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| <h1 id="exceptions"><a class="header" href="#exceptions">Exceptions</a></h1> |
| <p>Exceptions, and interrupts, are a hardware mechanism by which the processor |
| handles asynchronous events and fatal errors (e.g. executing an invalid |
| instruction). Exceptions imply preemption and involve exception handlers, |
| subroutines executed in response to the signal that triggered the event.</p> |
| <p>The <code>cortex-m-rt</code> crate provides an <a href="https://docs.rs/cortex-m-rt-macros/latest/cortex_m_rt_macros/attr.exception.html"><code>exception</code></a> attribute to declare exception |
| handlers.</p> |
| <pre><code class="language-rust ignore">// Exception handler for the SysTick (System Timer) exception |
| #[exception] |
| fn SysTick() { |
| // .. |
| }</code></pre> |
| <p>Other than the <code>exception</code> attribute exception handlers look like plain |
| functions but there’s one more difference: <code>exception</code> handlers can <em>not</em> be |
| called by software. Following the previous example, the statement <code>SysTick();</code> |
| would result in a compilation error.</p> |
| <p>This behavior is pretty much intended and it’s required to provide a feature: |
| <code>static mut</code> variables declared <em>inside</em> <code>exception</code> handlers are <em>safe</em> to use.</p> |
| <pre><code class="language-rust ignore">#[exception] |
| fn SysTick() { |
| static mut COUNT: u32 = 0; |
| |
| // `COUNT` has transformed to type `&mut u32` and it's safe to use |
| *COUNT += 1; |
| }</code></pre> |
| <p>As you may know, using <code>static mut</code> variables in a function makes it |
| <a href="https://en.wikipedia.org/wiki/Reentrancy_(computing)"><em>non-reentrant</em></a>. It’s undefined behavior to call a non-reentrant function, |
| directly or indirectly, from more than one exception / interrupt handler or from |
| <code>main</code> and one or more exception / interrupt handlers.</p> |
| <p>Safe Rust must never result in undefined behavior so non-reentrant functions |
| must be marked as <code>unsafe</code>. Yet I just told that <code>exception</code> handlers can safely |
| use <code>static mut</code> variables. How is this possible? This is possible because |
| <code>exception</code> handlers can <em>not</em> be called by software thus reentrancy is not |
| possible. These handlers are called by the hardware itself which is assumed to be physically non-concurrent.</p> |
| <p>As a result, in the context of exception handlers in embedded systems, the absence of concurrent invocations of the same handler ensures that there are no reentrancy issues, even if the handler uses static mutable variables.</p> |
| <p>In a multicore system, where multiple processor cores are executing code concurrently, the potential for reentrancy issues becomes relevant again, even within exception handlers. While each core may have its own set of exception handlers, there can still be scenarios where multiple cores attempt to execute the same exception handler simultaneously.<br>To address this concern in a multicore environment, proper synchronization mechanisms need to be employed within the exception handlers to ensure that access to shared resources is properly coordinated among the cores. This typically involves the use of techniques such as locks, semaphores, or atomic operations to prevent data races and maintain data integrity</p> |
| <blockquote> |
| <p>Note that the <code>exception</code> attribute transforms definitions of static variables |
| inside the function by wrapping them into <code>unsafe</code> blocks and providing us |
| with new appropriate variables of type <code>&mut</code> of the same name. |
| Thus we can dereference the reference via <code>*</code> to access the values of the variables without |
| needing to wrap them in an <code>unsafe</code> block.</p> |
| </blockquote> |
| <h2 id="a-complete-example"><a class="header" href="#a-complete-example">A complete example</a></h2> |
| <p>Here’s an example that uses the system timer to raise a <code>SysTick</code> exception |
| roughly every second. The <code>SysTick</code> exception handler keeps track of how many |
| times it has been called in the <code>COUNT</code> variable and then prints the value of |
| <code>COUNT</code> to the host console using semihosting.</p> |
| <blockquote> |
| <p><strong>NOTE</strong>: You can run this example on any Cortex-M device; you can also run it |
| on QEMU</p> |
| </blockquote> |
| <pre><code class="language-rust ignore">#![deny(unsafe_code)] |
| #![no_main] |
| #![no_std] |
| |
| use panic_halt as _; |
| |
| use core::fmt::Write; |
| |
| use cortex_m::peripheral::syst::SystClkSource; |
| use cortex_m_rt::{entry, exception}; |
| use cortex_m_semihosting::{ |
| debug, |
| hio::{self, HostStream}, |
| }; |
| |
| #[entry] |
| fn main() -> ! { |
| let p = cortex_m::Peripherals::take().unwrap(); |
| let mut syst = p.SYST; |
| |
| // configures the system timer to trigger a SysTick exception every second |
| syst.set_clock_source(SystClkSource::Core); |
| // this is configured for the LM3S6965 which has a default CPU clock of 12 MHz |
| syst.set_reload(12_000_000); |
| syst.clear_current(); |
| syst.enable_counter(); |
| syst.enable_interrupt(); |
| |
| loop {} |
| } |
| |
| #[exception] |
| fn SysTick() { |
| static mut COUNT: u32 = 0; |
| static mut STDOUT: Option<HostStream> = None; |
| |
| *COUNT += 1; |
| |
| // Lazy initialization |
