RISCV vectored interrupts (#118)

* RISCV interrupt vectoring

- Adds support for vectoring peripheral interrupts to PAC handlers
- Currently supports level interrupts with priorities from 1-15
- Updated the gpio interrupt example to reflect the new changes

* remove .vscode files

* Support vectored edge interrupts

This is as simple as making sure we clear the CPU interrupt whenever we
receive one. This also documents further what APIs are safe to call when
the `vectored` feature is enabled.

* fix all examples to use vectoring

* doc & cleanup

* run handlers from ram

* make xtensa::interrupt::vectored private, we rexport public items

* fix default handlers

* pass interrupt into EspDefaultHandler

esp-hal-common/src/interrupt/riscv.rs

@@ -1,6 +1,21 @@
+//! Interrupt handling - RISCV
+//!
+//! When the `vectored` feature is enabled, CPU interrupts 1 through 15 are
+//! reserved for each of the possible interrupt priorities.
+//!
+//! ```rust
+//! interrupt1() => Priority::Priority1
+//! interrupt2() => Priority::Priority2
+//! ...
+//! interrupt15() => Priority::Priority15
+//! ```
+
 use riscv::register::mcause;
 
-use crate::{pac::Interrupt, Cpu};
+use crate::{
+    pac::{self, Interrupt},
+    Cpu,
+};
 
 // User code shouldn't usually take the mutable TrapFrame or the TrapFrame in
 // general. However this makes things like preemtive multitasking easier in
@@ -50,6 +65,8 @@ pub enum InterruptKind {
 /// Enumeration of available CPU interrupts.
 /// It is possible to create a handler for each of the interrupts. (e.g.
 /// `interrupt3`)
+#[repr(u32)]
+#[derive(Debug, Copy, Clone)]
 pub enum CpuInterrupt {
     Interrupt1 = 1,
     Interrupt2,
@@ -85,6 +102,7 @@ pub enum CpuInterrupt {
 }
 
 /// Interrupt priority levels.
+#[repr(u8)]
 pub enum Priority {
     None,
     Priority1,
@@ -104,21 +122,26 @@ pub enum Priority {
     Priority15,
 }
 
-/// Enable and assign a peripheral interrupt to an CPU interrupt.
-pub fn enable(_core: Cpu, interrupt: Interrupt, which: CpuInterrupt) {
-    unsafe {
-        let interrupt_number = interrupt as isize;
-        let cpu_interrupt_number = which as isize;
-        let intr = &*crate::pac::INTERRUPT_CORE0::PTR;
-        let intr_map_base = intr.mac_intr_map.as_ptr();
-        intr_map_base
-            .offset(interrupt_number)
-            .write_volatile(cpu_interrupt_number as u32);
+/// Assign a peripheral interrupt to an CPU interrupt.
+///
+/// Great care must be taken when using the `vectored` feature (enabled by
+/// default). Avoid interrupts 1 - 15 when interrupt vectoring is enabled.
+pub unsafe fn map(_core: Cpu, interrupt: Interrupt, which: CpuInterrupt) {
+    let interrupt_number = interrupt as isize;
+    let cpu_interrupt_number = which as isize;
+    let intr = &*crate::pac::INTERRUPT_CORE0::PTR;
+    let intr_map_base = intr.mac_intr_map.as_ptr();
+    intr_map_base
+        .offset(interrupt_number)
+        .write_volatile(cpu_interrupt_number as u32);
+}
 
-        // enable interrupt
-        intr.cpu_int_enable
-            .modify(|r, w| w.bits((1 << cpu_interrupt_number) | r.bits()));
-    }
+/// Enable a CPU interrupt
+pub unsafe fn enable_cpu_interrupt(which: CpuInterrupt) {
+    let cpu_interrupt_number = which as isize;
+    let intr = &*crate::pac::INTERRUPT_CORE0::PTR;
+    intr.cpu_int_enable
+        .modify(|r, w| w.bits((1 << cpu_interrupt_number) | r.bits()));
 }
 
