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<ol class="chapter"><li class="chapter-item expanded "><a href="../intro/index.html"><strong aria-hidden="true">1.</strong> 简介</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../intro/hardware.html"><strong aria-hidden="true">1.1.</strong> 硬件</a></li><li class="chapter-item expanded "><a href="../intro/no-std.html"><strong aria-hidden="true">1.2.</strong> no_std</a></li><li class="chapter-item expanded "><a href="../intro/tooling.html"><strong aria-hidden="true">1.3.</strong> 工具</a></li><li class="chapter-item expanded "><a href="../intro/install.html"><strong aria-hidden="true">1.4.</strong> 安装</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../intro/install/linux.html"><strong aria-hidden="true">1.4.1.</strong> Linux</a></li><li class="chapter-item expanded "><a href="../intro/install/macos.html"><strong aria-hidden="true">1.4.2.</strong> MacOS</a></li><li class="chapter-item expanded "><a href="../intro/install/windows.html"><strong aria-hidden="true">1.4.3.</strong> Windows</a></li><li class="chapter-item expanded "><a href="../intro/install/verify.html"><strong aria-hidden="true">1.4.4.</strong> 验证安装</a></li></ol></li></ol></li><li class="chapter-item expanded "><a href="../start/index.html"><strong aria-hidden="true">2.</strong> 入门</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../start/qemu.html"><strong aria-hidden="true">2.1.</strong> QEMU</a></li><li class="chapter-item expanded "><a href="../start/hardware.html"><strong aria-hidden="true">2.2.</strong> 硬件</a></li><li class="chapter-item expanded "><a href="../start/registers.html"><strong aria-hidden="true">2.3.</strong> 内存映射寄存器</a></li><li class="chapter-item expanded "><a href="../start/semihosting.html"><strong aria-hidden="true">2.4.</strong> 半主机</a></li><li class="chapter-item expanded "><a href="../start/panicking.html"><strong aria-hidden="true">2.5.</strong> 恐慌</a></li><li class="chapter-item expanded "><a href="../start/exceptions.html" class="active"><strong aria-hidden="true">2.6.</strong> 异常</a></li><li class="chapter-item expanded "><a href="../start/interrupts.html"><strong aria-hidden="true">2.7.</strong> 中断</a></li><li class="chapter-item expanded "><a href="../start/io.html"><strong aria-hidden="true">2.8.</strong> IO</a></li></ol></li><li class="chapter-item expanded "><a href="../peripherals/index.html"><strong aria-hidden="true">3.</strong> 外设</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../peripherals/a-first-attempt.html"><strong aria-hidden="true">3.1.</strong> 初试Rust</a></li><li class="chapter-item expanded "><a href="../peripherals/borrowck.html"><strong aria-hidden="true">3.2.</strong> 借用检查器</a></li><li class="chapter-item expanded "><a href="../peripherals/singletons.html"><strong aria-hidden="true">3.3.</strong> 单例</a></li></ol></li><li class="chapter-item expanded "><a href="../static-guarantees/index.html"><strong aria-hidden="true">4.</strong> 静态保证</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../static-guarantees/typestate-programming.html"><strong aria-hidden="true">4.1.</strong> 类型状态机编程</a></li><li class="chapter-item expanded "><a href="../static-guarantees/state-machines.html"><strong aria-hidden="true">4.2.</strong> 外设作为状态机</a></li><li class="chapter-item expanded "><a href="../static-guarantees/design-contracts.html"><strong aria-hidden="true">4.3.</strong> 设计合约</a></li><li class="chapter-item expanded "><a href="../static-guarantees/zero-cost-abstractions.html"><strong aria-hidden="true">4.4.</strong> 零成本抽象</a></li></ol></li><li class="chapter-item expanded "><a href="../portability/index.html"><strong aria-hidden="true">5.</strong> 可移植性</a></li><li class="chapter-item expanded "><a href="../concurrency/index.html"><strong aria-hidden="true">6.</strong> 并发</a></li><li class="chapter-item expanded "><a href="../collections/index.html"><strong aria-hidden="true">7.</strong> 容器</a></li><li class="chapter-item expanded "><a href="../c-tips/index.html"><strong aria-hidden="true">8.</strong> 嵌入式C开发人员的技巧</a></li><li class="chapter-item expanded "><a href="../interoperability/index.html"><strong aria-hidden="true">9.</strong> 互操作性</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../interoperability/c-with-rust.html"><strong aria-hidden="true">9.1.</strong> Rust中使用C代码</a></li><li class="chapter-item expanded "><a href="../interoperability/rust-with-c.html"><strong aria-hidden="true">9.2.</strong> C中使用Rust代码</a></li></ol></li><li class="chapter-item expanded "><a href="../unsorted/index.html"><strong aria-hidden="true">10.</strong> 其他主题</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../unsorted/speed-vs-size.html"><strong aria-hidden="true">10.1.</strong> 优化：速度大小的权衡</a></li><li class="spacer"></li></ol></li><li class="chapter-item expanded "><a href="../appendix/glossary.html">Appendix A: Glossary</a></li></ol>
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<h1><a class="header" href="#异常" id="异常">异常</a></h1>
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<p>异常和中断是一种硬件机制，处理器通过该机制处理异步事件和致命错误(例如执行无效指令)。异常意味着抢占，也包括异常处理程序，发生异常时,这些子程序会被立即执行,以响应触发异常的信号。</p>
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<p>cortex-m-rt crate提供了一个<a href="https://docs.rs/cortex-m-rt-macros/latest/cortex_m_rt_macros/attr.exception.html"><code>exception</code></a>属性来声明异常处理程序。</p>
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<pre><code class="language-rust ignore">// Exception handler for the SysTick (System Timer) exception
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#[exception]
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fn SysTick() {
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// ..
