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Merge branch 'bugfix/interrupted_thread_gdb_bt_v4.3' into 'release/v4.3'

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riscv: Fixes GDB backtrace of interrupted threads (v4.3)

See merge request espressif/esp-idf!17722
This commit is contained in:
Jiang Jiang Jian
2022-04-23 13:56:51 +08:00
parent 3477c342e2 e1d3993309
commit e48cf0c188
4 changed files with 421 additions and 250 deletions
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18
components/freertos/port/riscv/port.c
View File

@@ -161,7 +161,7 @@ void vPortSetupTimer(void)
systimer_hal_enable_alarm_int(SYSTIMER_ALARM_0);
}
void prvTaskExitError(void)
__attribute__((noreturn)) static void _prvTaskExitError(void)
{
/* A function that implements a task must not exit or attempt to return to
its caller as there is nothing to return to. If a task wants to exit it
@@ -174,6 +174,18 @@ void prvTaskExitError(void)
abort();
}
__attribute__((naked)) static void prvTaskExitError(void)
{
asm volatile(".option push\n" \
".option norvc\n" \
"nop\n" \
".option pop");
/* Task entry's RA will point here. Shifting RA into prvTaskExitError is necessary
to make GDB backtrace ending inside that function.
Otherwise backtrace will end in the function laying just before prvTaskExitError in address space. */
_prvTaskExitError();
}
/* Clear current interrupt mask and set given mask */
void vPortClearInterruptMask(int mask)
{
@@ -282,7 +294,9 @@ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxC
sp -= RV_STK_FRMSZ;
RvExcFrame *frame = (RvExcFrame *)sp;
memset(frame, 0, sizeof(*frame));
frame->ra = (UBaseType_t)prvTaskExitError;
/* Shifting RA into prvTaskExitError is necessary to make GDB backtrace ending inside that function.
Otherwise backtrace will end in the function laying just before prvTaskExitError in address space. */
frame->ra = (UBaseType_t)prvTaskExitError + 4/*size of the nop insruction at the beginning of prvTaskExitError*/;
frame->mepc = (UBaseType_t)pxCode;
frame->a0 = (UBaseType_t)pvParameters;
frame->gp = (UBaseType_t)&__global_pointer$;

