Add hardware_exception for setting exception handlers at runtime (#380)

docs/index.h

@@ -17,6 +17,7 @@
  * \defgroup hardware_clocks hardware_clocks
  * \defgroup hardware_divider hardware_divider
  * \defgroup hardware_dma hardware_dma
+ * \defgroup hardware_exception hardware_exception
  * \defgroup hardware_flash hardware_flash
  * \defgroup hardware_gpio hardware_gpio
  * \defgroup hardware_i2c hardware_i2c

src/rp2_common/CMakeLists.txt

@@ -10,6 +10,7 @@ pico_add_subdirectory(hardware_adc)
 pico_add_subdirectory(hardware_clocks)
 pico_add_subdirectory(hardware_dma)
 pico_add_subdirectory(hardware_divider)
+pico_add_subdirectory(hardware_exception)
 pico_add_subdirectory(hardware_flash)
 pico_add_subdirectory(hardware_gpio)
 pico_add_subdirectory(hardware_i2c)

src/rp2_common/hardware_exception/CMakeLists.txt

@@ -0,0 +1 @@
+pico_simple_hardware_target(exception)

src/rp2_common/hardware_exception/exception.c

@@ -0,0 +1,65 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "hardware/exception.h"
+#include "hardware/regs/m0plus.h"
+#include "hardware/platform_defs.h"
+#include "hardware/structs/scb.h"
+
+#include "pico/mutex.h"
+#include "pico/assert.h"
+
+#ifndef exception_is_compile_time_default
+static bool exception_is_compile_time_default(exception_handler_t handler) {
+    extern char __default_isrs_start;
+    extern char __default_isrs_end;
+    return ((uintptr_t)handler) >= (uintptr_t)&__default_isrs_start &&
+            ((uintptr_t)handler) < (uintptr_t)&__default_isrs_end;
+}
+#endif
+
+static inline exception_handler_t *get_vtable(void) {
+    return (exception_handler_t *) scb_hw->vtor;
+}
+
+static void set_raw_exception_handler_and_restore_interrupts(enum exception_number num, exception_handler_t handler, uint32_t save) {
+    // update vtable (vtable_handler may be same or updated depending on cases, but we do it anyway for compactness)
+    get_vtable()[16 + num] = handler;
+    __dmb();
+    restore_interrupts(save);
+}
+
+static inline void check_exception_param(__unused enum exception_number num) {
+    invalid_params_if(EXCEPTION, num < NMI_EXCEPTION || num >=0);
+}
+
+exception_handler_t exception_get_vtable_handler(enum exception_number num) {
+    check_exception_param(num);
+    return get_vtable()[16 + num];
+}
+
+exception_handler_t exception_set_exclusive_handler(enum exception_number num, exception_handler_t handler) {
+    check_exception_param(num);
+#if !PICO_NO_RAM_VECTOR_TABLE
+    uint32_t save = save_and_disable_interrupts();
+    exception_handler_t current = exception_get_vtable_handler(num);
+    hard_assert(exception_is_compile_time_default(current));
+    set_raw_exception_handler_and_restore_interrupts(num, handler, save);
+#else
+    panic_unsupported();
+#endif
+    return current;
+}
+
+void exception_restore_handler(enum exception_number num, exception_handler_t original_handler) {
+    hard_assert(exception_is_compile_time_default(original_handler));
+#if !PICO_NO_RAM_VECTOR_TABLE
+    uint32_t save = save_and_disable_interrupts();
+    set_raw_exception_handler_and_restore_interrupts(num, original_handler, save);
+#else
+    panic_unsupported();
+#endif
+}

