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| # PSoC™ 6 MCU: Fault handling basics | |
| This example demonstrates the fault handling functionality of PSoC™ 6 MCU using peripheral driver library (PDL) system library (SysLib). | |
| [View this README on GitHub.](https://github.com/Infineon/mtb-example-psoc6-fault-handling) | |
| [Provide feedback on this code example.](https://cypress.co1.qualtrics.com/jfe/form/SV_1NTns53sK2yiljn?Q_EED=eyJVbmlxdWUgRG9jIElkIjoiQ0UyMTg1NDEiLCJTcGVjIE51bWJlciI6IjAwMi0xODU0MSIsIkRvYyBUaXRsZSI6IlBTb0MmdHJhZGU7IDYgTUNVOiBGYXVsdCBoYW5kbGluZyBiYXNpY3MiLCJyaWQiOiJzZGFrIiwiRG9jIHZlcnNpb24iOiIzLjAuMCIsIkRvYyBMYW5ndWFnZSI6IkVuZ2xpc2giLCJEb2MgRGl2aXNpb24iOiJNQ0QiLCJEb2MgQlUiOiJJQ1ciLCJEb2MgRmFtaWx5IjoiUFNPQyJ9) | |
| ## Requirements | |
| - [ModusToolbox™ software](https://www.Infineon.com/cms/en/design-support/tools/sdk/modustoolbox-software/) v3.0 or later (tested with v3.0) | |
| - Board support package (BSP) minimum required version: 4.0.0 | |
| - Programming language: C | |
| - Associated parts: All [PSoC™ 6 MCU](https://www.Infineon.com/PSoC6) parts | |
| ## Supported toolchains (make variable 'TOOLCHAIN') | |
| - GNU Arm® embedded compiler v10.3.1 (`GCC_ARM`) - Default value of `TOOLCHAIN` | |
| - Arm® compiler v6.16 (`ARM`) | |
| - IAR C/C++ compiler v9.30.1 (`IAR`) | |
| ## Supported kits (make variable 'TARGET') | |
| - [PSoC™ 6 Wi-Fi Bluetooth® prototyping kit](https://www.Infineon.com/CY8CPROTO-062-4343W) (`CY8CPROTO-062-4343W`) – Default value of `TARGET` | |
| - [PSoC™ 6 Wi-Fi Bluetooth® pioneer kit](https://www.Infineon.com/CY8CKIT-062-WiFi-BT) (`CY8CKIT-062-WIFI-BT`) | |
| - [PSoC™ 6 Bluetooth® LE pioneer kit](https://www.Infineon.com/CY8CKIT-062-BLE) (`CY8CKIT-062-BLE`) | |
| - [PSoC™ 6 Bluetooth® LE prototyping kit](https://www.Infineon.com/CY8CPROTO-063-BLE) (`CY8CPROTO-063-BLE`) | |
| - [PSoC™ 62S2 Wi-Fi Bluetooth® pioneer kit](https://www.Infineon.com/CY8CKIT-062S2-43012) (`CY8CKIT-062S2-43012`) | |
| - [PSoC™ 62S1 Wi-Fi Bluetooth® pioneer kit](https://www.Infineon.com/CYW9P62S1-43438EVB-01) (`CYW9P62S1-43438EVB-01`) | |
| - [PSoC™ 62S1 Wi-Fi Bluetooth® pioneer kit](https://www.Infineon.com/CYW9P62S1-43012EVB-01) (`CYW9P62S1-43012EVB-01`) | |
| - [PSoC™ 62S3 Wi-Fi Bluetooth® prototyping kit](https://www.Infineon.com/CY8CPROTO-062S3-4343W) (`CY8CPROTO-062S3-4343W`) | |
| - [PSoC™ 64 "Secure Boot" Wi-Fi Bluetooth® pioneer kit](https://www.Infineon.com/CY8CKIT-064B0S2-4343W) (`CY8CKIT-064B0S2-4343W`) | |
| - Rapid IoT connect platform RP01 feather kit (`CYSBSYSKIT-01`) | |
| - Rapid IoT connect developer kit (`CYSBSYSKIT-DEV-01`) | |
| - [PSoC™ 62S4 pioneer kit](https://www.Infineon.com/CY8CKIT-062S4) (`CY8CKIT-062S4`) | |
| - [PSoC™ 62S2 evaluation kit](https://www.Infineon.com/CY8CEVAL-062S2) (`CY8CEVAL-062S2`, `CY8CEVAL-062S2-LAI-4373M2`,`CY8CEVAL-062S2-MUR-43439M2`) | |
| ## Hardware setup | |
| This example uses the board's default configuration. See the kit user guide to ensure that the board is configured correctly. | |
| **Note:** The PSoC™ 6 Bluetooth® LE pioneer kit (CY8CKIT-062-BLE) and the PSoC™ 6 Wi-Fi Bluetooth® pioneer kit (CY8CKIT-062-WIFI-BT) ship with KitProg2 installed. The ModusToolbox™ software requires KitProg3. Before using this code example, make sure that the board is upgraded to KitProg3. The tool and instructions are available in the [Firmware Loader](https://github.com/Infineon/Firmware-loader) GitHub repository. If you do not upgrade, you will see an error like "unable to find CMSIS-DAP device" or "KitProg firmware is out of date". | |
| ## Software setup | |
| Install a terminal emulator if you don't have one. Instructions in this document use [Tera Term](https://ttssh2.osdn.jp/index.html.en). | |
| This example requires no additional software or tools. | |
| ## Using the code example | |
| Create the project and open it using one of the following: | |
| <details><summary><b>In Eclipse IDE for ModusToolbox™ software</b></summary> | |
| 1. Click the **New Application** link in the **Quick Panel** (or, use **File** > **New** > **ModusToolbox Application**). This launches the [Project Creator](https://www.Infineon.com/ModusToolboxProjectCreator) tool. | |
| 2. Pick a kit supported by the code example from the list shown in the **Project Creator - Choose Board Support Package (BSP)** dialog. | |
