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circuitpython/ports/nrf/supervisor/port.c
Jeff Epler 726dcdb60a Add some NORETURN attributes 
I have a function where it should be impossible to reach the end, so I put in a safe-mode reset at the bottom:
```
int find_unused_slot(void) {
    // precondition: you already verified that a slot was available
    for (int i=0; i<NUM_SLOTS; i++) {
        if( slot_free(i)) {
            return i;
        }
    }
    safe_mode_reset(MICROPY_FATAL_ERROR);
}
```
However, the compiler still gave a diagnostic, because safe_mode_reset was not declared NORETURN.

So I started by teaching the compiler that reset_into_safe_mode never returned.  This leads at least one level deeper due to reset_cpu needing to be a NORETURN function.  Each port is a little different in this area.  I also marked reset_to_bootloader as NORETURN.
Additional notes:

 * stm32's reset_to_bootloader was not implemented, but now does a bare reset.  Most stm32s are not fitted with uf2 bootloaders anyway.
 * ditto cxd56
 * esp32s2 did not implement reset_cpu at all.  I used esp_restart().  (not tested)
 * litex did not implement reset_cpu at all.  I used reboot_ctrl_write.  But notably this is what reset_to_bootloader already did, so one or the other must be incorrect (not tested).  reboot_ctrl_write cannot be declared NORETURN, as it returns unless the special value 0xac is written), so a new unreachable forever-loop is added.
 * cxd56's reset is via a boardctl() call which can't generically be declared NORETURN, so a new unreacahble "for(;;)" forever-loop is added.
 * In several places, NVIC_SystemReset is redeclared with NORETURN applied.  This is accepted just fine by gcc.  I chose this as preferable to editing the multiple copies of CMSIS headers where it is normally declared.
 * the stub safe_mode reset simply aborts.  This is used in mpy-cross.
2020-09-28 18:55:56 -05:00

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <stdint.h>
#include "supervisor/port.h"
#include "boards/board.h"
#include "nrfx/hal/nrf_clock.h"
#include "nrfx/hal/nrf_power.h"
#include "nrfx/drivers/include/nrfx_power.h"
#include "nrfx/drivers/include/nrfx_rtc.h"
#include "nrf/cache.h"
#include "nrf/clocks.h"
#include "nrf/power.h"
#include "nrf/timers.h"
#include "shared-module/gamepad/__init__.h"
#include "common-hal/microcontroller/Pin.h"
#include "common-hal/_bleio/__init__.h"
#include "common-hal/analogio/AnalogIn.h"
#include "common-hal/busio/I2C.h"
#include "common-hal/busio/SPI.h"
#include "common-hal/busio/UART.h"
#include "common-hal/pulseio/PulseOut.h"
#include "common-hal/pulseio/PulseIn.h"
#include "common-hal/pwmio/PWMOut.h"
#include "common-hal/rtc/RTC.h"
#include "common-hal/neopixel_write/__init__.h"
#include "common-hal/watchdog/WatchDogTimer.h"
#include "shared-bindings/microcontroller/__init__.h"
#include "shared-bindings/rtc/__init__.h"
#include "lib/tinyusb/src/device/usbd.h"
#ifdef CIRCUITPY_AUDIOBUSIO
#include "common-hal/audiobusio/I2SOut.h"
#endif
#ifdef CIRCUITPY_AUDIOPWMIO
#include "common-hal/audiopwmio/PWMAudioOut.h"
#endif
#if defined(MICROPY_QSPI_CS)
extern void qspi_disable(void);
#endif
static void power_warning_handler(void) {
reset_into_safe_mode(BROWNOUT);
}
const nrfx_rtc_t rtc_instance = NRFX_RTC_INSTANCE(2);
const nrfx_rtc_config_t rtc_config = {
.prescaler = RTC_FREQ_TO_PRESCALER(0x8000),
.reliable = 0,
.tick_latency = 0,
.interrupt_priority = 6
};
#define OVERFLOW_CHECK_PREFIX 0x2cad564f
#define OVERFLOW_CHECK_SUFFIX 0x11343ef7
static volatile struct {
uint32_t prefix;
uint64_t overflowed_ticks;
uint32_t suffix;
} overflow_tracker __attribute__((section(".uninitialized")));
void rtc_handler(nrfx_rtc_int_type_t int_type) {
if (int_type == NRFX_RTC_INT_OVERFLOW) {
// Our RTC is 24 bits and we're clocking it at 32.768khz which is 32 (2 ** 5) subticks per
// tick.