src/rp2_common/hardware_exception/include/hardware/exception.h

@@ -0,0 +1,106 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef _HARDWARE_EXCEPTION_H_
+#define _HARDWARE_EXCEPTION_H_
+
+#include "pico.h"
+#include "hardware/address_mapped.h"
+#include "hardware/regs/m0plus.h"
+
+/** \file exception.h
+ *  \defgroup hardware_exception hardware_exception
+ *
+ * Methods for setting processor exception handlers
+ *
+ * Exceptions are identified by a \ref exception_num which is a number from -15 to -1; these are the numbers relative to
+ * the index of the first IRQ vector in the vector table. (i.e. vector table index is exception_num plus 16)
+ *
+ * There is one set of exception handlers per core, so the exception handlers for each core as set by these methods are independent.
+ *
+ * \note That all exception APIs affect the executing core only (i.e. the core calling the function).
+ */
+
+// PICO_CONFIG: PARAM_ASSERTIONS_ENABLED_EXCEPTION, Enable/disable assertions in the exception module, type=bool, default=0, group=hardware_exception
+#ifndef PARAM_ASSERTIONS_ENABLED_EXCEPTION
+#define PARAM_ASSERTIONS_ENABLED_EXCEPTION 0
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*! \brief  Exception number definitions
+ *
+ * Note for consistency with irq numbers, these numbers are defined to be negative. The VTABLE index is
+ * the number here plus 16.
+ *
+ * Name                 | Value | Exception
+ * ---------------------|-------|----------
+ * NMI_EXCEPTION        |  -14  | Non Maskable Interrupt
+ * HARDFAULT_EXCEPTION  |  -13  | HardFault
+ * SVCALL_EXCEPTION     |   -5  | SV Call
+ * PENDSV_EXCEPTION     |   -2  | Pend SV
+ * SYSTICK_EXCEPTION    |   -1  | System Tick
+ *
+ * \ingroup hardware_exception
+ */
+enum exception_number {
+    NMI_EXCEPTION        = -14,     /* Non Maskable Interrupt */
+    HARDFAULT_EXCEPTION  = -13,     /* HardFault Interrupt */
+    SVCALL_EXCEPTION     =  -5,     /* SV Call Interrupt */
+    PENDSV_EXCEPTION     =  -2,     /* Pend SV Interrupt */
+    SYSTICK_EXCEPTION    =  -1,     /* System Tick Interrupt */
+};
+
+/*! \brief Exception handler function type
+ *  \ingroup hardware_exception
+ *
+ * All exceptions handlers should be of this type, and follow normal ARM EABI register saving conventions
+ */
+typedef void (*exception_handler_t)(void);
+
+/*! \brief  Set the exception handler for an exception on the executing core.
+ *  \ingroup hardware_exception
+ *
+ * This method will assert if an exception handler has been set for this exception number on this core via
+ * this method, without an intervening restore via exception_restore_handler.
+ *
+ * \note this method may not be used to override an exception handler that was specified at link time by
+ * providing a strong replacement for the weakly defined stub exception handlers. It will assert in this case too.
+ *
+ * \param num Exception number
+ * \param handler The handler to set
+ * \see exception_number
+ */
+exception_handler_t exception_set_exclusive_handler(enum exception_number num, exception_handler_t handler);
+
+/*! \brief Restore the original exception handler for an exception on this core
+ *  \ingroup hardware_exception
+ *
+ * This method may be used to restore the exception handler for an exception on this core to the state
+ * prior to the call to exception_set_exclusive_handler(), so that exception_set_exclusive_handler()
+ * may be called again in the future.
+ *
+ * \param num Exception number \ref exception_nums
+ * \param original_handler The original handler returned from \ref exception_set_exclusive_handler
+ * \see exception_set_exclusive_handler()
+ */
+void exception_restore_handler(enum exception_number, exception_handler_t original_handler);
+
+/*! \brief Get the current exception handler for the specified exception from the currently installed vector table
+ * of the execution core
+ *  \ingroup hardware_exception
+ *
+ * \param num Exception number
+ * \return the address stored in the VTABLE for the given exception number
+ */
+exception_handler_t exception_get_vtable_handler(enum exception_number num);
+#ifdef __cplusplus
+}
+#endif
+
+#endif

src/rp2_common/hardware_irq/include/hardware/irq.h

@@ -255,7 +255,7 @@ static inline void irq_clear(uint int_num) {
 void irq_set_pending(uint num);
 
 
-/*! \brief Perform IRQ priority intiialization for the current core
+/*! \brief Perform IRQ priority initialization for the current core
  *
  * \note This is an internal method and user should generally not call it.
  */

src/rp2_common/pico_standard_link/crt0.S

@@ -74,6 +74,11 @@ __vectors:
 .word isr_irq30
 .word isr_irq31
 
+// all default exception handlers do nothing, and we can check for them being set to our
+// default values by them pointing to between __defaults_isrs_start and __default_isrs_end
+.global __default_isrs_start
+__default_isrs_start:
+
 // Declare a weak symbol for each ISR.
 // By default, they will fall through to the undefined IRQ handler below (breakpoint),
 // but can be overridden by C functions with correct name.
@@ -94,6 +99,9 @@ decl_isr_bkpt isr_svcall
 decl_isr_bkpt isr_pendsv
 decl_isr_bkpt isr_systick
 
+.global __default_isrs_end
+__default_isrs_end:
+
 .macro decl_isr name
 .weak \name
 .type \name,%function

test/kitchen_sink/CMakeLists.txt

@@ -6,6 +6,7 @@ target_link_libraries(kitchen_sink_libs INTERFACE
     hardware_adc
     hardware_clocks
     hardware_divider
+    hardware_exception
     hardware_dma
     hardware_flash
     hardware_gpio

test/kitchen_sink/kitchen_sink.c

@@ -11,6 +11,7 @@
 #include "hardware/clocks.h"
 #include "hardware/divider.h"
 #include "hardware/dma.h"
+#include "hardware/exception.h"
 #include "hardware/flash.h"
 #include "hardware/gpio.h"
 #include "hardware/i2c.h"