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esp-idf/components/riscv/vectors.S

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/*
* SPDX-FileCopyrightText: 2017-2024 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/soc.h"
#include "soc/interrupt_reg.h"
#include "riscv/rvruntime-frames.h"
#include "soc/soc_caps.h"
#include "sdkconfig.h"
#include "esp_private/vectors_const.h"
#include "esp_private/panic_reason.h"
.equ SAVE_REGS, 32
.equ CONTEXT_SIZE, (SAVE_REGS * 4)
.equ EXC_ILLEGAL_INSTRUCTION, 0x2
.equ panic_from_exception, xt_unhandled_exception
.equ panic_from_isr, panicHandler
#if ( SOC_CPU_COPROC_NUM > 0 )
/* Targets with coprocessors present a special CSR to get Illegal Instruction exception reason */
.equ EXT_ILL_CSR, 0x7F0
/* EXT_ILL CSR reasons are stored as follows:
* - Bit 0: FPU core instruction (Load/Store instructions NOT concerned)
* - Bit 1: Low-power core
* - Bit 2: PIE core */
.equ EXT_ILL_RSN_FPU, 1
.equ EXT_ILL_RSN_LP, 2
.equ EXT_ILL_RSN_PIE, 4
#endif /* SOC_CPU_COPROC_NUM > 0 */
/* Macro which first allocates space on the stack to save general
* purpose registers, and then save them. GP register is excluded.
* The default size allocated on the stack is CONTEXT_SIZE, but it
* can be overridden. */
.macro save_general_regs cxt_size=CONTEXT_SIZE
addi sp, sp, -\cxt_size
sw ra, RV_STK_RA(sp)
sw tp, RV_STK_TP(sp)
sw t0, RV_STK_T0(sp)
sw t1, RV_STK_T1(sp)
sw t2, RV_STK_T2(sp)
sw s0, RV_STK_S0(sp)
sw s1, RV_STK_S1(sp)
sw a0, RV_STK_A0(sp)
sw a1, RV_STK_A1(sp)
sw a2, RV_STK_A2(sp)
sw a3, RV_STK_A3(sp)
sw a4, RV_STK_A4(sp)
sw a5, RV_STK_A5(sp)
sw a6, RV_STK_A6(sp)
sw a7, RV_STK_A7(sp)
sw s2, RV_STK_S2(sp)
sw s3, RV_STK_S3(sp)
sw s4, RV_STK_S4(sp)
sw s5, RV_STK_S5(sp)
sw s6, RV_STK_S6(sp)
sw s7, RV_STK_S7(sp)
sw s8, RV_STK_S8(sp)
sw s9, RV_STK_S9(sp)
sw s10, RV_STK_S10(sp)
sw s11, RV_STK_S11(sp)
sw t3, RV_STK_T3(sp)
sw t4, RV_STK_T4(sp)
sw t5, RV_STK_T5(sp)
sw t6, RV_STK_T6(sp)
.endm
.macro save_mepc
csrr t0, mepc
sw t0, RV_STK_MEPC(sp)
.endm
/* Restore the general purpose registers (excluding gp) from the context on
* the stack. The context is then deallocated. The default size is CONTEXT_SIZE
* but it can be overridden. */
.macro restore_general_regs cxt_size=CONTEXT_SIZE
lw ra, RV_STK_RA(sp)
lw tp, RV_STK_TP(sp)
lw t0, RV_STK_T0(sp)
lw t1, RV_STK_T1(sp)
lw t2, RV_STK_T2(sp)
lw s0, RV_STK_S0(sp)
lw s1, RV_STK_S1(sp)
lw a0, RV_STK_A0(sp)
lw a1, RV_STK_A1(sp)
lw a2, RV_STK_A2(sp)
lw a3, RV_STK_A3(sp)
lw a4, RV_STK_A4(sp)
lw a5, RV_STK_A5(sp)
lw a6, RV_STK_A6(sp)
lw a7, RV_STK_A7(sp)
lw s2, RV_STK_S2(sp)
lw s3, RV_STK_S3(sp)
lw s4, RV_STK_S4(sp)
lw s5, RV_STK_S5(sp)
lw s6, RV_STK_S6(sp)
