wip tests do not pass

examples/lockall_cost.rs

@@ -29,10 +29,10 @@ mod app {
         cx.shared.lock(|x| *x.shared += 1);
     }
 
-    #[task(binds = GPIOB, priority = 2, shared = [shared])]
+    // #[task(binds = GPIOB, priority = 2, shared = [shared])]
-    fn high(mut cx: high::Context) {
+    // fn high(mut cx: high::Context) {
-        cx.shared.lock(|x| *x.shared += 1);
+    //     cx.shared.lock(|x| *x.shared += 1);
-    }
+    // }
 }
 
 // cargo objdump --example lockall_cost --target thumbv7m-none-eabi --release --features inline-asm -- --disassemble > lockall_cost.ojbdump

macros/src/codegen/hardware_tasks.rs

@@ -99,6 +99,7 @@ pub fn codegen(
                 #[allow(non_snake_case)]
                 fn #name(#context: #name::Context) {
                     use rtic::Mutex as _;
+                    use rtic::MutexStruct as _;
                     use rtic::mutex_prelude::*;
 
                     #(#stmts)*

macros/src/codegen/idle.rs

@@ -73,6 +73,7 @@ pub fn codegen(
             #[allow(non_snake_case)]
             fn #name(#context: #name::Context) -> ! {
                 use rtic::Mutex as _;
+                use rtic::MutexStruct as _;
                 use rtic::mutex_prelude::*;
 
                 #(#stmts)*

macros/src/codegen/shared_resources_struct.rs

@@ -168,14 +168,14 @@ pub fn codegen(
 
     let (lock_all, get_prio) = if let Some(name) = field_get_prio {
         (
-            util::impl_mutex(
+            util::impl_mutex_struct(
                 extra,
                 &vec![], // TODO: what cfg should go here?
                 quote!(#ident),
                 quote!(#ident_mut<#lt>),
                 max_ceiling,
                 quote!(self.priority()),
-                quote!(|| { &mut #ident_mut::new() }),
+                quote!(|| { #ident_mut::new() }),
             ),
             quote!(
                 // Used by the lock-all API

macros/src/codegen/software_tasks.rs

@@ -132,6 +132,7 @@ pub fn codegen(
                 #[allow(non_snake_case)]
                 fn #name(#context: #name::Context #(,#inputs)*) {
                     use rtic::Mutex as _;
+                    use rtic::MutexStruct as _;
                     use rtic::mutex_prelude::*;
 
                     #(#stmts)*

macros/src/codegen/util.rs

@@ -54,6 +54,41 @@ pub fn impl_mutex(
     )
 }
 
+/// Generates a `MutexStruct` implementation
+pub fn impl_mutex_struct(
+    extra: &Extra,
+    cfgs: &[Attribute],
+    path: TokenStream2,
+    ty: TokenStream2,
+    ceiling: u8,
+    priority: TokenStream2,
+    ptr: TokenStream2,
+) -> TokenStream2 {
+    let device = &extra.device;
+    quote!(
+        #(#cfgs)*
+        impl<'a> rtic::MutexStruct for #path<'a> {
+            type T = #ty;
+
+            #[inline(always)]
+            fn lock<RTIC_INTERNAL_R>(&mut self, f: impl FnOnce(#ty) -> RTIC_INTERNAL_R) -> RTIC_INTERNAL_R {
+                /// Priority ceiling
+                const CEILING: u8 = #ceiling;
+
+                unsafe {
+                    rtic::export::lock_struct(
+                        #ptr,
+                        #priority,
+                        CEILING,
+                        #device::NVIC_PRIO_BITS,
+                        f,
+                    )
+                }
+            }
+        }
+    )
+}
+
 /// Generates an identifier for the `INPUTS` buffer (`spawn` & `schedule` API)
 pub fn inputs_ident(task: &Ident) -> Ident {
     mark_internal_name(&format!("{}_INPUTS", task))

src/export.rs

@@ -161,6 +161,43 @@ pub unsafe fn lock<T, R>(
     }
 }
 
+/// Lock the resource proxy by setting the BASEPRI
+/// and running the closure with interrupt::free
+///
+/// # Safety
+///
+/// Writing to the BASEPRI
+/// Dereferencing a raw pointer
+#[cfg(armv7m)]
+#[inline(always)]
+pub unsafe fn lock_struct<T, R>(
+    ptr: impl Fn() -> T,
+    priority: &Priority,
+    ceiling: u8,
+    nvic_prio_bits: u8,
+    f: impl FnOnce(T) -> R,
+) -> R {
+    let current = priority.get();
+
+    if current < ceiling {
+        if ceiling == (1 << nvic_prio_bits) {
+            priority.set(u8::max_value());
+            let r = interrupt::free(|_| f(ptr()));
+            priority.set(current);
+            r
+        } else {
+            priority.set(ceiling);
+            basepri::write(logical2hw(ceiling, nvic_prio_bits));
+            let r = f(ptr()); // inside of lock
+            basepri::write(logical2hw(current, nvic_prio_bits));
+            priority.set(current);
+            r
+        }
+    } else {
+        f(ptr())
+    }
+}
+
 /// Lock the resource proxy by setting the PRIMASK
 /// and running the closure with interrupt::free
 ///

src/lib.rs

@@ -104,3 +104,12 @@ impl<T> RacyCell<T> {
 }
 
 unsafe impl<T> Sync for RacyCell<T> {}
+
+/// Should be moved to `rtic-core`
+pub trait MutexStruct {
+    /// Data protected by the mutex
+    type T;
+
+    /// Creates a critical section and grants temporary access to the protected data
+    fn lock<R>(&mut self, f: impl FnOnce(Self::T) -> R) -> R;
+}