diff --git a/src/cpu.zig b/src/cpu.zig
index f2d6953..ba873a7 100644
--- a/src/cpu.zig
+++ b/src/cpu.zig
@@ -109,14 +109,16 @@ pub const Arm7tdmi = struct {
     }
 
     pub inline fn hasSPSR(self: *const Self) bool {
-        return switch (getMode(self.cpsr.mode.read())) {
+        const mode = getMode(self.cpsr.mode.read()) orelse unreachable;
+        return switch (mode) {
             .System, .User => false,
             else => true,
         };
     }
 
     pub inline fn isPrivileged(self: *const Self) bool {
-        return switch (getMode(self.cpsr.mode.read())) {
+        const mode = getMode(self.cpsr.mode.read()) orelse unreachable;
+        return switch (mode) {
             .User => false,
             else => true,
         };
@@ -128,11 +130,12 @@ pub const Arm7tdmi = struct {
     }
 
     fn changeModeFromIdx(self: *Self, next: u5) void {
-        self.changeMode(getMode(next));
+        const mode = getMode(next) orelse unreachable;
+        self.changeMode(mode);
     }
 
     pub fn changeMode(self: *Self, next: Mode) void {
-        const now = getMode(self.cpsr.mode.read());
+        const now = getMode(self.cpsr.mode.read()) orelse unreachable;
 
         // Bank R8 -> r12
         var r: usize = 8;
@@ -233,6 +236,53 @@ pub const Arm7tdmi = struct {
         }
     }
 
+    pub fn panic(self: *const Self, comptime format: []const u8, args: anytype) noreturn {
+        var i: usize = 0;
+        while (i < 16) : (i += 4) {
+            const i_1 = i + 1;
+            const i_2 = i + 2;
+            const i_3 = i + 3;
+            std.debug.print("R{}: 0x{X:0>8}\tR{}: 0x{X:0>8}\tR{}: 0x{X:0>8}\tR{}: 0x{X:0>8}\n", .{ i, self.r[i], i_1, self.r[i_1], i_2, self.r[i_2], i_3, self.r[i_3] });
+        }
+        std.debug.print("cpsr: 0x{X:0>8} ", .{self.cpsr.raw});
+        prettyPrintPsr(&self.cpsr);
+
+        std.debug.print("spsr: 0x{X:0>8} ", .{self.spsr.raw});
+        prettyPrintPsr(&self.spsr);
+
+        std.debug.print("tick: {}\n\n", .{self.sched.tick});
+
+        std.debug.panic(format, args);
+    }
+
+    fn prettyPrintPsr(psr: *const PSR) void {
+        std.debug.print("[", .{});
+
+        if (psr.n.read()) std.debug.print("N", .{}) else std.debug.print("-", .{});
+        if (psr.z.read()) std.debug.print("Z", .{}) else std.debug.print("-", .{});
+        if (psr.c.read()) std.debug.print("C", .{}) else std.debug.print("-", .{});
+        if (psr.v.read()) std.debug.print("V", .{}) else std.debug.print("-", .{});
+        if (psr.i.read()) std.debug.print("I", .{}) else std.debug.print("-", .{});
+        if (psr.f.read()) std.debug.print("F", .{}) else std.debug.print("-", .{});
+        if (psr.t.read()) std.debug.print("T", .{}) else std.debug.print("-", .{});
+        std.debug.print("|", .{});
+        if (getMode(psr.mode.read())) |mode| std.debug.print("{s}", .{modeString(mode)}) else std.debug.print("---", .{});
+
+        std.debug.print("]\n", .{});
+    }
+
+    fn modeString(mode: Mode) []const u8 {
+        return switch (mode) {
+            .User => "usr",
+            .Fiq => "fiq",
+            .Irq => "irq",
+            .Supervisor => "svc",
+            .Abort => "abt",
+            .Undefined => "und",
+            .System => "sys",
+        };
+    }
+
     fn skyLog(self: *const Self, file: *const File) !void {
         var buf: [18 * @sizeOf(u32)]u8 = undefined;
 
@@ -533,16 +583,16 @@ const Mode = enum(u5) {
     System = 0b11111,
 };
 
-pub fn getMode(bits: u5) Mode {
-    return std.meta.intToEnum(Mode, bits) catch unreachable;
+pub fn getMode(bits: u5) ?Mode {
+    return std.meta.intToEnum(Mode, bits) catch null;
 }
 