lw s7, RV_STK_S7(sp)
lw s8, RV_STK_S8(sp)
lw s9, RV_STK_S9(sp)
lw s10, RV_STK_S10(sp)
lw s11, RV_STK_S11(sp)
lw t3, RV_STK_T3(sp)
lw t4, RV_STK_T4(sp)
lw t5, RV_STK_T5(sp)
lw t6, RV_STK_T6(sp)
addi sp,sp, \cxt_size
.endm
.macro restore_mepc
lw t0, RV_STK_MEPC(sp)
csrw mepc, t0
.endm
.global rtos_int_enter
.global rtos_int_exit
.global rtos_save_fpu_coproc
.global _global_interrupt_handler
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
.global gdbstub_handle_debug_int
#endif
.section .exception_vectors.text
/* Exception handler.*/
.type _panic_handler, @function
.global _panic_handler
_panic_handler:
/* Allocate space on the stack and store general purpose registers */
save_general_regs RV_STK_FRMSZ
/* As gp register is not saved by the macro, save it here */
sw gp, RV_STK_GP(sp)
/* Same goes for the SP value before trapping */
addi t0, sp, RV_STK_FRMSZ /* restore sp with the value when trap happened */
/* Save CSRs */
sw t0, RV_STK_SP(sp)
csrr t0, mepc
sw t0, RV_STK_MEPC(sp)
csrr t0, mstatus
sw t0, RV_STK_MSTATUS(sp)
csrr t0, mtvec
sw t0, RV_STK_MTVEC(sp)
csrr t0, mhartid
sw t0, RV_STK_MHARTID(sp)
csrr t0, mtval
sw t0, RV_STK_MTVAL(sp)
/* Keep mcause in s0, only the exception code and interrupt bit are relevant */
csrr s0, mcause
li t1, VECTORS_MCAUSE_INTBIT_MASK | VECTORS_MCAUSE_REASON_MASK
and s0, s0, t1
#if ( SOC_CPU_COPROC_NUM > 0 )
/* Check if the exception was cause by a coprocessor instruction. If this is the case, we have
* to lazily save the registers inside the current owner's save area */
/* Check if the exception is Illegal instruction */
li a1, EXC_ILLEGAL_INSTRUCTION
bne s0, a1, _panic_handler_not_coproc
/* In case this is due to a coprocessor, set ra right now to simplify the logic below */
la ra, _return_from_exception
/* EXT_ILL CSR should contain the reason for the Illegal Instruction */
csrr a0, EXT_ILL_CSR
mv a2, a0
/* Check if the FPU bit is set. When targets have the FPU reason bug (SOC_CPU_HAS_FPU_EXT_ILL_BUG),
* it is possible that another bit is set even if the reason is an FPU instruction.
* For example, bit 1 can be set and bit 0 won't, even if the reason is an FPU instruction. */
#if SOC_CPU_HAS_FPU
andi a1, a0, EXT_ILL_RSN_FPU
bnez a1, rtos_save_fpu_coproc
#if SOC_CPU_HAS_FPU_EXT_ILL_BUG
/* If the SOC present the hardware EXT_ILL CSR bug, it doesn't support FPU load/store detection
* so we have to check the instruction's opcode (in `mtval` = `t0`) */
andi a0, t0, 0b1011111
li a1, 0b0000111
/* If opcode is of the form 0b0x00111, the instruction is FLW or FSW */
beq a0, a1, rtos_save_fpu_coproc
/* Check the compressed instructions: C.FLW, C.FSW, C.FLWSP and C.FSWP.
