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more docs, remove Ceiling / Priority / Level traits

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This commit is contained in:
Jorge Aparicio 2017-04-21 00:24:54 -05:00
parent 0a6583ddc6
commit 4992db7877
15 changed files with 578 additions and 170 deletions
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11
Cargo.toml
View file

@ -1,7 +1,10 @@
[package]
authors = ["Jorge Aparicio <japaricious@gmail.com>"]
authors = [
"Jorge Aparicio <jorge@japaric.io>",
"Per Lindgren <per.lindgren@ltu.se>",
]
build = "build.rs"
name = "cortex-m-srp"
name = "cortex-m-rtfm"
version = "0.1.0"
[build-dependencies]
@ -9,9 +12,9 @@ quote = "0.3.15"
syn = "0.11.10"
[dependencies]
cortex-m = "0.2.2"
cortex-m = "0.2.4"
static-ref = "0.1.0"
typenum = "1.7.0"
static-ref = { git = "https://github.com/japaric/static-ref" }
[dev-dependencies]
compiletest_rs = "0.2.5"

6
README.md
View file

@ -1,4 +1,8 @@
# `cortex-m-srp`
# `cortex-m-rtfm`
> Real Time For the Masses (Cortex-M edition)
# [Manual](https://docs.rs/cortex-m-rtfm)
# License

38
build.rs
View file

@ -44,25 +44,37 @@ fn main() {
let c = Ident::new(format!("C{}", i));
let u = Ident::new(format!("U{}", i));
let doc = format!("A ceiling of {}", i);
tokens.push(
quote! {
/// Ceiling
#[doc = #doc]
pub type #c = C<::typenum::#u>;
unsafe impl Ceiling for #c {}
},
);
}
// Priorities
for i in 1..(1 << bits) + 1 {
for i in 0..(1 << bits) + 1 {
let c = Ident::new(format!("C{}", i));
let p = Ident::new(format!("P{}", i));
let u = Ident::new(format!("U{}", i));
let doc = if i == 0 {
format!("A priority of 0, the lowest priority")
} else {
format!(
"A priority of {}{}",
i,
if i == (1 << bits) {
", the highest priority"
} else {
""
}
)
};
tokens.push(
quote! {
/// Priority
#[doc = #doc]
pub type #p = P<::typenum::#u>;
impl #p {
@ -73,19 +85,11 @@ fn main() {
}
}
}
unsafe impl Priority for #p {}
unsafe impl Level for ::typenum::#u {
fn hw() -> u8 {
logical2hw(::typenum::#u::to_u8())
}
}
},
);
}
// GreaterThanOrEqual
// GreaterThanOrEqual & LessThanOrEqual
for i in 0..(1 << bits) + 1 {
for j in 0..(i + 1) {
let i = Ident::new(format!("U{}", i));
@ -95,16 +99,20 @@ fn main() {
quote! {
unsafe impl GreaterThanOrEqual<::typenum::#j> for
::typenum::#i {}
unsafe impl LessThanOrEqual<::typenum::#i> for
::typenum::#j {}
},
);
}
}
let u = Ident::new(format!("U{}", (1 << bits)));
let c = Ident::new(format!("C{}", (1 << bits)));
tokens.push(
quote! {
/// Maximum ceiling
pub type CMAX = C<::typenum::#u>;
pub type CMAX = #c;
/// Maximum priority level
pub type UMAX = ::typenum::#u;