 /// Disable the given peripheral interrupt.
@@ -132,6 +155,9 @@ pub fn disable(_core: Cpu, interrupt: Interrupt) {
 }
 
 /// Set the interrupt kind (i.e. level or edge) of an CPU interrupt
+///
+/// This is safe to call when the `vectored` feature is enabled. The vectored
+/// interrupt handler will take care of clearing edge interrupt bits.
 pub fn set_kind(_core: Cpu, which: CpuInterrupt, kind: InterruptKind) {
     unsafe {
         let intr = &*crate::pac::INTERRUPT_CORE0::PTR;
@@ -150,19 +176,22 @@ pub fn set_kind(_core: Cpu, which: CpuInterrupt, kind: InterruptKind) {
 }
 
 /// Set the priority level of an CPU interrupt
-pub fn set_priority(_core: Cpu, which: CpuInterrupt, priority: Priority) {
-    unsafe {
-        let intr = &*crate::pac::INTERRUPT_CORE0::PTR;
-        let cpu_interrupt_number = which as isize;
-        let intr_prio_base = intr.cpu_int_pri_0.as_ptr();
+///
+/// Great care must be taken when using the `vectored` feature (enabled by
+/// default). Avoid changing the priority of interrupts 1 - 15 when interrupt
+/// vectoring is enabled.
+pub unsafe fn set_priority(_core: Cpu, which: CpuInterrupt, priority: Priority) {
+    let intr = &*crate::pac::INTERRUPT_CORE0::PTR;
+    let cpu_interrupt_number = which as isize;
+    let intr_prio_base = intr.cpu_int_pri_0.as_ptr();
 
-        intr_prio_base
-            .offset(cpu_interrupt_number as isize)
-            .write_volatile(priority as u32);
-    }
+    intr_prio_base
+        .offset(cpu_interrupt_number as isize)
+        .write_volatile(priority as u32);
 }
 
 /// Clear a CPU interrupt
+#[inline]
 pub fn clear(_core: Cpu, which: CpuInterrupt) {
     unsafe {
         let cpu_interrupt_number = which as isize;
@@ -173,6 +202,7 @@ pub fn clear(_core: Cpu, which: CpuInterrupt) {
 }
 
 /// Get status of peripheral interrupts
+#[inline]
 pub fn get_status(_core: Cpu) -> u128 {
     unsafe {
         ((*crate::pac::INTERRUPT_CORE0::PTR)
@@ -187,6 +217,204 @@ pub fn get_status(_core: Cpu) -> u128 {
     }
 }
 