| When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the [Library Manager](https://www.Infineon.com/ModusToolboxLibraryManager) to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the **Quick Panel**. | |
| You can also just start the application creation process again and select a different kit. | |
| If you want to use the application for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work. | |
| 3. In the **Project Creator - Select Application** dialog, choose the example by enabling the checkbox. | |
| 4. (Optional) Change the suggested **New Application Name**. | |
| 5. The **Application(s) Root Path** defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the *Application(s) Root Path* value. Applications that share libraries should be in the same root path. | |
| 6. Click **Create** to complete the application creation process. | |
| For more details, see the [Eclipse IDE for ModusToolbox™ software user guide](https://www.infineon.com/MTBEclipseIDEUserGuide) (locally available at *{ModusToolbox™ software install directory}/ide_{version}/docs/mt_ide_user_guide.pdf*). | |
| </details> | |
| <details><summary><b>In command-line interface (CLI)</b></summary> | |
| ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the *{ModusToolbox™ software install directory}/tools_{version}/project-creator/* directory. | |
| Use a CLI terminal to invoke the "project-creator-cli" tool. On Windows, use the command line "modus-shell" program provided in the ModusToolbox™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software tools. You can access it by typing `modus-shell` in the search box in the Windows menu. In Linux and macOS, you can use any terminal application. | |
| This tool has the following arguments: | |
| Argument | Description | Required/optional | |
| ---------|-------------|----------- | |
| `--board-id` | Defined in the `<id>` field of the [BSP](https://github.com/Infineon?q=bsp-manifest&type=&language=&sort=) manifest | Required | |
| `--app-id` | Defined in the `<id>` field of the [CE](https://github.com/Infineon?q=ce-manifest&type=&language=&sort=) manifest | Required | |
| `--target-dir`| Specify the directory in which the application is to be created if you prefer not to use the default current working directory | Optional | |
| `--user-app-name`| Specify the name of the application if you prefer to have a name other than the example's default name | Optional | |
| <br> | |
| The following example clones the "[mtb-example-psoc6-fault-handling](https://github.com/Infineon/mtb-example-psoc6-fault-handling)" application with the desired name "Psoc6FaultHandling" configured for the *CY8CPROTO-062-4343W* BSP into the specified working directory, *C:/mtb_projects*: | |
| ``` | |
| project-creator-cli --board-id CY8CPROTO-062-4343W --app-id mtb-example-psoc6-fault-handling --user-app-name Psoc6FaultHandling --target-dir "C:/mtb_projects" | |
| ``` | |
| **Note:** The project-creator-cli tool uses the `git clone` and `make getlibs` commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the [ModusToolbox™ software user guide](https://www.Infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf*). | |
| </details> | |
| <details><summary><b>In third-party IDEs</b></summary> | |
| Use one of the following options: | |
| - **Use the standalone [Project Creator](https://www.Infineon.com/ModusToolboxProjectCreator) tool:** | |
| 1. Launch Project Creator from the Windows Start menu or from *{ModusToolbox™ software install directory}/tools_{version}/project-creator/project-creator.exe*. | |
| 2. In the initial **Choose Board Support Package** screen, select the BSP, and click **Next**. | |
| 3. In the **Select Application** screen, select the appropriate IDE from the **Target IDE** drop-down menu. | |
| 4. Click **Create** and follow the instructions printed in the bottom pane to import or open the exported project in the respective IDE. | |
| <br> | |
| - **Use command-line interface (CLI):** | |
| 1. Follow the instructions from the **In command-line interface (CLI)** section to create the application, and then import the libraries using the `make getlibs` command. | |
| 2. Export the application to a supported IDE using the `make <ide>` command. | |
