Crash when using SpiDevice::write (Because of a hidden alignment requirement)

[mlthlschr]

Hi, I am trying to write a small driver for an SPI device with registers. For that, I have the following function to write the instruction and then read the data:

pub fn read_registers<Spi>(
    spi: &mut Spi,
    first_register: u8,
    data: &mut [u8],
) -> Result<(), Spi::Error>
where
    Spi: SpiDevice,
    Spi::Bus: SpiBus,
{
    let cmd = 0x80 | first_register;
    spi.transaction(|b| {
       // this call crashes
        b.write(&[cmd])?;
        b.read(&mut data[..])?;
        Ok(())
    })?;

    Ok(())
}

However, it crashes on an ESP32-C3 with

PanicInfo {
    payload: Any { .. },
    message: Some(
        unsafe precondition(s) violated: ptr::copy_nonoverlapping requires that both pointer arguments are aligned and non-null and the specified memory ranges do not overlap,
    ),
    location: Location {
        file: "/home/malte/.rustup/toolchains/nightly-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/panicking.rs",
        line: 90,
        col: 58,
    },
    can_unwind: false,
}

Backtrace:

0x420040d8
0x420040d8 - core::intrinsics::copy_nonoverlapping::runtime
    at /home/malte/.rustup/toolchains/nightly-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/intrinsics.rs:2280
0x42005178
0x42005178 - esp_hal_common::spi::Instance::write_bytes
    at /home/malte/.cargo/registry/src/github.com-1ecc6299db9ec823/esp-hal-common-0.3.0/src/spi.rs:1421
0x420080d8
0x420080d8 - esp_hal_common::spi::ehal1::<impl embedded_hal::spi::SpiBusWrite for esp_hal_common::spi::Spi<T>>::write
    at /home/malte/.cargo/registry/src/github.com-1ecc6299db9ec823/esp-hal-common-0.3.0/src/spi.rs:731
0x42006a1a
0x42006a1a - hal_driver_util::spi::read_registers::{{closure}}
    at /home/malte/code/hardware/ESP-rs/hal-driver-util/src/spi.rs:27
0x420049fa
0x420049fa - <esp_hal_common::spi::ehal1::SpiBusDevice<I,CS> as embedded_hal::spi::SpiDevice>::transaction::{{closure}}
    at /home/malte/.cargo/registry/src/github.com-1ecc6299db9ec823/esp-hal-common-0.3.0/src/spi.rs:907
0x42007c8a
0x42007c8a - critical_section::with
    at /home/malte/.cargo/registry/src/github.com-1ecc6299db9ec823/critical-section-1.1.1/src/lib.rs:226
0x42004934
0x42004934 - <esp_hal_common::spi::ehal1::SpiBusDevice<I,CS> as embedded_hal::spi::SpiDevice>::transaction
    at /home/malte/.cargo/registry/src/github.com-1ecc6299db9ec823/esp-hal-common-0.3.0/src/spi.rs:900
0x42006984
0x42006984 - hal_driver_util::spi::read_registers
    at /home/malte/code/hardware/ESP-rs/hal-driver-util/src/spi.rs:21

Do you know what is happening here? I am using not a line of unsafe code (in the code written by me) before calling this method.

I tried to read the register at a different place in the lib using spi.transfer() and there it works without problems.

Another observation: when I change the code inside the closure to

let cmd = [cmd;2];
b.write(&cmd);

it does not crash. Using let cmd = [cmd;1]; however also crashes.

Update 1: this observation is not always true. Sometimes it does not work...

Update 2: this also happens when using transfer_in_place()

[mlthlschr]

Quite interesting problem, I learned something about alignment. Seems like datas alignment is not compatible with the one required for u32s (to which the slice's pointer is casted in esp_hal_common::spi::Instance::write_bytes).

For now I did a workaround with a helper struct #[repr(align(32))] struct AlignedBuffer([u8;64]) which aligns correctly. For the meantime it is OK, but would be cool to not depend on that.