605
src/lib.rs
View file

@ -1,4 +1,352 @@
//! Stack Resource Policy
//! RTFM: Real Time For the Masses (ARM Cortex-M edition)
//!
//! RTFM is a framework for building event driven / real time applications.
//!
//! This crate is based on the RTFM framework created by [prof. Per
//! Lindgren][per] and uses a simplified version of the Stack Resource Policy as
//! scheduling policy. (Check the [references] for details)
//!
//! [per]: https://www.ltu.se/staff/p/pln-1.11258?l=en
//! [references]: ./index.html#references
//!
//! # Features
//!
//! - Event triggered tasks as the unit of concurrency.
//! - Supports prioritizing tasks and, thus, preemptive multitasking.
//! - Data sharing through fine grained, *partial* critical sections.
//! - Deadlock free execution guaranteed at compile time.
//! - Minimal overhead as the scheduler has no software component / runtime; the
//! hardware does all the scheduling.
//! - Full support for all Cortex M3, M4 and M7 devices. M0(+) is partially
//! supported at this time.
//! - The number of priority levels is configurable at compile time through the
//! `P2` (4 levels), `P3` (8 levels), etc. Cargo features. The number of
//! priority levels supported by the hardware is device specific but this
//! crate defaults to 16 as that's the most common scenario.
//! - This task model is amenable to known WCET (Worst Case Execution Time)
//! analysis and scheduling analysis techniques. (Though we don't have any
//! tooling for that ATM.)
//!
//! # Limitations
//!
//! - Task priorities must be fixed at runtime.
//!
//! # Dependencies
//!
//! - A device crate generated using [`svd2rust`] v0.6.x
//! - A `start` lang time: Vanilla `main` must be supported in binary crates.
//! You can use the [`cortex-m-rt`] crate to fulfill the requirement
//!
//! [`svd2rust`]: https://docs.rs/svd2rust/0.6.1/svd2rust/
//! [`cortex-m-rt`]: https://docs.rs/cortex-m-rt/0.1.1/cortex_m_rt/
//!
//! # Examples
//!
//! Ordered in increasing level of complexity:
//!
//! - [Zero tasks](./index.html#zero-tasks)
//! - [One task](./index.html#one-task)
//! - [Two "serial" tasks](./index.html#two-serial-tasks)
//! - [Preemptive multitasking](./index.html#preemptive-multitasking)
//! - [Peripherals as resources](./index.html#peripherals-as-resources)
//!
//! ## Zero tasks
//!
//! ``` ignore
//! #![no_std]
//!
//! #[macro_use] // for the `hprintln!` macro
//! extern crate cortex_m;
//!
//! // before main initialization + `start` lang item
//! extern crate cortex_m_rt;
//!
//! #[macro_use] // for the `tasks!` macro
//! extern crate cortex_m_rtfm as rtfm;
//!
//! // device crate generated using svd2rust
//! extern crate stm32f100xx;
//!
//! use rtfm::{C16, P0};
//!
//! // Declare tasks. None in this example
//! tasks!(stm32f100xx, {});
//!
//! // INITIALIZATION PHASE
//! fn init(_priority: P0, _ceiling: &C16) {
//! hprintln!("INIT");
//! }
//!
//! // IDLE LOOP
//! fn idle(_priority: P0) -> ! {
//! hprintln!("IDLE");
//!
//! // Sleep
//! loop {
//! rtfm::wfi();
//! }
//! }
//! ```
//!
//! Expected output:
//!
//! ``` text
//! INIT
//! IDLE
//! ```
//!
//! The `tasks!` macro forces the following structure into your program:
//!
//! - `init`, the initialization phase, is run first. This function is executed
//! in a *global* critical section and can't be preempted.
//!
//! - `idle`, a never ending function that runs after `init`.
//!
//! Note that both `init` and `idle` have priority 0, the lowest priority.
//!
//! # One task
//!
//! ``` ignore
//! #![no_std]
//!
//! extern crate cortex_m_rt;
//! #[macro_use]
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f100xx;
//!
//! use core::cell::Cell;
//!
//! use stm32f100xx::interrupt::Tim7Irq;
//! use rtfm::{C16, Local, P0, P1};
//!
//! // INITIALIZATION PHASE
//! fn init(_priority: P0, _ceiling: &C16) {
//! // Configure TIM7 for periodic interrupts
//! // Configure GPIO for LED driving
//! }
//!
//! // IDLE LOOP
//! fn idle(_priority: P0) -> ! {
//! // Sleep
//! loop { rtfm::wfi() }
//! }
//!
//! // TASKS
//! tasks!(stm32f100xx, {
//! periodic: (Tim7Irq, P1),
//! });
//!
//! fn periodic(task: Tim7Irq, _priority: P1) {
//! // Task local data
//! static STATE: Local<Cell<bool>, Tim7Irq> = Local::new(Cell::new(false));
//!
//! let state = STATE.borrow(&task);
//!
//! // Toggle state
//! state.set(!state.get());
//!
//! // Blink an LED
//! if state.get() {
//! LED.on();
//! } else {
//! LED.off();
//! }
//! }
//! ```
//!
//! Here we define a task named `periodic` and bind it to the `Tim7Irq`
//! interrupt handler. Every time the `Tim7Irq` interrupt is triggered, the
