Merge branch 'bugfix/setjmp_longjmp_4.3' into 'release/v4.3'

[system]: Made longjmp save for context switch (backport 4.3)

See merge request espressif/esp-idf!13489

components/bootloader/subproject/Makefile

@@ -8,7 +8,7 @@ endif
 
 PROJECT_NAME := bootloader
 
-COMPONENTS := esp_hw_support esptool_py bootloader_support log spi_flash micro-ecc soc main efuse esp_rom hal
+COMPONENTS := esp_hw_support esptool_py bootloader_support log spi_flash micro-ecc soc main efuse esp_rom hal xtensa
 
 # Clear C and CXX from top level project
 CFLAGS =

components/esp_rom/CMakeLists.txt

@@ -1,8 +1,14 @@
 idf_build_get_property(target IDF_TARGET)
 
-idf_component_register(SRCS "patches/esp_rom_crc.c"
-                            "patches/esp_rom_sys.c"
-                            "patches/esp_rom_uart.c"
+set(sources "patches/esp_rom_crc.c"
+            "patches/esp_rom_sys.c"
+            "patches/esp_rom_uart.c")
+
+if(CONFIG_IDF_TARGET_ARCH_XTENSA)
+    list(APPEND sources "patches/esp_rom_longjmp.S")
+endif()
+
+idf_component_register(SRCS ${sources}
                        INCLUDE_DIRS include "${target}"
                        PRIV_REQUIRES soc hal)
 
@@ -98,6 +104,9 @@ else() # Regular app build
         endif()
     endif()
 
+    if(CONFIG_IDF_TARGET_ARCH_XTENSA)
+        target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--wrap=longjmp")
+    endif()
 endif()
 
 if(target STREQUAL "esp32s2")

components/esp_rom/component.mk

@@ -39,5 +39,6 @@ endif
 
 COMPONENT_ADD_LDFLAGS += -L $(COMPONENT_PATH)/esp32/ld \
                          $(addprefix -T ,$(LINKER_SCRIPTS)) \
+                         -l$(COMPONENT_NAME) -Wl,--wrap=longjmp \
 
 COMPONENT_ADD_LINKER_DEPS += $(addprefix esp32/ld/, $(LINKER_SCRIPTS))

components/esp_rom/patches/esp_rom_longjmp.S

@@ -0,0 +1,71 @@
+/*
+    Copyright (c) 2001-2006 by Tensilica Inc.
+
+    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.
+*/
+
+/*
+  This file contains a modified version of the original Xtensa longjmp implementation.
+  In this modified version, setting WINDOWSTART = 1 << WINDOWBASE is done inside a critical section.
+  This is necessary because after a FreeRTOS context switch in IDF, the values of WINDOWBASE and WINDOWSTART
+  are not guaranteed to be the same as before the context switch.
+*/
+
+#include <xtensa/corebits.h>
+
+/*
+    Replacement of the first instructions of void longjmp (jmp_buf env, int val)
+*/
+
+    .align  4
+    .literal_position
+    .global __wrap_longjmp
+    .type   __wrap_longjmp, @function
+__wrap_longjmp:
+    entry   sp, 16
+
+    /* Deactivate interrupts in order to modify WINDOWBASE and WINDOWSTART. */
+    rsr     a7, PS                     /* to be restored after SPILL_ALL_WINDOWS */
+    movi    a5, PS_EXCM                /* PS_INTLEVEL_MASK */
+    or      a5, a7, a5                 /* get the current INTLEVEL */
+    wsr     a5, PS
+
+    /* Invalidate all but the current window;
+       set WindowStart to (1 << WindowBase).  */
+    rsr a5, WINDOWBASE
+    movi    a4, 1
+    ssl a5
+    sll a4, a4
+    wsr a4, WINDOWSTART
+    rsync
+
+    /* Activate interrupts again after modifying WINDOWBASE and WINDOWSTART. */
+    wsr     a7, PS
+
+    /* Jump back to original longjmp implementation.
+        The jump target is the instrucion
+    	    l32i	a0, a2, 64
+        of the original code. Hence, the original code's entry instruction and windowstart modification are left
+        out.
+     */
+    movi a0, __real_longjmp + 20
+    jx a0
+
+    .size   __wrap_longjmp, . - __wrap_longjmp

components/xtensa/component.mk

@@ -5,3 +5,7 @@ COMPONENT_ADD_LDFLAGS += $(COMPONENT_PATH)/esp32/libxt_hal.a
 COMPONENT_ADD_LDFRAGMENTS += linker.lf
 