[bjoernQ]

Thanks for bringing this up! I also think this hidden alignment requirement is very unfortunate and should get addressed

[i404788]

TL;DR: core::intrinsics::volatile_copy_nonoverlapping_memory::<u32> (and all it's variants) are broken when len<16 or if any parameter is not aligned (I think). *mut u32::volatile_write does work (afaik) but requires additional handling since you are always writing a full u32.

---

Hey was just reading through the code to figure out if QuadSPI/OctalSPI was already supported and found this issue through https://github.com/esp-rs/esp-hal/blob/23690a447217c02be682bdd2519056e661b72f4f/esp-hal-common/src/spi.rs#L1422

I encountered the same issue when implementing SHA, there I implemented the AlignmentHelper https://github.com/esp-rs/esp-hal/blob/23690a447217c02be682bdd2519056e661b72f4f/esp-hal-common/src/sha.rs#L45 which is effectively just a u32 write buffer. I tried many workarounds (copy,volatile_copy) but the only thing that worked reliably was to use a *mut u32::volative_write in a loop like in https://github.com/esp-rs/esp-hal/blob/23690a447217c02be682bdd2519056e661b72f4f/esp-hal-common/src/sha.rs#L140-L143. What it seemed like from the assembly is that the small copies are also optimized out (len<16 => no memcpy) and then break.

[bjoernQ]

I think that loop was what we initially had in the SPI driver - only downside IMHO is that in opt-level 0 it might be a bit slow but with opt-level >0 it's totally fine

@MabezDev @jessebraham any thoughts on this? I'd say we should replace volatile_copy_nonoverlapping_memory in all those places

[jessebraham]

I think it's probably a good idea to make those changes, yeah. The only downside you listed is, IMO, not even really much of an issue in practice.

[MabezDev]

Not really expressing much of an opinion, but in esp-idf, they return an error/panic if the buffer is not correctly aligned and doesn't have a length that is a multiple of a word. This pushes the requirements to the user of the API in a clear, albeit slightly annoying way (runtime error).

[dimpolo]

I actually encountered a miscompilation relating to this.

for byte in frame {
    let b = &[byte.reverse_bits()];
    spi.write(b)?;
    // core::hint::black_box(b);
}

Without the black box, only 0xFFs get sent. After adding the black box the correct bytes get sent.

As far as I understand, there's actually three problems with the current code:

• the mentioned alignment requirement
• not using volatile
• reading past the end of chunk

https://github.com/esp-rs/esp-hal/blob/75f73949860acd47f291f091d16b3020c9d1c1e6/esp-hal-common/src/spi.rs#L1406-L1417

[bjoernQ]

Thanks for the insights. This definitely needs to get fixed (for all the reasons you mentioned)

Regarding the mis-compilation: on which targets do you see this?

[bjoernQ]

Not really expressing much of an opinion, but in esp-idf, they return an error/panic if the buffer is not correctly aligned and doesn't have a length that is a multiple of a word. This pushes the requirements to the user of the API in a clear, albeit slightly annoying way (runtime error).

I think panicking / returning an error wouldn't be a really good option since those requirements are not requirement by the EH traits and would potentially prevent users from using existing drivers 🤷‍♂️

For our own APIs however, that might be okay if we document that clearly

[dimpolo]

Regarding the mis-compilation: on which targets do you see this?

.cargo/config.toml:

[build]
rustflags = [
  "-C", "link-arg=-nostartfiles",
  "-C", "link-arg=-Wl,-Tlinkall.x",
]
target = "xtensa-esp32s3-none-elf"

[unstable]
build-std = ["core"]

In my case the miscompilation went away after changing the code to:

for i in 0..FIFO_SIZE / 4 {
    unsafe {
        core::ptr::write_volatile(
            (fifo_ptr as *mut u32).add(i),
            *(chunk.as_ptr() as *const u32).add(i),
        );
    }
}

but this does not address the alignment or out of bounds read problem