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}
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</code></pre>
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<p>除了<code>exception</code> 属性之外，异常处理程序看起来像普通函数，但还有另外一个区别：<code>exception</code> 处理程序不能被软件调用。上面的示例中，语句<code>SysTick();</code>将导致编译错误。</p>
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<p>这种行为是有意为之，<code>exception</code>属性还让在异常处理程序中声明<code>static mut</code>变量是安全的。</p>
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<pre><code class="language-rust ignore">#[exception]
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fn SysTick() {
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static mut COUNT: u32 = 0;
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// `COUNT` has type `&mut u32` and it's safe to use
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*COUNT += 1;
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}
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</code></pre>
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<p>如您所知，使用<code>static mut</code>变量使函数<a href="https://en.wikipedia.org/wiki/Reentrancy_(computing)">不可重入</a>。 从多个异常/中断处理程序或<code>main</code>中直接或间接调用不可重入函数是不确定(UB undefined behavior)的行为。</p>
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<p>Safe Rust绝不能导致不确定的行为，因此非可重入函数必须标记为 <code>unsafe</code>。但是我刚刚却说异常处理程序可以安全地使用<code>static mut</code>变量。这怎么可能？这是可能的，因为异常处理程序不能被其他函数调用，因此不可能发生重入。</p>
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<h2><a class="header" href="#一个完整的例子" id="一个完整的例子">一个完整的例子</a></h2>
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<p>这是一个使用系统计时器每秒引发一次<code>SysTick</code> 异常的示例。 SysTick异常处理程序通过COUNT变量跟踪自己被调用了多少次，然后使用半主机将COUNT的值打印到主机控制台。</p>
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<blockquote>
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<p><strong>注意</strong>：您可以在任何Cortex-M设备上运行此示例；您也可以在QEMU上运行它</p>
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</blockquote>
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<pre><code class="language-rust ignore">#![deny(unsafe_code)]
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#![no_main]
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#![no_std]
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extern crate panic_halt;
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use core::fmt::Write;
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use cortex_m::peripheral::syst::SystClkSource;
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use cortex_m_rt::{entry, exception};
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use cortex_m_semihosting::{
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debug,
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hio::{self, HStdout},
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};
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#[entry]
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fn main() -> ! {
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let p = cortex_m::Peripherals::take().unwrap();
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let mut syst = p.SYST;
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// configures the system timer to trigger a SysTick exception every second
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syst.set_clock_source(SystClkSource::Core);
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// this is configured for the LM3S6965 which has a default CPU clock of 12 MHz
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syst.set_reload(12_000_000);
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syst.clear_current();
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syst.enable_counter();
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syst.enable_interrupt();
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loop {}
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}
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#[exception]
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fn SysTick() {
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static mut COUNT: u32 = 0;
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static mut STDOUT: Option<HStdout> = None;
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*COUNT += 1;
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// Lazy initialization
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if STDOUT.is_none() {
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*STDOUT = hio::hstdout().ok();
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}
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if let Some(hstdout) = STDOUT.as_mut() {
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write!(hstdout, "{}", *COUNT).ok();
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}
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// IMPORTANT omit this `if` block if running on real hardware or your
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// debugger will end in an inconsistent state
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if *COUNT == 9 {
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// This will terminate the QEMU process
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debug::exit(debug::EXIT_SUCCESS);
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}
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}
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</code></pre>
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<pre><code class="language-console">$ tail -n5 Cargo.toml
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</code></pre>
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<pre><code class="language-toml">[dependencies]
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cortex-m = "0.5.7"
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cortex-m-rt = "0.6.3"
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panic-halt = "0.2.0"
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cortex-m-semihosting = "0.3.1"
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</code></pre>
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<pre><code class="language-console">$ cargo run --release
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Running `qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb (..)