+#[cfg(feature = "vectored")]
+pub use vectored::*;
+
+#[cfg(feature = "vectored")]
+mod vectored {
+    use procmacros::ram;
+
+    use super::*;
+
+    // Setup interrupts 1-15 ready for vectoring
+    #[doc(hidden)]
+    pub(crate) unsafe fn init_vectoring() {
+        for i in 1..=15 {
+            set_kind(
+                crate::get_core(),
+                core::mem::transmute(i),
+                InterruptKind::Level,
+            );
+            set_priority(
+                crate::get_core(),
+                core::mem::transmute(i),
+                core::mem::transmute(i as u8),
+            );
+            enable_cpu_interrupt(core::mem::transmute(i));
+        }
+    }
+
+    /// Get the interrupts configured for the core
+    #[inline]
+    fn get_configured_interrupts(_core: Cpu) -> [u128; 15] {
+        unsafe {
+            let intr = &*crate::pac::INTERRUPT_CORE0::PTR;
+            let intr_map_base = intr.mac_intr_map.as_ptr();
+            let intr_prio_base = intr.cpu_int_pri_0.as_ptr();
+
+            let mut prios = [0u128; 15];
+
+            for i in 0..get_interrupt_count() {
+                let i = i as isize;
+                let cpu_interrupt = intr_map_base.offset(i).read_volatile();
+                // safety: cast is safe because of repr(u32)
+                let cpu_interrupt: CpuInterrupt = core::mem::transmute(cpu_interrupt);
+                let prio = intr_prio_base
+                    .offset(cpu_interrupt as isize)
+                    .read_volatile();
+
+                prios[prio as usize] |= 1 << i;
+            }
+
+            prios
+        }
+    }
+
+    #[inline]
+    fn get_interrupt_count() -> usize {
+        cfg_if::cfg_if! {
+            if #[cfg(feature = "esp32c3")] {
+                62
+            }
+        }
+    }
+
+    /// Interrupt Error
+    #[derive(Copy, Clone, Debug, PartialEq, Eq)]
+    pub enum Error {
+        InvalidInterruptPriority,
+    }
+
+    /// Enables a interrupt at a given priority
+    ///
+    /// Note that interrupts still need to be enabled globally for interrupts
+    /// to be serviced.
+    pub fn enable(interrupt: Interrupt, level: Priority) -> Result<(), Error> {
+        if matches!(level, Priority::None) {
+            return Err(Error::InvalidInterruptPriority);
+        }
+        unsafe {
+            let cpu_interrupt = core::mem::transmute(level as u8 as u32);
+            map(crate::get_core(), interrupt, cpu_interrupt);
+            enable_cpu_interrupt(cpu_interrupt);
+        }
+        Ok(())
+    }
+
+    #[ram]
+    unsafe fn handle_interrupts(cpu_intr: CpuInterrupt, context: &mut TrapFrame) {
+        let status = get_status(crate::get_core());
+
+        // this has no effect on level interrupts, but the interrupt may be an edge one
+        // so we clear it anyway
+        clear(crate::get_core(), cpu_intr);
+
+        let configured_interrupts = get_configured_interrupts(crate::get_core());
+        let mut interrupt_mask = status & configured_interrupts[cpu_intr as usize];
+        while interrupt_mask != 0 {
+            let interrupt_nr = interrupt_mask.trailing_zeros();
+            // Interrupt::try_from can fail if interrupt already de-asserted:
+            // silently ignore
+            if let Ok(interrupt) = pac::Interrupt::try_from(interrupt_nr as u8) {
+                handle_interrupt(interrupt, context)
+            }
+            interrupt_mask &= !(1u128 << interrupt_nr);
+        }
+    }
+
+    #[ram]
+    unsafe fn handle_interrupt(interrupt: Interrupt, save_frame: &mut TrapFrame) {
+        extern "C" {
+            // defined in each hal
+            fn EspDefaultHandler(interrupt: Interrupt);
+        }
+        let handler = pac::__EXTERNAL_INTERRUPTS[interrupt as usize]._handler;
+        if handler as *const _ == EspDefaultHandler as *const unsafe extern "C" fn() {
+            EspDefaultHandler(interrupt);
+        } else {
+            let handler: fn(&mut TrapFrame) = core::mem::transmute(handler);
+            handler(save_frame);
+        }
+    }
+
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt1(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt1, context)
+    }
+
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt2(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt2, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt3(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt3, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt4(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt4, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt5(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt5, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt6(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt6, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt7(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt7, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt8(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt8, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt9(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt9, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt10(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt10, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt11(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt11, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt12(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt12, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt13(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt13, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt14(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt14, context)
+    }
+    #[no_mangle]
+    #[ram]
+    pub unsafe fn interrupt15(context: &mut TrapFrame) {
+        handle_interrupts(CpuInterrupt::Interrupt15, context)
+    }
+}
+
 /// Registers saved in trap handler
 #[doc(hidden)]
 #[allow(missing_docs)]
@@ -234,6 +462,7 @@ pub struct TrapFrame {
 #[export_name = "_start_trap_rust_hal"]
 pub unsafe extern "C" fn start_trap_rust_hal(trap_frame: *mut TrapFrame) {
     extern "C" {
+        // defined in riscv-rt
         pub fn DefaultHandler();
     }
 
@@ -385,5 +614,8 @@ pub fn _setup_interrupts() {
     unsafe {
         let vec_table = &_vector_table_hal as *const _ as usize;
         riscv::register::mtvec::write(vec_table, riscv::register::mtvec::TrapMode::Vectored);
+
+        #[cfg(feature = "vectored")]
+        crate::interrupt::init_vectoring();
     };
 }