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Exception Stack Backtracing?

Does anyone have any source code for handling abort exceptions and
doing some stack backtracing? I'm using the keil compiler, and the
supplied functions for Undefined Instruction, Prefetch Abort, and Data
Abort exceptions just sit in a while loop. I'd like to extract and
dump the offending program counter and a call stack.

I've also read about APCS - ARM Procedure Call Standard. Does the Keil compiler use this?

Thanks.