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123456789
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</code></pre>
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<p>如果在开发板上运行此命令，则会在OpenOCD控制台上看到输出。只不过当计数达到9时，程序将<strong>不</strong>停止。</p>
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<h2><a class="header" href="#默认异常处理程序" id="默认异常处理程序">默认异常处理程序</a></h2>
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<p><code>exception</code>属性的实际作用是<strong>覆盖</strong>特定异常的默认异常处理程序。如果您不重写特定异常的处理程序，它将由<code>DefaultHandler</code>函数处理，该函数默认为：</p>
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<pre><code class="language-rust ignore">fn DefaultHandler() {
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loop {}
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}
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</code></pre>
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<p>此功能由<code>cortex-m-rt</code>crate提供，并标记为 <code>#[no_mangle]</code>，因此您可以在“ DefaultHandler”上放置断点并捕获<strong>未处理</strong>异常。</p>
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<p>可以使用<code>exception</code>属性覆盖这个<code>DefaultHandler</code>：</p>
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<pre><code class="language-rust ignore">#[exception]
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fn DefaultHandler(irqn: i16) {
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// custom default handler
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}
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</code></pre>
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<p>irqn是正在处理的异常编号。负值表示Cortex-M异常；零或正值表示设备特定的异常，即中断。</p>
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<h2><a class="header" href="#硬故障处理程序" id="硬故障处理程序">硬故障处理程序</a></h2>
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<p><code>HardFault</code>异常有点特殊。当程序进入无效状态时，将引发此异常，因此它的处理程序不能返回，因为这可能导致未定义的行为。另外，在调用用户定义的<code>HardFault</code>前，运行时crate会做一些工作以提高程序的可调试性。</p>
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<p>所以<code>HardFault</code>处理函数必须具有以下签名：<code>fn(＆ExceptionFrame)->！</code>。处理程序的参数是指向被异常压入堆栈的寄存器的指针。这些寄存器是异常触发时处理器状态的快照，可用于诊断故障。</p>
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<p>这是一个执行非法操作的示例：读取不存在的内存位置。</p>
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<blockquote>
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<p><strong>注意</strong>：该程序在QEMU上不会发生崩溃，因为<code>qemu-system-arm -machine lm3s6965evb</code>不会检查内存读取，并且在读取到无效内存时会很高兴地返回<code>0</code>。</p>
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</blockquote>
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<pre><code class="language-rust ignore">#![no_main]
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#![no_std]
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extern crate panic_halt;
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use core::fmt::Write;
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use core::ptr;
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use cortex_m_rt::{entry, exception, ExceptionFrame};
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use cortex_m_semihosting::hio;
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#[entry]
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fn main() -> ! {
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// read a nonexistent memory location
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unsafe {
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ptr::read_volatile(0x3FFF_FFFE as *const u32);
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}
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loop {}
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}
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#[exception]
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fn HardFault(ef: &ExceptionFrame) -> ! {
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if let Ok(mut hstdout) = hio::hstdout() {
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writeln!(hstdout, "{:#?}", ef).ok();
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}
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loop {}
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}
|
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</code></pre>
|
||
<p><code>HardFault</code>处理程序将打印<code>ExceptionFrame</code>值。如果运行此程序，您将在OpenOCD控制台上看到类似的内容。</p>
|
||
<pre><code class="language-console">$ openocd
|
||
(..)
|
||
ExceptionFrame {
|
||
r0: 0x3ffffffe,
|
||
r1: 0x00f00000,
|
||
r2: 0x20000000,
|
||
r3: 0x00000000,
|
||
r12: 0x00000000,
|
||
lr: 0x080008f7,
|
||
pc: 0x0800094a,
|
||
xpsr: 0x61000000
|
||
}
|
||
</code></pre>
|
||
<p><code>pc</code> 值是发生异常时程序计数器的值，它指向触发异常的指令。</p>
|
||
<p>如果您查看程序的反汇编：</p>
|
||
<pre><code class="language-console">$ cargo objdump --bin app --release -- -d -no-show-raw-insn -print-imm-hex
|
||
(..)
|
||
ResetTrampoline:
|
||
8000942: movw r0, #0xfffe
|
||
8000946: movt r0, #0x3fff
|
||
800094a: ldr r0, [r0]
|
||
800094c: b #-0x4 <ResetTrampoline+0xa>
|
||
</code></pre>
|
||
<p>您可以在反汇编中查找程序计数器<code>0x0800094a</code> 的值。您将看到加载操作(<code>ldr r0，[r0]</code>)引起了异常。 <code>ExceptionFrame</code>的<code>r0</code>字段将告诉您当时寄存器r0的值为0x3fff_fffe。</p>
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