overflow_tracker.overflowed_ticks += (1L<< (24 - 5));
} else if (int_type == NRFX_RTC_INT_TICK && nrfx_rtc_counter_get(&rtc_instance) % 32 == 0) {
// Do things common to all ports when the tick occurs
supervisor_tick();
} else if (int_type == NRFX_RTC_INT_COMPARE0) {
nrfx_rtc_cc_set(&rtc_instance, 0, 0, false);
}
}
void tick_init(void) {
if (!nrf_clock_lf_is_running(NRF_CLOCK)) {
nrf_clock_task_trigger(NRF_CLOCK, NRF_CLOCK_TASK_LFCLKSTART);
}
nrfx_rtc_counter_clear(&rtc_instance);
nrfx_rtc_init(&rtc_instance, &rtc_config, rtc_handler);
nrfx_rtc_enable(&rtc_instance);
nrfx_rtc_overflow_enable(&rtc_instance, true);
// If the check prefix and suffix aren't correct, then the structure
// in memory isn't correct and the clock will be wildly wrong. Initialize
// the prefix and suffix so that we know the value is correct, and reset
// the time to 0.
if (overflow_tracker.prefix != OVERFLOW_CHECK_PREFIX ||
overflow_tracker.suffix != OVERFLOW_CHECK_SUFFIX) {
overflow_tracker.prefix = OVERFLOW_CHECK_PREFIX;
overflow_tracker.suffix = OVERFLOW_CHECK_SUFFIX;
overflow_tracker.overflowed_ticks = 0;
}
}
safe_mode_t port_init(void) {
nrf_peripherals_clocks_init();
// If GPIO voltage is set wrong in UICR, this will fix it, and
// will also do a reset to make the change take effect.
nrf_peripherals_power_init();
nrfx_power_pofwarn_config_t power_failure_config;
power_failure_config.handler = power_warning_handler;
power_failure_config.thr = NRF_POWER_POFTHR_V27;
#if NRF_POWER_HAS_VDDH
power_failure_config.thrvddh = NRF_POWER_POFTHRVDDH_V27;
#endif
nrfx_power_pof_init(&power_failure_config);
nrfx_power_pof_enable(&power_failure_config);
nrf_peripherals_enable_cache();
// Configure millisecond timer initialization.
tick_init();
#if CIRCUITPY_RTC
common_hal_rtc_init();
#endif
#if CIRCUITPY_ANALOGIO
analogin_init();
#endif
// If the board was reset by the WatchDogTimer, we may
// need to boot into safe mode. Reset the RESETREAS bit
// for the WatchDogTimer so we don't encounter this the
// next time we reboot.
if (NRF_POWER->RESETREAS & POWER_RESETREAS_DOG_Msk) {
NRF_POWER->RESETREAS = POWER_RESETREAS_DOG_Msk;
uint32_t usb_reg = NRF_POWER->USBREGSTATUS;
// If USB is connected, then the user might be editing `code.py`,
// in which case we should reboot into Safe Mode.
if (usb_reg & POWER_USBREGSTATUS_VBUSDETECT_Msk) {
return WATCHDOG_RESET;
}
}
return NO_SAFE_MODE;
}
void reset_port(void) {
#ifdef CIRCUITPY_GAMEPAD_TICKS
gamepad_reset();
#endif
#if CIRCUITPY_BUSIO
i2c_reset();
spi_reset();
uart_reset();
#endif
#if CIRCUITPY_NEOPIXEL_WRITE
neopixel_write_reset();
#endif
#if CIRCUITPY_AUDIOBUSIO
i2s_reset();
#endif
#if CIRCUITPY_AUDIOPWMIO
audiopwmout_reset();
#endif
#if CIRCUITPY_PULSEIO
pulseout_reset();
pulsein_reset();
#endif
#if CIRCUITPY_PWMIO
pwmout_reset();
#endif
#if CIRCUITPY_RTC
rtc_reset();
#endif
timers_reset();
#if CIRCUITPY_BLEIO
bleio_reset();
#endif
#if CIRCUITPY_WATCHDOG
watchdog_reset();
#endif
reset_all_pins();
}
void reset_to_bootloader(void) {
enum { DFU_MAGIC_SERIAL = 0x4e };
NRF_POWER->GPREGRET = DFU_MAGIC_SERIAL;
reset_cpu();
}
void reset_cpu(void) {
// We're getting ready to reset, so save the counter off.