54
components/hal/esp32c3/include/hal/cpu_ll.h
View File

@@ -20,6 +20,7 @@
#include "soc/assist_debug_reg.h"
#include "esp_attr.h"
#include "riscv/csr.h"
#include "riscv/semihosting.h"
/*performance counter*/
#define CSR_PCER_MACHINE 0x7e0
@@ -72,8 +73,29 @@ static inline void cpu_ll_init_hwloop(void)
// Nothing needed here for ESP32-C3
}
static inline bool cpu_ll_is_debugger_attached(void)
{
return REG_GET_BIT(ASSIST_DEBUG_C0RE_0_DEBUG_MODE_REG, ASSIST_DEBUG_CORE_0_DEBUG_MODULE_ACTIVE);
}
static inline void cpu_ll_set_breakpoint(int id, uint32_t pc)
{
if (cpu_ll_is_debugger_attached()) {
/* If we want to set breakpoint which when hit transfers control to debugger
* we need to set `action` in `mcontrol` to 1 (Enter Debug Mode).
* That `action` value is supported only when `dmode` of `tdata1` is set.
* But `dmode` can be modified by debugger only (from Debug Mode).
*
* So when debugger is connected we use special syscall to ask it to set breakpoint for us.
*/
long args[] = {true, id, (long)pc};
int ret = semihosting_call_noerrno(ESP_SEMIHOSTING_SYS_BREAKPOINT_SET, args);
if (ret == 0) {
return;
}
}
/* The code bellow sets breakpoint which will trigger `Breakpoint` exception
* instead transfering control to debugger. */
RV_WRITE_CSR(tselect,id);
RV_SET_CSR(CSR_TCONTROL,TCONTROL_MTE);
RV_SET_CSR(CSR_TDATA1, TDATA1_USER|TDATA1_MACHINE|TDATA1_EXECUTE);
@@ -83,6 +105,14 @@ static inline void cpu_ll_set_breakpoint(int id, uint32_t pc)
static inline void cpu_ll_clear_breakpoint(int id)
{
if (cpu_ll_is_debugger_attached()) {
/* see description in cpu_ll_set_breakpoint() */
long args[] = {false, id};
int ret = semihosting_call_noerrno(ESP_SEMIHOSTING_SYS_BREAKPOINT_SET, args);
if (ret == 0){
return;
}
}
RV_WRITE_CSR(tselect,id);
RV_CLEAR_CSR(CSR_TCONTROL,TCONTROL_MTE);
RV_CLEAR_CSR(CSR_TDATA1, TDATA1_USER|TDATA1_MACHINE|TDATA1_EXECUTE);
@@ -106,6 +136,17 @@ static inline void cpu_ll_set_watchpoint(int id,
bool on_write)
{
uint32_t addr_napot;
if (cpu_ll_is_debugger_attached()) {
/* see description in cpu_ll_set_breakpoint() */
long args[] = {true, id, (long)addr, (long)size,
(long)((on_read ? ESP_SEMIHOSTING_WP_FLG_RD : 0) | (on_write ? ESP_SEMIHOSTING_WP_FLG_WR : 0))};
int ret = semihosting_call_noerrno(ESP_SEMIHOSTING_SYS_WATCHPOINT_SET, args);
if (ret == 0) {
return;
}
}
RV_WRITE_CSR(tselect,id);
RV_SET_CSR(CSR_TCONTROL, TCONTROL_MPTE | TCONTROL_MTE);
RV_SET_CSR(CSR_TDATA1, TDATA1_USER|TDATA1_MACHINE);
@@ -124,6 +165,14 @@ static inline void cpu_ll_set_watchpoint(int id,
static inline void cpu_ll_clear_watchpoint(int id)
{
if (cpu_ll_is_debugger_attached()) {
/* see description in cpu_ll_set_breakpoint() */
long args[] = {false, id};
int ret = semihosting_call_noerrno(ESP_SEMIHOSTING_SYS_WATCHPOINT_SET, args);
if (ret == 0){
return;
}
}
RV_WRITE_CSR(tselect,id);
RV_CLEAR_CSR(CSR_TCONTROL,TCONTROL_MTE);
RV_CLEAR_CSR(CSR_TDATA1, TDATA1_USER|TDATA1_MACHINE);
@@ -133,11 +182,6 @@ static inline void cpu_ll_clear_watchpoint(int id)
return;
}
FORCE_INLINE_ATTR bool cpu_ll_is_debugger_attached(void)
{
return REG_GET_BIT(ASSIST_DEBUG_C0RE_0_DEBUG_MODE_REG, ASSIST_DEBUG_CORE_0_DEBUG_MODULE_ACTIVE);
}
static inline void cpu_ll_break(void)
{
asm volatile("ebreak\n");

99
components/riscv/include/riscv/semihosting.h Normal file
View File

@@ -0,0 +1,99 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* ESP custom semihosting calls numbers */
/**
* @brief Set/clear breakpoint
*
* @param set if true set breakpoint, otherwise clear it
* @param id breakpoint ID
* @param addr address to set breakpoint at. Ignored if `set` is false.
* @return return 0 on sucess or non-zero error code
*/
#define ESP_SEMIHOSTING_SYS_BREAKPOINT_SET 0x66
/**
* @brief Set/clear watchpoint
*
* @param set if true set watchpoint, otherwise clear it
* @param id watchpoint ID
* @param addr address to set watchpoint at. Ignored if `set` is false.
* @param size size of watchpoint. Ignored if `set` is false.
* @param flags watchpoint flags, see description below. Ignored if `set` is false.
* @return return 0 on sucess or non-zero error code
*/
#define ESP_SEMIHOSTING_SYS_WATCHPOINT_SET 0x67
/* bit values for `flags` argument of ESP_SEMIHOSTING_SYS_WATCHPOINT_SET call. Can be ORed. */
/* watch for 'reads' at `addr` */
#define ESP_SEMIHOSTING_WP_FLG_RD (1UL << 0)
/* watch for 'writes' at `addr` */
#define ESP_SEMIHOSTING_WP_FLG_WR (1UL << 1)
/**
* @brief Perform semihosting call
*
* See https://github.com/riscv/riscv-semihosting-spec/ and the linked
* ARM semihosting spec for details.
*
* @param id semihosting call number
* @param data data block to pass to the host; number of items and their
* meaning depends on the semihosting call. See the spec for
* details.
*
* @return return value from the host
*/
static inline long semihosting_call_noerrno(long id, long *data)
{
register long a0 asm ("a0") = id;
register long a1 asm ("a1") = (long) data;
__asm__ __volatile__ (
".option push\n"
".option norvc\n"
"slli zero, zero, 0x1f\n"
"ebreak\n"
"srai zero, zero, 0x7\n"
".option pop\n"
: "+r"(a0) : "r"(a1) : "memory");
return a0;
}
/**
* @brief Perform semihosting call and retrieve errno
*
* @param id semihosting call number
* @param data data block to pass to the host; number of items and their
* meaning depends on the semihosting call. See the spec for
* details.
* @param[out] out_errno output, errno value from the host. Only set if
* the return value is negative.
* @return return value from the host
*/
static inline long semihosting_call(long id, long *data, int *out_errno)
{
long ret = semihosting_call_noerrno(id, data);
if (ret < 0) {
/* Constant also defined in openocd_semihosting.h,
* which is common for RISC-V and Xtensa; it is not included here
* to avoid a circular dependency.
*/
const int semihosting_sys_errno = 0x13;
*out_errno = (int) semihosting_call_noerrno(semihosting_sys_errno, NULL);
}
return ret;
}
#ifdef __cplusplus
}
#endif

