Add fault handling for ESP32, ESP32-S2, and ESP32-S3.

Also bump the version.

Makefile

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION=7.0.7.5
+VERSION=7.0.7.6
 STABLE_VERSION=7.0.6.19
 OLD_STABLE_VERSION=7.0.5.4
 REVISION=$(shell git rev-parse HEAD | head -c 20)

common/interp.h

@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifdef HAS_SIGNALS
+#if defined(HAS_SIGNALS) || defined(ENABLE_ESP32_FORTH_FAULT_HANDLING)
 # include <setjmp.h>
+#endif
+#if defined(HAS_SIGNALS)
 # include <signal.h>
 #endif
 
@@ -21,10 +23,12 @@
 #define NEXT w = *ip++; JMPW
 #define ADDROF(x) (&& OP_ ## x)
 
-#ifdef HAS_SIGNALS
+#if defined(HAS_SIGNALS) || defined(ENABLE_ESP32_FORTH_FAULT_HANDLING)
 static __thread jmp_buf g_forth_fault;
 static __thread int g_forth_signal;
+#endif
 
+#if defined(HAS_SIGNALS)
 static void forth_signal_handler(int sig) {
   g_forth_signal = sig;
   sigset_t ss;
@@ -34,6 +38,17 @@ static void forth_signal_handler(int sig) {
 }
 #endif
 
+#if defined(ENABLE_ESP32_FORTH_FAULT_HANDLING)
+# include "soc/soc.h"
+# include <xtensa/xtensa_api.h>
+static __thread uint32_t g_forth_setlevel;
+static void IRAM_ATTR forth_exception_handler(XtExcFrame *frame) {
+  g_forth_signal = frame->exccause;
+  XTOS_RESTORE_INTLEVEL(g_forth_setlevel);
+  longjmp(g_forth_fault, 1);
+}
+#endif
+
 static cell_t *forth_run(cell_t *init_rp) {
   static const BUILTIN_WORD builtins[] = {
 #define Z(flags, name, op, code) \
@@ -50,7 +65,7 @@ static cell_t *forth_run(cell_t *init_rp) {
   if (!init_rp) {
     g_sys->DOCREATE_OP = ADDROF(DOCREATE);
     g_sys->builtins = builtins;
-#ifdef HAS_SIGNALS
+#if defined(HAS_SIGNALS)
     struct sigaction sa;
     memset(&sa, 0, sizeof(sa));
     sa.sa_handler = forth_signal_handler;
@@ -58,13 +73,27 @@ static cell_t *forth_run(cell_t *init_rp) {
     sigaction(SIGBUS, &sa, 0);
     sigaction(SIGINT, &sa, 0);
     sigaction(SIGFPE, &sa, 0);
+#endif
+#if defined(ENABLE_ESP32_FORTH_FAULT_HANDLING)
+    xt_set_exception_handler(EXCCAUSE_LOAD_STORE_ERROR, forth_exception_handler);
+    xt_set_exception_handler(EXCCAUSE_PRIVILEGED, forth_exception_handler);
+    xt_set_exception_handler(EXCCAUSE_UNALIGNED, forth_exception_handler);
+    xt_set_exception_handler(EXCCAUSE_DIVIDE_BY_ZERO, forth_exception_handler);
+    xt_set_exception_handler(EXCCAUSE_INSTR_ERROR, forth_exception_handler);
+    xt_set_exception_handler(EXCCAUSE_ILLEGAL, forth_exception_handler);
+    xt_set_exception_handler(EXCCAUSE_LOAD_PROHIBITED, forth_exception_handler);
+    xt_set_exception_handler(EXCCAUSE_STORE_PROHIBITED, forth_exception_handler);
+    xt_set_exception_handler(EXCCAUSE_INSTR_PROHIBITED, forth_exception_handler);
+    uint32_t default_setlevel = XTOS_SET_INTLEVEL(XCHAL_EXCM_LEVEL);
+    XTOS_RESTORE_INTLEVEL(default_setlevel);
+    g_forth_setlevel = default_setlevel;
 #endif
     return 0;
   }
   register cell_t *ip, *rp, *sp, tos, w;
   register float *fp, ft;
   rp = init_rp; UNPARK;
-#ifdef HAS_SIGNALS
+#if defined(HAS_SIGNALS) || defined(ENABLE_ESP32_FORTH_FAULT_HANDLING)
   if (setjmp(g_forth_fault)) {
     rp = *g_sys->throw_handler;
     *g_sys->throw_handler = (cell_t *) *rp--;

esp32/builtins.h

@@ -86,7 +86,7 @@ static cell_t ResizeFile(cell_t fd, cell_t size);
 #define REQUIRED_SYSTEM_SUPPORT \
   X("MS-TICKS", MS_TICKS, PUSH millis()) \
   XV(internals, "RAW-YIELD", RAW_YIELD, yield()) \
-  XV(internals, "RAW-TERMINATE", RAW_TERMINATE, exit(n0))
+  XV(internals, "RAW-TERMINATE", RAW_TERMINATE, ESP.restart())
 
 #define REQUIRED_SERIAL_SUPPORT \
   XV(serial, "Serial.begin", SERIAL_BEGIN, Serial.begin(tos); DROP) \

esp32/options.h

@@ -52,6 +52,11 @@
 # define ENABLE_RMT_SUPPORT
 #endif
 
+// ESP32-C3 doesn't support fault handling yet.
+#if !defined(CONFIG_IDF_TARGET_ESP32C3)
+# define ENABLE_ESP32_FORTH_FAULT_HANDLING
+#endif
+
 // Uncomment this #define for OLED Support.
 // You will need to install these libraries from the Library Manager:
 //   Adafruit SSD1306

esp32/sim_main.cpp

@@ -39,6 +39,9 @@ PLATFORM_SIMULATED_OPCODE_LIST
 #define heap_caps_get_largest_free_block(x) SIM_HEAP_SIZE
 #define heap_caps_get_free_size(x) SIM_HEAP_SIZE
 
+// Fault handling can't work in the simulator for now.
+#undef ENABLE_ESP32_FORTH_FAULT_HANDLING
+
 #include "common/bits.h"
 #include "common/core.h"
 #include "common/interp.h"