* All of them have their highest 3 bits to x11 and the lowest bit to 0 */
li a0, 0x6001
and a0, t0, a0 /* a0 = mtval & 0x6001 */
li a1, 0x6000
beq a0, a1, rtos_save_fpu_coproc
/* Check if the instruction is CSR-related */
andi a0, t0, 0b1111111
li a1, 0b1110011
bne a0, a1, _panic_handler_not_fpu
/* Check if it's CSR number 1 (fflags), 2 (frm) or 3 (fcsr) */
srli a0, t0, 20
addi a0, a0, -1
li a1, 3
bltu a0, a1, rtos_save_fpu_coproc
/* The instruction was not an FPU one, continue the exception */
_panic_handler_not_fpu:
#endif /* SOC_CPU_HAS_FPU_EXT_ILL_BUG */
#endif /* SOC_CPU_HAS_FPU */
/* Need to check the other coprocessors reason now, instruction is in register a2 */
/* Ignore LP and PIE for now, continue the exception */
_panic_handler_not_coproc:
#endif /* ( SOC_CPU_COPROC_NUM > 0 ) */
/* Call panic_from_exception(sp) or panic_from_isr(sp)
* depending on whether we have a pseudo excause or not.
* If mcause's highest bit is 1, then an interrupt called this routine,
* so we have a pseudo excause. Else, it is due to a exception, we don't
* have an pseudo excause */
mv a0, sp
mv a1, s0
/* Branches instructions don't accept immediate values, so use t1 to
* store our comparator */
li t0, 0x80000000
bgeu a1, t0, _call_panic_handler
sw a1, RV_STK_MCAUSE(sp)
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
li t0, 3
beq a1, t0, _call_gdbstub_handler
#endif
call panic_from_exception
/* We arrive here if the exception handler has returned. */
j _return_from_exception
#ifdef CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
_call_gdbstub_handler:
call gdbstub_handle_debug_int
j _return_from_exception
#endif
_call_panic_handler:
/* Remove highest bit from mcause (a1) register and save it in the structure */
not t0, t0
and a1, a1, t0
#if CONFIG_SOC_INT_CLIC_SUPPORTED
/* When CLIC is supported, external interrupts are shifted by 16, deduct this difference from mcause */
add a1, a1, -16
#endif // CONFIG_SOC_INT_CLIC_SUPPORTED
#if CONFIG_ESP_INT_WDT_CHECK_CPU1
/* Check if this was a INT WDT */
li t0, PANIC_RSN_INTWDT_CPU0
bne a1, t0, _store_mcause
/* Check if the cause is the app cpu failing to tick, if so then update mcause to reflect this*/
lw t0, int_wdt_cpu1_ticked
bnez t0, _store_mcause
li t0, PANIC_RSN_INTWDT_CPU1_FLAG
add a1, a1, t0
#endif
_store_mcause:
sw a1, RV_STK_MCAUSE(sp)
call panic_from_isr
/* We arrive here if the exception handler has returned. This means that
* the exception was handled, and the execution flow should resume.
* Restore the registers and return from the exception.
*/
_return_from_exception:
restore_mepc
/* MTVEC and SP are assumed to be unmodified.
* MSTATUS, MHARTID, MTVAL are read-only and not restored.
*/
lw gp, RV_STK_GP(sp)
restore_general_regs RV_STK_FRMSZ
mret
.size _panic_handler, .-_panic_handler
/* This is the interrupt handler.
* It saves the registers on the stack, prepares for interrupt nesting, re-enables the interrupts,
* then jumps to the C dispatcher in interrupt.c. Upon return, the register context will be restored
* from the stack.
*/
.global _interrupt_handler
.type _interrupt_handler, @function
_interrupt_handler:
/* Start by saving the general purpose registers and the PC value before
* the interrupt happened. */
save_general_regs
save_mepc
/* Though it is not necessary we save GP and SP here.