-fn armUndefined(_: *Arm7tdmi, _: *Bus, opcode: u32) void {
+fn armUndefined(cpu: *Arm7tdmi, _: *Bus, opcode: u32) void {
     const id = armIdx(opcode);
-    std.debug.panic("[CPU:ARM] ID: 0x{X:0>3} 0x{X:0>8} is an illegal opcode", .{ id, opcode });
+    cpu.panic("[CPU:ARM] ID: 0x{X:0>3} 0x{X:0>8} is an illegal opcode", .{ id, opcode });
 }
 
-fn thumbUndefined(_: *Arm7tdmi, _: *Bus, opcode: u16) void {
+fn thumbUndefined(cpu: *Arm7tdmi, _: *Bus, opcode: u16) void {
     const id = thumbIdx(opcode);
-    std.debug.panic("[CPU:THUMB] ID: 0b{b:0>10} 0x{X:0>2} is an illegal opcode", .{ id, opcode });
+    cpu.panic("[CPU:THUMB] ID: 0b{b:0>10} 0x{X:0>2} is an illegal opcode", .{ id, opcode });
 }
diff --git a/src/cpu/arm/block_data_transfer.zig b/src/cpu/arm/block_data_transfer.zig
index 4d400ef..82681e0 100644
--- a/src/cpu/arm/block_data_transfer.zig
+++ b/src/cpu/arm/block_data_transfer.zig
@@ -10,7 +10,7 @@ pub fn blockDataTransfer(comptime P: bool, comptime U: bool, comptime S: bool, c
             const rn = opcode >> 16 & 0xF;
             const base = cpu.r[rn];
 
-            if (S and opcode >> 15 & 1 == 0) std.debug.panic("[CPU] TODO: STM/LDM with S set but R15 not in transfer list", .{});
+            if (S and opcode >> 15 & 1 == 0) cpu.panic("[CPU] TODO: STM/LDM with S set but R15 not in transfer list", .{});
 
             var address: u32 = undefined;
             if (U) {
@@ -45,14 +45,14 @@ pub fn blockDataTransfer(comptime P: bool, comptime U: bool, comptime S: bool, c
         fn transfer(cpu: *Arm7tdmi, bus: *Bus, i: u5, address: u32) void {
             if (L) {
                 cpu.r[i] = bus.read32(address);
-                if (S and i == 0xF) std.debug.panic("[CPU] TODO: SPSR_<mode> is transferred to CPSR", .{});
+                if (S and i == 0xF) cpu.panic("[CPU] TODO: SPSR_<mode> is transferred to CPSR", .{});
             } else {
                 if (i == 0xF) {
                     if (!S) {
                         // TODO: Assure that this is Address of STM instruction + 12
                         bus.write32(address, cpu.r[i] + (12 - 4));
                     } else {
-                        std.debug.panic("[CPU] TODO: STM with S set and R15 in transfer list", .{});
+                        cpu.panic("[CPU] TODO: STM with S set and R15 in transfer list", .{});
                     }
                 } else {
                     bus.write32(address, cpu.r[i]);
diff --git a/src/cpu/arm/half_signed_data_transfer.zig b/src/cpu/arm/half_signed_data_transfer.zig
index d2a725f..3986b62 100644
--- a/src/cpu/arm/half_signed_data_transfer.zig
+++ b/src/cpu/arm/half_signed_data_transfer.zig
@@ -47,12 +47,12 @@ pub fn halfAndSignedDataTransfer(comptime P: bool, comptime U: bool, comptime I:
                     0b10 => {
                         // LDRSB
                         cpu.r[rd] = util.u32SignExtend(8, @as(u32, bus.read8(address)));
-                        std.debug.panic("[CPU|ARM|LDRSB] TODO: Affect the CPSR", .{});
+                        cpu.panic("[CPU|ARM|LDRSB] TODO: Affect the CPSR", .{});
                     },
                     0b11 => {
                         // LDRSH
                         cpu.r[rd] = util.u32SignExtend(16, @as(u32, bus.read16(address)));
-                        std.debug.panic("[CPU|ARM|LDRSH] TODO: Affect the CPSR", .{});
+                        cpu.panic("[CPU|ARM|LDRSH] TODO: Affect the CPSR", .{});
                     },
                 }
             } else {
diff --git a/src/cpu/arm/psr_transfer.zig b/src/cpu/arm/psr_transfer.zig
index 08f7282..f3abf07 100644
--- a/src/cpu/arm/psr_transfer.zig
+++ b/src/cpu/arm/psr_transfer.zig
@@ -30,7 +30,7 @@ pub fn psrTransfer(comptime I: bool, comptime R: bool, comptime kind: u2) InstrF
                         if (cpu.isPrivileged()) cpu.setCpsr(fieldMask(&cpu.cpsr, field_mask, right));
                     }
                 },
-                else => std.debug.panic("[CPU/PSR Transfer] Bits 21:220 of {X:0>8} are undefined", .{opcode}),
+                else => cpu.panic("[CPU/PSR Transfer] Bits 21:220 of {X:0>8} are undefined", .{opcode}),
             }
         }
     }.inner;
diff --git a/src/cpu/thumb/format1.zig b/src/cpu/thumb/format1.zig
index b246163..f7fb464 100644
--- a/src/cpu/thumb/format1.zig
+++ b/src/cpu/thumb/format1.zig
@@ -17,7 +17,7 @@ pub fn format1(comptime op: u2, comptime offset: u5) InstrFn {
                 0b00 => shifter.logicalLeft(true, &cpu.cpsr, cpu.r[rs], offset), // LSL
                 0b01 => shifter.logicalRight(true, &cpu.cpsr, cpu.r[rs], offset), // LSR
                 0b10 => shifter.arithmeticRight(true, &cpu.cpsr, cpu.r[rs], offset), // ASR
-                else => std.debug.panic("[CPU|THUMB|Fmt1] {} is an invalid op", .{op}),
+                else => cpu.panic("[CPU|THUMB|Fmt1] {} is an invalid op", .{op}),
             };
 