 COMPONENT_SRCDIRS := . esp32
+
+ifdef IS_BOOTLOADER_BUILD
+	COMPONENT_OBJEXCLUDE := xtensa_intr.o xtensa_intr_asm.o expression_with_stack_xtensa.o expression_with_stack_xtensa_asm.o
+endif

tools/test_apps/system/longjmp_test/CMakeLists.txt

@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(hello-world)

tools/test_apps/system/longjmp_test/Makefile

@@ -0,0 +1,8 @@
+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := longjmp_test
+
+include $(IDF_PATH)/make/project.mk

tools/test_apps/system/longjmp_test/README.md

@@ -0,0 +1,13 @@
+| Supported Targets | ESP32 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- |
+
+# Building
+Example building for ESP32:
+```
+idf.py set-target esp32
+cp sdkconfig.defaults sdkconfig
+idf.py build
+```
+
+# Running
+All the setup needs to be done as described in the [test apps README](../../README.md).

tools/test_apps/system/longjmp_test/app_test.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+
+import ttfw_idf
+from tiny_test_fw import Utility
+
+
+@ttfw_idf.idf_custom_test(env_tag='Example_GENERIC', target=['esp32', 'esp32s2'], group='test-apps')
+def test_longjmp(env, _):
+
+    dut = env.get_dut('longjmp_test', 'tools/test_apps/system/longjmp_test')
+    dut.start_app()
+    dut.expect('Test successful', 15)
+
+    Utility.console_log('longjmp test done.')
+
+
+if __name__ == '__main__':
+    test_longjmp()

tools/test_apps/system/longjmp_test/main/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRCS "hello_world_main.c"
+                    INCLUDE_DIRS "")

tools/test_apps/system/longjmp_test/main/component.mk

@@ -0,0 +1,4 @@
+#
+# "main" pseudo-component makefile.
+#
+# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)

tools/test_apps/system/longjmp_test/main/hello_world_main.c

@@ -0,0 +1,118 @@
+/* test longjmp
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_system.h"
+#include "esp_spi_flash.h"
+#include <esp_task.h>
+
+#include <setjmp.h>
+
+#define LUAI_NOIPA __attribute__((__noipa__))
+#define LUAI_THROW(c)		longjmp((c)->b, 1)
+#define LUAI_TRY(c,a)		if (setjmp((c)->b) == 0) { a }
+
+#define TIMEOUT 50
+
+#define RECURSION 19
+
+static esp_timer_handle_t crash_timer;
+
+static uint32_t result = 0;
+
+uint32_t calc_fac(uint32_t n) {
+    if (n == 1 || n == 0) {
+        return 1;
+    } else {
+        return n * calc_fac(n - 1);
+    }
+}
+
+static void timer_cb(void *arg) {
+    result = calc_fac(RECURSION);
+}
+
+typedef struct {
+    jmp_buf b;
+} jmp_ctx;
+
+LUAI_NOIPA
+static void pret(jmp_ctx *jc) {
+    LUAI_THROW(jc);
+}
+
+LUAI_NOIPA
+static void precurse(jmp_ctx *jc, int n) {
+    if (n) precurse(jc, n - 1);
+    else pret(jc);
+}
+
+LUAI_NOIPA
+static void ptest(jmp_ctx *jc) {
+    precurse(jc, 64);
+}
+
+LUAI_NOIPA
+void pcall(void (*func)(jmp_ctx *ctx)) {
+    jmp_ctx jc;
+    LUAI_TRY(&jc,
+        ptest(&jc);
+    );
+}
+
+static void sjlj_task(void *ctx) {
+    uint32_t start = xTaskGetTickCount();
+    for (;;) {
+        pcall(ptest);
+        uint32_t end = xTaskGetTickCount();
+
+        uint32_t dt = end - start;
+        if (dt >= 1000) {
+            start = end;
+
+            printf("[%u] sjlj tick %d\n", end, (int)ctx);
+        }
+
+        if (end > 9800) {
+            break;
+        }
+    }
+
+    vTaskDelete(NULL);
+}
+
+void app_main(void)
+{
+    const esp_timer_create_args_t timer_args = {
+        timer_cb,
+        NULL,
+        ESP_TIMER_TASK,
+        "crash_timer",
+        true,
+    };
+
+    esp_timer_create(&timer_args, &crash_timer);
+    esp_timer_start_periodic(crash_timer, TIMEOUT);
+
+    printf("Hello world!\n");
+    printf("Free heap: %d\n", esp_get_free_heap_size());
+
+    for (size_t i = 0; i < 16; i++) {
+        xTaskCreate(sjlj_task, "sjlj_task", 4096, (void *) i, tskIDLE_PRIORITY + 0, NULL);
+    }
+
+    vTaskDelay(10000);
+    printf("stopping timers...\n");
+    esp_timer_stop(crash_timer);
+    esp_timer_delete(crash_timer);
+
+    printf("Test successful\n");
+}

tools/test_apps/system/longjmp_test/sdkconfig.defaults

@@ -0,0 +1,11 @@
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+CONFIG_ESP_INT_WDT=n
+CONFIG_ESP_TASK_WDT=n
+
+CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT=y
+
+CONFIG_ESP_TIMER_TASK_STACK_SIZE=3584
+
+CONFIG_FREERTOS_UNICORE=y
+CONFIG_FREERTOS_HZ=1000