| if STDOUT.is_none() { |
| *STDOUT = hio::hstdout().ok(); |
| } |
| |
| if let Some(hstdout) = STDOUT.as_mut() { |
| write!(hstdout, "{}", *COUNT).ok(); |
| } |
| |
| // IMPORTANT omit this `if` block if running on real hardware or your |
| // debugger will end in an inconsistent state |
| if *COUNT == 9 { |
| // This will terminate the QEMU process |
| debug::exit(debug::EXIT_SUCCESS); |
| } |
| }</code></pre> |
| <pre><code class="language-console">tail -n5 Cargo.toml |
| </code></pre> |
| <pre><code class="language-toml">[dependencies] |
| cortex-m = "0.5.7" |
| cortex-m-rt = "0.6.3" |
| panic-halt = "0.2.0" |
| cortex-m-semihosting = "0.3.1" |
| </code></pre> |
| <pre><code class="language-text">$ cargo run --release |
| Running `qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb (..) |
| 123456789 |
| </code></pre> |
| <p>If you run this on the Discovery board you’ll see the output on the OpenOCD |
| console. Also, the program will <em>not</em> stop when the count reaches 9.</p> |
| <h2 id="the-default-exception-handler"><a class="header" href="#the-default-exception-handler">The default exception handler</a></h2> |
| <p>What the <code>exception</code> attribute actually does is <em>override</em> the default exception |
| handler for a specific exception. If you don’t override the handler for a |
| particular exception it will be handled by the <code>DefaultHandler</code> function, which |
| defaults to:</p> |
| <pre><code class="language-rust ignore">fn DefaultHandler() { |
| loop {} |
| }</code></pre> |
| <p>This function is provided by the <code>cortex-m-rt</code> crate and marked as |
| <code>#[no_mangle]</code> so you can put a breakpoint on “DefaultHandler” and catch |
| <em>unhandled</em> exceptions.</p> |
| <p>It’s possible to override this <code>DefaultHandler</code> using the <code>exception</code> attribute:</p> |
| <pre><code class="language-rust ignore">#[exception] |
| fn DefaultHandler(irqn: i16) { |
| // custom default handler |
| }</code></pre> |
| <p>The <code>irqn</code> argument indicates which exception is being serviced. A negative |
| value indicates that a Cortex-M exception is being serviced; and zero or a |
| positive value indicate that a device specific exception, AKA interrupt, is |
| being serviced.</p> |
| <h2 id="the-hard-fault-handler"><a class="header" href="#the-hard-fault-handler">The hard fault handler</a></h2> |
| <p>The <code>HardFault</code> exception is a bit special. This exception is fired when the |
| program enters an invalid state so its handler can <em>not</em> return as that could |
| result in undefined behavior. Also, the runtime crate does a bit of work before |
| the user defined <code>HardFault</code> handler is invoked to improve debuggability.</p> |
| <p>The result is that the <code>HardFault</code> handler must have the following signature: |
| <code>fn(&ExceptionFrame) -> !</code>. The argument of the handler is a pointer to |
| registers that were pushed into the stack by the exception. These registers are |
| a snapshot of the processor state at the moment the exception was triggered and |
| are useful to diagnose a hard fault.</p> |
| <p>Here’s an example that performs an illegal operation: a read to a nonexistent |
| memory location.</p> |
| <blockquote> |
| <p><strong>NOTE</strong>: This program won’t work, i.e. it won’t crash, on QEMU because |
| <code>qemu-system-arm -machine lm3s6965evb</code> doesn’t check memory loads and will |
| happily return <code>0 </code>on reads to invalid memory.</p> |
| </blockquote> |
| <pre><code class="language-rust ignore">#![no_main] |
| #![no_std] |
| |
| use panic_halt as _; |
| |
| use core::fmt::Write; |
| use core::ptr; |
| |
| use cortex_m_rt::{entry, exception, ExceptionFrame}; |
| use cortex_m_semihosting::hio; |
| |
| #[entry] |
| fn main() -> ! { |
| // read a nonexistent memory location |
| unsafe { |
| ptr::read_volatile(0x3FFF_0000 as *const u32); |
| } |
| |
| loop {} |
| } |
| |
| #[exception] |
| fn HardFault(ef: &ExceptionFrame) -> ! { |
| if let Ok(mut hstdout) = hio::hstdout() { |
| writeln!(hstdout, "{:#?}", ef).ok(); |
| } |
| |
| loop {} |
| }</code></pre> |
| <p>The <code>HardFault</code> handler prints the <code>ExceptionFrame</code> value. If you run this |
| you’ll see something like this on the OpenOCD console.</p> |
| <pre><code class="language-text">$ openocd |
| (..) |
| ExceptionFrame { |
| r0: 0x3fff0000, |
| r1: 0x00000003, |
| r2: 0x080032e8, |
| r3: 0x00000000, |
| r12: 0x00000000, |
| lr: 0x080016df, |
| pc: 0x080016e2, |
| xpsr: 0x61000000, |
| } |
| </code></pre> |
| <p>The <code>pc</code> value is the value of the Program Counter at the time of the exception |
| and it points to the instruction that triggered the exception.</p> |
| <p>If you look at the disassembly of the program:</p> |
| <pre><code class="language-text">$ cargo objdump --bin app --release -- -d --no-show-raw-insn --print-imm-hex |
| (..) |
| ResetTrampoline: |
| 8000942: movw r0, #0xfffe |
| 8000946: movt r0, #0x3fff |
| 800094a: ldr r0, [r0] |
| 800094c: b #-0x4 <ResetTrampoline+0xa> |
| </code></pre> |
| <p>You can lookup the value of the program counter <code>0x0800094a</code> in the disassembly. |
| You’ll see that a load operation (<code>ldr r0, [r0]</code> ) caused the exception. |
| The <code>r0</code> field of <code>ExceptionFrame</code> will tell you the value of register <code>r0</code> |
| was <code>0x3fff_fffe</code> at that time.</p> |
| |
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