             // Equivalent to an ARM MOVS
diff --git a/src/cpu/thumb/format13.zig b/src/cpu/thumb/format13.zig
index 8d41155..3b32718 100644
--- a/src/cpu/thumb/format13.zig
+++ b/src/cpu/thumb/format13.zig
@@ -6,8 +6,8 @@ const InstrFn = @import("../../cpu.zig").ThumbInstrFn;
 
 pub fn format13(comptime _: bool) InstrFn {
     return struct {
-        fn inner(_: *Arm7tdmi, _: *Bus, _: u16) void {
-            std.debug.panic("[CPU|THUMB|Fmt13] Implement Format 13 THUMB Instructions", .{});
+        fn inner(cpu: *Arm7tdmi, _: *Bus, _: u16) void {
+            cpu.panic("[CPU|THUMB|Fmt13] Implement Format 13 THUMB Instructions", .{});
         }
     }.inner;
 }
diff --git a/src/cpu/thumb/format16.zig b/src/cpu/thumb/format16.zig
index e116818..8893ae6 100644
--- a/src/cpu/thumb/format16.zig
+++ b/src/cpu/thumb/format16.zig
@@ -14,7 +14,7 @@ pub fn format16(comptime cond: u4) InstrFn {
             const offset = u32SignExtend(8, opcode & 0xFF) << 1;
 
             const should_execute = switch (cond) {
-                0xE, 0xF => std.debug.panic("[CPU/THUMB] Undefined conditional branch with condition {}", .{cond}),
+                0xE, 0xF => cpu.panic("[CPU/THUMB] Undefined conditional branch with condition {}", .{cond}),
                 else => checkCond(cpu.cpsr, cond),
             };
 
diff --git a/src/cpu/thumb/format5.zig b/src/cpu/thumb/format5.zig
index 34190d4..33fb5b7 100644
--- a/src/cpu/thumb/format5.zig
+++ b/src/cpu/thumb/format5.zig
@@ -20,7 +20,7 @@ pub fn format5(comptime op: u2, comptime h1: u1, comptime h2: u1) InstrFn {
                     cpu.cpsr.t.write(cpu.r[src] & 1 == 1);
                     cpu.r[15] = cpu.r[src] & 0xFFFF_FFFE;
                 },
-                else => std.debug.panic("[CPU|THUMB|Fmt5] {} is an invalid op", .{op}),
+                else => cpu.panic("[CPU|THUMB|Fmt5] {} is an invalid op", .{op}),
             }
         }
     }.inner;