| 3. Follow the instructions displayed in the terminal to create or import the application as an IDE project. | |
| For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the [ModusToolbox™ software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf*). | |
| </details> | |
| ## Operation | |
| If using a PSoC™ 64 "Secure" MCU kit (like CY8CKIT-064B0S2-4343W), the PSoC™ 64 device must be provisioned with keys and policies before being programmed. Follow the instructions in the ["Secure Boot" SDK user guide](https://www.infineon.com/dgdlac/Infineon-PSoC_64_Secure_MCU_Secure_Boot_SDK_User_Guide-Software-v07_00-EN.pdf?fileId=8ac78c8c7d0d8da4017d0f8c361a7666&utm_source=cypress&utm_medium=referral&utm_campaign=202110_globe_en_all_integration-software) to provision the device. If the kit is already provisioned, copy-paste the keys and policy folder to the application folder. | |
| 1. Connect the board to your PC using the provided USB cable through the KitProg3 USB connector. | |
| 2. Open a terminal program and select the KitProg3 COM port. Set the serial port parameters to 8N1 and 115200 baud. | |
| 3. Program the board using one of the following: | |
| <details><summary><b>Using Eclipse IDE for ModusToolbox™ software</b></summary> | |
| 1. Select the application project in the Project Explorer. | |
| 2. In the **Quick Panel**, scroll down, and click **\<Application Name> Program (KitProg3_MiniProg4)**. | |
| </details> | |
| <details><summary><b>Using CLI</b></summary> | |
| From the terminal, execute the `make program` command to build and program the application using the default toolchain to the default target. The default toolchain and target are specified in the application's Makefile but you can override those values manually: | |
| ``` | |
| make program TARGET=<BSP> TOOLCHAIN=<toolchain> | |
| ``` | |
| Example: | |
| ``` | |
| make program TARGET=CY8CPROTO-062-4343W TOOLCHAIN=GCC_ARM | |
| ``` | |
| </details> | |
| 4. After programming, the application starts automatically. Confirm that "\<CE title>" is displayed on the UART terminal. | |
| **Figure 1. Operating instructions in the terminal window** | |
|  | |
| 5. Press the `u` key to create a usage hard fault. The CM4 usage fault message appears: | |
| **Figure 2. Fault frame information for the usage fault** | |
|  | |
| 6. Press the **Reset** button to start over. The opening message appears in the terminal again as shown in Figure 1. | |
| 7. Press the `b` key to create a bus hard fault. The CM4 bus fault message appears: | |
| **Figure 3. Fault frame information for the bus fault** | |
|  | |
| 8. Attach to the running target to debug the fault. | |
| 1. Select **Run** > **Run Configuration...** | |
| **Figure 4. Run configuration** | |
|  | |
| 2. Select **\<Application Name> Attach (KitProg3)** and click **Run**. | |
| **Figure 5. Attach running target** | |
|  | |
| 3. You can use the disassembly code to check which instructions cause the fault. Figure 6 shows the case for the CM4 usage fault. | |
| **Figure 6. Fault debugging** | |
|  | |
| ## Debugging | |
| You can debug the example to step through the code. In the IDE, use the **\<Application Name> Debug (KitProg3_MiniProg4)** configuration in the **Quick Panel**. For details, see the "Program and debug" section in the [Eclipse IDE for ModusToolbox™ software user guide](https://www.Infineon.com/MTBEclipseIDEUserGuide). | |
| **Note:** **(Only while debugging)** On the CM4 CPU, some code in `main()` may execute before the debugger halts at the beginning of `main()`. This means that some code executes twice – once before the debugger stops execution, and again after the debugger resets the program counter to the beginning of `main()`. See [KBA231071](https://community.Infineon.com/docs/DOC-21143) to learn about this and for the workaround. | |
| ## Design and implementation | |
| This code example uses the architecture and registers provided by Arm® for tracking fault expressions. The PSoC™ 6 MCU startup code provides the handling routine, which passes the stack pointer of the exception frame (as shown in Figure 7) into `Cy_SysLib_FaultHandler()`. The handler stores the information using the main stack pointer (MSP) or process stack pointer (PSP) therefore, you can debug the fault. This information includes the program counter (PC) value of the fault and the following registers: R0, R1, R2, R3, R12, link register (LR), and program status register (PSR). | |