* SP is necessary to help GDB to properly unwind
* the backtrace of threads preempted by interrupts (OS tick etc.).
* GP is saved just to have its proper value in GDB. */
/* As gp register is not saved by the macro, save it here */
sw gp, RV_STK_GP(sp)
/* Same goes for the SP value before trapping */
addi a0, sp, CONTEXT_SIZE /* restore sp with the value when interrupt happened */
/* Save SP former value */
sw a0, RV_STK_SP(sp)
/* Notify the RTOS that an interrupt ocurred, it will save the current stack pointer
* in the running TCB, no need to pass it as a parameter */
call rtos_int_enter
/* If this is a non-nested interrupt, SP now points to the interrupt stack */
/* Before dispatch c handler, restore interrupt to enable nested intr */
csrr s1, mcause
csrr s2, mstatus
#if !SOC_INT_HW_NESTED_SUPPORTED
/* Save the interrupt threshold level */
li t0, INTERRUPT_CURRENT_CORE_INT_THRESH_REG
lw s3, 0(t0)
/* Increase interrupt threshold level */
li t2, VECTORS_MCAUSE_REASON_MASK
and t1, s1, t2 /* t1 = mcause & mask */
slli t1, t1, 2 /* t1 = mcause * 4 */
li t2, INTERRUPT_PRIO_REG(0)
add t1, t2, t1 /* t1 = INTERRUPT_PRIO_REG + 4 * mcause */
lw t2, 0(t1) /* t2 = INTERRUPT_PRIO_REG[mcause] */
addi t2, t2, 1 /* t2 = t2 +1 */
sw t2, 0(t0) /* INTERRUPT_CURRENT_CORE_INT_THRESH_REG = t2 */
fence
#endif // !SOC_INT_HW_NESTED_SUPPORTED
csrsi mstatus, 0x8
/* MIE set. Nested interrupts can now occur */
#ifdef CONFIG_PM_TRACE
li a0, 0 /* = ESP_PM_TRACE_IDLE */
#if SOC_CPU_CORES_NUM == 1
li a1, 0 /* No need to check core ID on single core hardware */
#else
csrr a1, mhartid
#endif
la t0, esp_pm_trace_exit
jalr t0 /* absolute jump, avoid the 1 MiB range constraint */
#endif
#ifdef CONFIG_PM_ENABLE
la t0, esp_pm_impl_isr_hook
jalr t0 /* absolute jump, avoid the 1 MiB range constraint */
#endif
/* call the C dispatcher */
mv a0, sp /* argument 1, stack pointer */
mv a1, s1 /* argument 2, interrupt number (mcause) */
/* mask off the interrupt flag of mcause */
li t0, VECTORS_MCAUSE_REASON_MASK
and a1, a1, t0
jal _global_interrupt_handler
/* After dispatch c handler, disable interrupt to make freertos make context switch */
csrci mstatus, 0x8
/* MIE cleared. Nested interrupts are disabled */
#if !SOC_INT_HW_NESTED_SUPPORTED
/* restore the interrupt threshold level */
li t0, INTERRUPT_CURRENT_CORE_INT_THRESH_REG
sw s3, 0(t0)
fence
#endif // !SOC_INT_HW_NESTED_SUPPORTED
/* The RTOS will restore the current TCB stack pointer. This routine will preserve s1 and s2.
* Returns the new `mstatus` value. */
mv a0, s2 /* a0 = mstatus */
call rtos_int_exit
/* Restore the rest of the registers.
* In case the target uses the CLIC, it is mandatory to restore `mcause` register since it contains
* the former CPU priority. When executing `mret`, the hardware will restore the former threshold,
* from `mcause` to `mintstatus` CSR */
csrw mcause, s1
csrw mstatus, a0
restore_mepc
restore_general_regs
/* exit, this will also re-enable the interrupts */
mret
.size _interrupt_handler, .-_interrupt_handler
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