefetchAbort_Handler

These functions are defined in the Memfault Firmware SDK here.

An example vector table is show below:

/*-------------------------------------------------------------------------------*/
@ import reference for interrupt routines

    .extern _c_int00
    .extern phantomInterrupt
    .weak resetEntry

    @ Memfault Fault Handlers used in the interrupt vector table below
    .extern UndefinedInstruction_Handler
    .extern DataAbort_Handler
    .extern PrefetchAbort_Handler

/*-------------------------------------------------------------------------------*/
@ interrupt vectors

resetEntry:
        ldr pc, =_c_int00
        ldr pc, =UndefinedInstruction_Handler  /* Memfault handler */
svcEntry:
        b   svcEntry
        ldr pc, =PrefetchAbort_Handler  /* Memfault handler */
        ldr pc, =DataAbort_Handler  /* Memfault handler */
        b   phantomInterrupt
        ldr pc,[pc,#-0x1b0]
        ldr pc,[pc,#-0x1b0]

You should be able to see the correct addresses when dumping the .intvecs section (or whatever the vector section is called in your program).

$ arm-none-eabi-objdump --disassemble -j .intvecs ./build/memfault.elf

./build/memfault.elf:     file format elf32-littlearm


Disassembly of section .intvecs:

00000000 <resetEntry>:
   0:   18 f0 9f e5 18 f0 9f e5                             ........

00000008 <svcEntry>:
   8:   eafffffe        b       8 <svcEntry>
   c:   e59ff014        ldr     pc, [pc, #20]   ; 28 <svcEntry+0x20>
  10:   e59ff014        ldr     pc, [pc, #20]   ; 2c <svcEntry+0x24>
  14:   ea00246f        b       91d8 <phantomInterrupt>
  18:   e51ff1b0        ldr     pc, [pc, #-432] ; fffffe70 <_estack+0xf7fbfe70>
  1c:   e51ff1b0        ldr     pc, [pc, #-432] ; fffffe74 <_estack+0xf7fbfe74>
  20:   0000b598        .word   0x0000b598
  24:   00012cf4        .word   0x00012cf4
  28:   00012d70        .word   0x00012d70
  2c:   00012d3c        .word   0x00012d3c

$ arm-none-eabi-addr2line --exe ./build/memfault.elf 0x00012cf4 0x00012d70 0x00012d3c
./third-party/memfault-firmware-sdk/components/panics/src/memfault_fault_handling_armv7_a_r.c:315
./third-party/memfault-firmware-sdk/components/panics/src/memfault_fault_handling_armv7_a_r.c:339
./third-party/memfault-firmware-sdk/components/panics/src/memfault_fault_handling_armv7_a_r.c:332