//go:build esp32c3 // +build esp32c3 package interrupt import ( "device/esp" "device/riscv" "errors" "runtime/volatile" "unsafe" ) // Enable register CPU interrupt with interrupt.Interrupt. // The ESP32-C3 has 31 CPU independent interrupts. // The Interrupt.New(x, f) (x = [1..31]) attaches CPU interrupt to function f. // Caller must map the selected interrupt using following sequence (for example using id 5): // // // map interrupt 5 to my XXXX module // esp.INTERRUPT_CORE0.XXXX_INTERRUPT_PRO_MAP.Set( 5 ) // _ = Interrupt.New(5, func(interrupt.Interrupt) { // ... // }).Enable() func (i Interrupt) Enable() error { if i.num < 1 && i.num > 31 { return errors.New("interrupt for ESP32-C3 must be in range of 1 through 31") } mask := riscv.DisableInterrupts() defer riscv.EnableInterrupts(mask) // enable CPU interrupt number i.num esp.INTERRUPT_CORE0.CPU_INT_ENABLE.SetBits(1 << i.num) // Set pulse interrupt type (rising edge detection) esp.INTERRUPT_CORE0.CPU_INT_TYPE.SetBits(1 << i.num) // Set default threshold to defaultThreshold reg := (*volatile.Register32)(unsafe.Pointer((uintptr(unsafe.Pointer(&esp.INTERRUPT_CORE0.CPU_INT_PRI_0)) + uintptr(i.num)*4))) reg.Set(defaultThreshold) // Reset interrupt before reenabling esp.INTERRUPT_CORE0.CPU_INT_CLEAR.SetBits(1 << i.num) esp.INTERRUPT_CORE0.CPU_INT_CLEAR.ClearBits(1 << i.num) // we must wait for any pending write operations to complete riscv.Asm("fence") return nil } // Adding pseudo function calls that is replaced by the compiler with the actual // functions registered through interrupt.New. //go:linkname callHandlers runtime/interrupt.callHandlers func callHandlers(num int) const ( IRQNUM_1 = 1 + iota IRQNUM_2 IRQNUM_3 IRQNUM_4 IRQNUM_5 IRQNUM_6 IRQNUM_7 IRQNUM_8 IRQNUM_9 IRQNUM_10 IRQNUM_11 IRQNUM_12 IRQNUM_13 IRQNUM_14 IRQNUM_15 IRQNUM_16 IRQNUM_17 IRQNUM_18 IRQNUM_19 IRQNUM_20 IRQNUM_21 IRQNUM_22 IRQNUM_23 IRQNUM_24 IRQNUM_25 IRQNUM_26 IRQNUM_27 IRQNUM_28 IRQNUM_29 IRQNUM_30 IRQNUM_31 ) const ( defaultThreshold = 5 disableThreshold = 10 ) //go:inline func callHandler(n int) { switch n { case IRQNUM_1: callHandlers(IRQNUM_1) case IRQNUM_2: callHandlers(IRQNUM_2) case IRQNUM_3: callHandlers(IRQNUM_3) case IRQNUM_4: callHandlers(IRQNUM_4) case IRQNUM_5: callHandlers(IRQNUM_5) case IRQNUM_6: callHandlers(IRQNUM_6) case IRQNUM_7: callHandlers(IRQNUM_7) case IRQNUM_8: callHandlers(IRQNUM_8) case IRQNUM_9: callHandlers(IRQNUM_9) case IRQNUM_10: callHandlers(IRQNUM_10) case IRQNUM_11: callHandlers(IRQNUM_11) case IRQNUM_12: callHandlers(IRQNUM_12) case IRQNUM_13: callHandlers(IRQNUM_13) case IRQNUM_14: callHandlers(IRQNUM_14) case IRQNUM_15: callHandlers(IRQNUM_15) case IRQNUM_16: callHandlers(IRQNUM_16) case IRQNUM_17: callHandlers(IRQNUM_17) case IRQNUM_18: callHandlers(IRQNUM_18) case IRQNUM_19: callHandlers(IRQNUM_19) case IRQNUM_20: callHandlers(IRQNUM_20) case IRQNUM_21: callHandlers(IRQNUM_21) case IRQNUM_22: callHandlers(IRQNUM_22) case IRQNUM_23: callHandlers(IRQNUM_23) case IRQNUM_24: callHandlers(IRQNUM_24) case IRQNUM_25: callHandlers(IRQNUM_25) case IRQNUM_26: callHandlers(IRQNUM_26) case IRQNUM_27: callHandlers(IRQNUM_27) case IRQNUM_28: callHandlers(IRQNUM_28) case IRQNUM_29: callHandlers(IRQNUM_29) case IRQNUM_30: callHandlers(IRQNUM_30) case IRQNUM_31: callHandlers(IRQNUM_31) } } //export handleInterrupt func handleInterrupt() { mcause := riscv.MCAUSE.Get() exception := mcause&(1<<31) == 0 interruptNumber := uint32(mcause & 0x1f) if !exception && interruptNumber > 0 { // save MSTATUS & MEPC, which could be overwritten by another CPU interrupt mstatus := riscv.MSTATUS.Get() mepc := riscv.MEPC.Get() // Useing threshold to temporary disable this interrupts. // FYI: using CPU interrupt enable bit make runtime to loose interrupts. reg := (*volatile.Register32)(unsafe.Pointer((uintptr(unsafe.Pointer(&esp.INTERRUPT_CORE0.CPU_INT_PRI_0)) + uintptr(interruptNumber)*4))) thresholdSave := reg.Get() reg.Set(disableThreshold) riscv.Asm("fence") interruptBit := uint32(1 << interruptNumber) // reset pending status interrupt if esp.INTERRUPT_CORE0.CPU_INT_TYPE.Get()&interruptBit != 0 { // this is edge type interrupt esp.INTERRUPT_CORE0.CPU_INT_CLEAR.SetBits(interruptBit) esp.INTERRUPT_CORE0.CPU_INT_CLEAR.ClearBits(interruptBit) } else { // this is level type interrupt esp.INTERRUPT_CORE0.CPU_INT_CLEAR.ClearBits(interruptBit) } // enable CPU interrupts riscv.MSTATUS.SetBits(1 << 3) // Call registered interrupt handler(s) callHandler(int(interruptNumber)) // disable CPU interrupts riscv.MSTATUS.ClearBits(1 << 3) // restore interrupt threshold to enable interrupt again reg.Set(thresholdSave) riscv.Asm("fence") // restore MSTATUS & MEPC riscv.MSTATUS.Set(mstatus) riscv.MEPC.Set(mepc) // do not enable CPU interrupts now // the 'MRET' in src/device/riscv/handleinterrupt.S will copies the state of MPIE back into MIE, and subsequently clears MPIE. // riscv.MSTATUS.SetBits(0x8) } else { // Topmost bit is clear, so it is an exception of some sort. // We could implement support for unsupported instructions here (such as // misaligned loads). However, for now we'll just print a fatal error. handleException(mcause) } } func handleException(mcause uintptr) { println("*** Exception: pc:", riscv.MEPC.Get()) println("*** Exception: code:", uint32(mcause&0x1f)) println("*** Exception: mcause:", mcause) switch uint32(mcause & 0x1f) { case 1: println("*** virtual addess:", riscv.MTVAL.Get()) case 2: println("*** opcode:", riscv.MTVAL.Get()) case 5: println("*** read address:", riscv.MTVAL.Get()) case 7: println("*** write address:", riscv.MTVAL.Get()) } for { riscv.Asm("wfi") } }