| Learn more about the Arm® CM4 system control block at the [Arm® information center](http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0553a/CIHFDJCA.html). | |
| **Figure 7. Arm® Cortex® M exception frame without floating-point storage** | |
|  | |
| After storing the information, the handler calls `__WEAK void Cy_SysLib_ProcessingFault()`. The default implementation of this function is an infinite loop. You can override this function with a custom function because of the weak linkage. | |
| This code example generates two different faults: | |
| 1. CM4 bus fault exception | |
| 2. CM4 usage fault exception | |
| ### Resources and settings | |
| **Table 1. Application resources** | |
| Resource | Alias/object | Purpose | |
| :------- | :------------ | :------------ | |
| UART (HAL)|cy_retarget_io_uart_obj| UART HAL object used by retarget-io for debug UART port | |
| ## Related resources | |
| Resources | Links | |
| -----------|---------------------------------- | |
| Application notes | [AN228571](https://www.Infineon.com/AN228571) – Getting started with PSoC™ 6 MCU on ModusToolbox™ software <br> [AN215656](https://www.Infineon.com/AN215656) – PSoC™ 6 MCU: Dual-CPU system design <br>[AN85951](https://www.Infineon.com/AN85951) – PSoC™ 4 and PSoC™ 6 MCU CAPSENSE™ design guide | |
| Code examples | [Using ModusToolbox™ software](https://github.com/Infineon/Code-Examples-for-ModusToolbox-Software) on GitHub <br> | |
| Device documentation | [PSoC™ 6 MCU datasheets](https://www.infineon.com/cms/en/search.html#!view=downloads&term=psoc6&doc_group=Data%20Sheet) <br> [PSoC™ 6 technical reference manuals](https://www.infineon.com/cms/en/search.html#!view=downloads&term=psoc6&doc_group=Additional%20Technical%20Information) | |
| Development kits | Select your kits from the [Evaluation board finder](https://www.infineon.com/cms/en/design-support/finder-selection-tools/product-finder/evaluation-board) page | |
| Libraries on GitHub | [mtb-pdl-cat1](https://github.com/Infineon/mtb-pdl-cat1) – PSoC™ 6 peripheral driver library (PDL) <br> [mtb-hal-cat1](https://github.com/Infineon/mtb-hal-cat1) – Hardware abstraction layer (HAL) library <br> [retarget-io](https://github.com/Infineon/retarget-io) – Utility library to retarget STDIO messages to a UART port <br> [mtb-hal-cat2](https://github.com/Infineon/mtb-hal-cat2) – Hardware abstraction layer (HAL) library | |
| Middleware on GitHub | [capsense](https://github.com/Infineon/capsense) – CAPSENSE™ library and documents <br> [psoc6-middleware](https://github.com/Infineon/modustoolbox-software#psoc-6-middleware-libraries) – Links to all PSoC™ 6 MCU middleware | |
| Tools | [Eclipse IDE for ModusToolbox™ software](https://www.Infineon.com/modustoolbox) – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon® MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices. | |
| <br> | |
| ## Other resources | |
| Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design. | |
| For PSoC™ 6 MCU devices, see [How to design with PSoC™ 6 MCU - KBA223067](https://community.Infineon.com/docs/DOC-14644) in the Infineon community. | |
| ## Document history | |
| Document title: *CE218541* - *PSoC™6 MCU: Fault handling basics* | |
| Version | Description of change | | |
| ------- | --------------------- | | |
| 1.0.0 | New code example. | | |
| 1.1.0 | Updated to support Eclipse IDE for ModusToolbox™ software.<br> | | |
| 2.0.0 | Major update to support ModusToolbox™ software v2.2, added support for new kits.<br /> This version is not backward compatible with ModusToolbox™ software v2.1. | | |
| 2.1.0 | Added support for new targets | | |
| 2.1.1 | Added support for CY8CKIT-062S4 | | |
| 2.2.0 | Added support for CY8CKIT-062S4, CY8CEVAL-062S2, CY8CEVAL-062S2-LAI-4373M2 | | |
| 3.0.0 | Major update to support ModusToolbox™ v3.0 and BSPs v4.x <br> This version is not backward compatible with previous versions of ModusToolbox™ software | |
| <br> | |
| --------------------------------------------------------- | |
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