// This counter will get reset to zero during the reboot.
uint32_t ticks = nrfx_rtc_counter_get(&rtc_instance);
overflow_tracker.overflowed_ticks += ticks / 32;
NVIC_SystemReset();
for (;;) {
}
}
// The uninitialized data section is placed directly after BSS, under the theory
// that Circuit Python has a lot more .data and .bss than the bootloader. As a
// result, this section is less likely to be tampered with by the bootloader.
extern uint32_t _euninitialized;
uint32_t *port_heap_get_bottom(void) {
return &_euninitialized;
}
uint32_t *port_heap_get_top(void) {
return port_stack_get_top();
}
supervisor_allocation* port_fixed_stack(void) {
return NULL;
}
uint32_t *port_stack_get_limit(void) {
return &_euninitialized;
}
uint32_t *port_stack_get_top(void) {
return &_estack;
}
// Place the word in the uninitialized section so it won't get overwritten.
__attribute__((section(".uninitialized"))) uint32_t _saved_word;
void port_set_saved_word(uint32_t value) {
_saved_word = value;
}
uint32_t port_get_saved_word(void) {
return _saved_word;
}
uint64_t port_get_raw_ticks(uint8_t* subticks) {
uint32_t rtc = nrfx_rtc_counter_get(&rtc_instance);
if (subticks != NULL) {
*subticks = (rtc % 32);
}
return overflow_tracker.overflowed_ticks + rtc / 32;
}
// Enable 1/1024 second tick.
void port_enable_tick(void) {
nrfx_rtc_tick_enable(&rtc_instance, true);
}
// Disable 1/1024 second tick.
void port_disable_tick(void) {
nrfx_rtc_tick_disable(&rtc_instance);
}
void port_interrupt_after_ticks(uint32_t ticks) {
uint32_t current_ticks = nrfx_rtc_counter_get(&rtc_instance);
uint32_t diff = 3;
if (ticks > diff) {
diff = ticks * 32;
}
if (diff > 0xffffff) {
diff = 0xffffff;
}
nrfx_rtc_cc_set(&rtc_instance, 0, current_ticks + diff, true);
}
void port_sleep_until_interrupt(void) {
#if defined(MICROPY_QSPI_CS)
qspi_disable();
#endif
// Clear the FPU interrupt because it can prevent us from sleeping.
if (NVIC_GetPendingIRQ(FPU_IRQn)) {
__set_FPSCR(__get_FPSCR() & ~(0x9f));
(void) __get_FPSCR();
NVIC_ClearPendingIRQ(FPU_IRQn);
}
uint8_t sd_enabled;
sd_softdevice_is_enabled(&sd_enabled);
if (sd_enabled) {
sd_app_evt_wait();
} else {
// Call wait for interrupt ourselves if the SD isn't enabled.
// Note that `wfi` should be called with interrupts disabled,
// to ensure that the queue is properly drained. The `wfi`
// instruction will returned as long as an interrupt is
// available, even though the actual handler won't fire until
// we re-enable interrupts.
//
// We do not use common_hal_mcu_disable_interrupts here because
// we truly require that interrupts be disabled, while
// common_hal_mcu_disable_interrupts actually just masks the
// interrupts that are not required to allow the softdevice to
// function (whether or not SD is enabled)
int nested = __get_PRIMASK();
__disable_irq();
if (!tud_task_event_ready()) {
__DSB();
__WFI();
}
if (!nested) {
__enable_irq();
}
}
}
void HardFault_Handler(void) {
reset_into_safe_mode(HARD_CRASH);
while (true) {
asm("nop;");
}
}
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