PicoSDK
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Outline
#include "hardware/exception.h"
#include "hardware/sync.h"
#include "pico/platform/cpu_regs.h"
exception_is_compile_time_default(exception_handler_t)
get_exception_table()
set_raw_exception_handler_and_restore_interrupts(enum exception_number, exception_handler_t, uint32_t)
check_exception_param(enum exception_number)
exception_get_vtable_handler(enum exception_number)
exception_set_exclusive_handler(enum exception_number, exception_handler_t)
exception_restore_handler(enum exception_number, exception_handler_t)
get_shpr0(uint)
exception_set_priority(uint, uint8_t)
exception_get_priority(uint)
Files
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SourceVuRaspberry Pi Pico SDK and ExamplesPicoSDKsrc/rp2_common/hardware_exception/exception.c
 
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/* * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. * * SPDX-License-Identifier: BSD-3-Clause *//* ... */ #include "hardware/exception.h" #include "hardware/sync.h" #include "pico/platform/cpu_regs.h" #ifndef exception_is_compile_time_default static bool exception_is_compile_time_default(exception_handler_t handler) { #ifdef __riscv extern char __unhandled_exception; return (uintptr_t)handler == (uintptr_t)__unhandled_exception;/* ... */ #else 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 }{ ... } /* ... */#endif static inline exception_handler_t *get_exception_table(void) { #ifdef __riscv extern uintptr_t __riscv_exception_table; return (exception_handler_t *) &__riscv_exception_table;/* ... */ #else return (exception_handler_t *) scb_hw->vtor; #endif }{ ... } 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_exception_table()[num] = handler; __dmb(); restore_interrupts_from_disabled(save); }{ ... } static inline void check_exception_param(__unused enum exception_number num) { invalid_params_if(HARDWARE_EXCEPTION, num < MIN_EXCEPTION_NUM || num >= MAX_EXCEPTION_NUM); }{ ... } exception_handler_t exception_get_vtable_handler(enum exception_number num) { check_exception_param(num); return get_exception_table()[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(handler == current || 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 }{ ... } #ifndef __riscv static io_rw_32 *get_shpr0(uint num) { io_rw_32 *shpr0 = NULL; #if __ARM_ARCH_6M__ // only has shpr2-3 if (num >= 8 && num < 16) shpr0 = (io_rw_32 *) (PPB_BASE + ARM_CPU_PREFIXED(SHPR2_OFFSET) - 8);/* ... */ #elif __ARM_ARCH_8M_MAIN__ // only has shpr1-3 if (num >= 4 && num < 16) shpr0 = (io_rw_32 *)(PPB_BASE + ARM_CPU_PREFIXED(SHPR1_OFFSET) - 4);/* ... */ #endif return shpr0; }{ ... } bool exception_set_priority(uint num, uint8_t hardware_priority) { io_rw_32 *shpr0 = get_shpr0(num); if (shpr0) { // note that only 32 bit writes are supported shpr0[num / 4] = (shpr0[num/4] & ~(0xffu << (8 * (num & 3u)))) | (((uint32_t) hardware_priority) << (8 * (num & 3u))); return true; }if (shpr0) { ... } return false; }{ ... } uint exception_get_priority(uint num) { io_rw_32 *shpr0 = get_shpr0(num); if (shpr0) { // note that only 32 bit writes are supported return (uint8_t) (shpr0[num/4] >> (8 * (num & 3))); }if (shpr0) { ... } return PICO_LOWEST_EXCEPTION_PRIORITY; }{ ... } #endif/* ... */
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