102
components/riscv/vectors.S
View File

@@ -23,8 +23,12 @@
.equ panic_from_exception, xt_unhandled_exception
.equ panic_from_isr, panicHandler
.macro save_regs
addi sp, sp, -CONTEXT_SIZE
/* 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)
@@ -61,7 +65,10 @@
sw t0, RV_STK_MEPC(sp)
.endm
.macro restore_regs
/* 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 overriden. */
.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)
@@ -91,7 +98,7 @@
lw t4, RV_STK_T4(sp)
lw t5, RV_STK_T5(sp)
lw t6, RV_STK_T6(sp)
addi sp, sp, CONTEXT_SIZE
addi sp,sp, \cxt_size
.endm
.macro restore_mepc
@@ -131,7 +138,7 @@ _vector_table:
.rept (ETS_MAX_INUM - ETS_MEMPROT_ERR_INUM)
#else
.rept (ETS_MAX_INUM - ETS_CACHEERR_INUM)
#endif
#endif //CONFIG_ESP_SYSTEM_MEMPROT_FEATURE
j _interrupt_handler /* 6 identical entries, all pointing to the interrupt handler */
.endr
@@ -141,39 +148,16 @@ _vector_table:
/* Exception handler.*/
.type _panic_handler, @function
_panic_handler:
addi sp, sp, -RV_STK_FRMSZ /* allocate space on stack to store necessary registers */
/* save general registers */
sw ra, RV_STK_RA(sp)
/* 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)
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)
/* 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)
@@ -198,17 +182,31 @@ _panic_handler:
li t0, 0x80000000
bgeu a1, t0, _call_panic_handler
sw a1, RV_STK_MCAUSE(sp)
/* exception_from_panic never returns */
j panic_from_exception
jal panic_from_exception
/* We arrive here if the exception handler has returned. */
j _return_from_exception
_call_panic_handler:
/* Remove highest bit from mcause (a1) register and save it in the
* structure */
not t0, t0
and a1, a1, t0
sw a1, RV_STK_MCAUSE(sp)
/* exception_from_isr never returns */
j panic_from_isr
.size panic_from_isr, .-panic_from_isr
jal 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,
@@ -219,14 +217,27 @@ _call_panic_handler:
.global _interrupt_handler
.type _interrupt_handler, @function
_interrupt_handler:
/* entry */
save_regs
/* 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 t0, sp, CONTEXT_SIZE /* restore sp with the value when interrupt happened */
/* Save SP */
sw t0, RV_STK_SP(sp)
/* Before doing anythig preserve the stack pointer */
/* It will be saved in current TCB, if needed */
mv a0, sp
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
@@ -249,6 +260,7 @@ _interrupt_handler:
li t0, 0x8
csrrs t0, mstatus, t0
/* MIE set. Nested interrupts can now occur */
#ifdef CONFIG_PM_TRACE
li a0, 0 /* = ESP_PM_TRACE_IDLE */
@@ -278,6 +290,7 @@ _interrupt_handler:
li t0, 0x8
csrrc t0, mstatus, t0
/* MIE cleared. Nested interrupts are disabled */
/* restore the interrupt threshold level */
la t0, INTERRUPT_CORE0_CPU_INT_THRESH_REG
@@ -287,6 +300,7 @@ _interrupt_handler:
/* Yield to the next task is needed: */
mv a0, sp
call rtos_int_exit
/* If this is a non-nested interrupt, context switch called, SP now points to back to task stack. */
/* The next (or current) stack pointer is returned in a0 */
mv sp, a0
@@ -295,7 +309,7 @@ _interrupt_handler:
csrw mcause, s1
csrw mstatus, s2
restore_mepc
restore_regs
restore_general_regs
/* exit, this will also re-enable the interrupts */
mret