From eb294c8e1c5a36db62b0e55b4908e84e189cfaa2 Mon Sep 17 00:00:00 2001
From: Jared Boone <jboone@earfeast.com>
Date: Sat, 27 Feb 2016 12:05:29 -0800
Subject: [PATCH] Add chDbgPanic for unhandled exceptions.

---
 .../os/ports/GCC/ARMCMx/LPC43xx_M4/vectors.c      |  5 ++++-
 firmware/common/debug.cpp                         | 15 ++++++++++++---
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/firmware/chibios-portapack/os/ports/GCC/ARMCMx/LPC43xx_M4/vectors.c b/firmware/chibios-portapack/os/ports/GCC/ARMCMx/LPC43xx_M4/vectors.c
index 15881fec4..7561b3770 100755
--- a/firmware/chibios-portapack/os/ports/GCC/ARMCMx/LPC43xx_M4/vectors.c
+++ b/firmware/chibios-portapack/os/ports/GCC/ARMCMx/LPC43xx_M4/vectors.c
@@ -178,9 +178,12 @@ vectors_t _vectors = {
 __attribute__ ((naked))
 #endif
 void _unhandled_exception(void) {
-
+#if CH_DBG_ENABLED
+  chDbgPanic("Unhandled");
+#else
   while (TRUE)
     ;
+#endif
 }
 
 void NMIVector(void) __attribute__((weak, alias("_unhandled_exception")));
diff --git a/firmware/common/debug.cpp b/firmware/common/debug.cpp
index 5ae27f7a8..886abeafa 100644
--- a/firmware/common/debug.cpp
+++ b/firmware/common/debug.cpp
@@ -81,18 +81,27 @@ void port_halt(void) {
 
 #if defined(LPC43XX_M4)
 CH_IRQ_HANDLER(MemManageVector) {
-	CH_IRQ_PROLOGUE();
+#if CH_DBG_ENABLED
+	chDbgPanic("MemManage");
+#else
 	chSysHalt();
+#endif
 }
 
 CH_IRQ_HANDLER(BusFaultVector) {
-	CH_IRQ_PROLOGUE();
+#if CH_DBG_ENABLED
+	chDbgPanic("BusFault");
+#else
 	chSysHalt();
+#endif
 }
 
 CH_IRQ_HANDLER(UsageFaultVector) {
-	CH_IRQ_PROLOGUE();
+#if CH_DBG_ENABLED
+	chDbgPanic("UsageFault");
+#else
 	chSysHalt();
+#endif
 }
 #endif