feat(esp_system): implement hw stack guard for riscv chips

- add hardware stack guard based on assist-debug module
- enable hardware stack guard by default
- disable hardware stack guard for freertos ci.release test
- refactor rtos_int_enter/rtos_int_exit to change SP register inside them
- fix panic_reason.h header for RISC-V
- update docs to include information about the new feature

components/soc/esp32h2/include/soc/Kconfig.soc_caps.in

@@ -179,6 +179,10 @@ config SOC_CLK_TREE_SUPPORTED
     bool
     default y
 
+config SOC_ASSIST_DEBUG_SUPPORTED
+    bool
+    default y
+
 config SOC_XTAL_SUPPORT_32M
     bool
     default y

components/soc/esp32h2/include/soc/assist_debug_reg.h

@@ -1,11 +1,10 @@
 /**
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
  *
  *  SPDX-License-Identifier: Apache-2.0
  */
 #pragma once
 
-#include <stdint.h>
 #include "soc/soc.h"
 #ifdef __cplusplus
 extern "C" {

components/soc/esp32h2/include/soc/periph_defs.h

@@ -47,6 +47,7 @@ typedef enum {
     PERIPH_IEEE802154_MODULE,
     PERIPH_COEX_MODULE,
     PERIPH_PHY_MODULE,
+    PERIPH_ASSIST_DEBUG_MODULE,
     PERIPH_MODULE_MAX
 } periph_module_t;
 

components/soc/esp32h2/include/soc/soc.h

@@ -211,10 +211,12 @@
 //On RISC-V CPUs, the interrupt sources are all external interrupts, whose type, source and priority are configured by SW.
 //There is no HW NMI conception. SW should controlled the masked levels through INT_THRESH_REG.
 
-//CPU0 Interrupt number reserved in riscv/vector.S, not touch this.
+//CPU0 Interrupt numbers used in components/riscv/vectors.S. Change it's logic if modifying
 #define ETS_T1_WDT_INUM                         24
 #define ETS_CACHEERR_INUM                       25
 #define ETS_MEMPROT_ERR_INUM                    26
+#define ETS_ASSIST_DEBUG_INUM                   27  // Note: this interrupt can be combined with others (e.g., CACHEERR), as we can identify its trigger is activated
+
 //CPU0 Max valid interrupt number
 #define ETS_MAX_INUM                            31
 

components/soc/esp32h2/include/soc/soc_caps.h

@@ -16,7 +16,7 @@
  * If this file is changed the script will automatically run the script
  * and generate the kconfig variables as part of the pre-commit hooks.
  *
- * It can also be ran manually with `./tools/gen_soc_caps_kconfig/gen_soc_caps_kconfig.py 'components/soc/esp32h2/include/soc/'`
+ * It can also be ran manually with `./tools/gen_soc_caps_kconfig/gen_soc_caps_kconfig.py -d 'components/soc/esp32h2/include/soc/'`
  *
  * For more information see `tools/gen_soc_caps_kconfig/README.md`
  *
@@ -70,6 +70,7 @@
 #define SOC_LP_TIMER_SUPPORTED          1
 #define SOC_PAU_SUPPORTED               1
 #define SOC_CLK_TREE_SUPPORTED          1
+#define SOC_ASSIST_DEBUG_SUPPORTED      1
 
 /*-------------------------- XTAL CAPS ---------------------------------------*/
 #define SOC_XTAL_SUPPORT_32M            1