//! `periodic` runs. We assign to this task a priority of 1, `P1`; this is the
//! lowest priority that a task can have.
//!
//! We use the [`Local`](./struct.Local.html) abstraction to add state to the
//! task; this task local data will be preserved across runs of the `periodic`
//! task. Note that `STATE` is owned by the `periodic` task, in the sense that
//! no other task can access it; this is reflected in its type signature (the
//! `Tim7Irq` type parameter).
//!
//! # Two "serial" tasks
//!
//! ``` ignore
//! #![no_std]
//!
//! extern crate cortex_m_rt;
//! #[macro_use]
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f100xx;
//!
//! use core::cell::Cell;
//!
//! use stm32f100xx::interrupt::{Tim6DacIrq, Tim7Irq};
//! use rtfm::{C1, C16, P0, P1, Resource};
//!
//! // omitted: `idle`, `init`
//!
//! tasks!(stm32f100xx, {
//! t1: (Tim6DacIrq, P1),
//! t2: (Tim7Irq, P1),
//! });
//!
//! // Data shared between tasks `t1` and `t2`
//! static COUNTER: Resource<Cell<u32>, C1> = Resource::new(Cell::new(0));
//!
//! fn t1(_task: Tim6DacIrq, priority: P1) {
//! let ceiling = priority.as_ceiling();
//!
//! let counter = COUNTER.borrow(&priority, &ceiling);
//!
//! counter.set(counter.get() + 1);
//! }
//!
//! fn t2(_task: Tim7Irq, priority: P1) {
//! let ceiling = priority.as_ceiling();
//!
//! let counter = COUNTER.borrow(&priority, &ceiling);
//!
//! counter.set(counter.get() + 2);
//! }
//! ```
//!
//! Here we declare two tasks, `t1` and `t2`; both with a priority of 1 (`P1`).
//! As both tasks have the same priority, we say that they are *serial* tasks in
//! the sense that `t1` can only run *after* `t2` is done and vice versa; i.e.
//! there's no preemption.
//!
//! To share data between these two tasks, we use the
//! [`Resource`](./struct.Resource.html) abstraction. As the tasks can't preempt
//! each other, they can access the `COUNTER` resource using the zero cost
//! [`borrow`](./struct.Resource.html#method.borrow) method -- no
//! synchronization needed.
//!
//! `COUNTER` has an extra type parameter: `C1`. This is the *ceiling* of the
//! resource. For now suffices to say that the ceiling must be the maximum of
//! the priorities of all the tasks that access the resource -- in this case,
//! `C1 == max(P1, P1)`. If you try a smaller value like `C0`, you'll find out
//! that your program doesn't compile.
//!
//! # Preemptive multitasking
//!
//! ``` ignore
//! #![no_std]
//!
//! extern crate cortex_m_rt;
//! #[macro_use]
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f100xx;
//!
//! use core::cell::Cell;
//!
//! use stm32f100xx::interrupt::{Tim6DacIrq, Tim7Irq};
//! use rtfm::{C2, C16, P0, P1, P2, Resource};
//!
//! // omitted: `idle`, `init`
//!
//! tasks!(stm32f100xx, {
//! t1: (Tim6DacIrq, P1),
//! t2: (Tim7Irq, P2),
//! });
//!
//! static COUNTER: Resource<Cell<u32>, C2> = Resource::new(Cell::new(0));
//!
//! fn t1(_task: Tim6DacIrq, priority: P1) {
//! // ..
//!
//! COUNTER.lock(&priority, |r1, _| {
//! r1.set(r1.get() + 1);
//! });
//!
//! // ..
//! }
//!
//! fn t2(_task: Tim7Irq, priority: P2) {
//! let ceiling = priority.as_ceiling();
//!
//! let counter = COUNTER.borrow(&priority, &ceiling);
//!
//! counter.set(counter.get() + 2);
//! }
//! ```
//!
//! Now we have a variation of the previous example. Like before, `t1` has a
//! priority of 1 (`P1`) but `t2` now has a priority of 2 (`P2`). This means
//! that `t2` can preempt `t1` if a `Tim7Irq` interrupt occurs while `t1` is
//! being executed.
//!
//! To avoid data races, `t1` must modify `COUNTER` in an atomic way; i.e. `t2`
//! most not preempt `t1` while `COUNTER` is being modified. This is
//! accomplished using the [`lock`](./struct.Resource.html#method.lock) method.
//! This method creates a critical section, denoted by a closure, for whose span
//! `COUNTER` is accessible but `t2` is blocked from preempting `t1`.
//!
//! How `t2` accesses `COUNTER` remains unchanged. Since `t1` can't preempt `t2`
//! due to the differences in priority, no critical section is needed in `t2`.
//!
//! Note that the ceiling of `COUNTER` also changed to `C2`. This is required
//! because the ceiling must be the maximum between `P1` and `P2`.
//!
//! Finally, it should be noted that `COUNTER.lock` will only block tasks with a
//! priority of 2 or lower. This is exactly what the ceiling represents: it's
//! the "bar" that a task priority must pass in order to be able to preempt the
//! current task / critical section.
//!
//! # Peripherals as resources
//!
//! ``` ignore
//! #![no_std]
//!
//! extern crate cortex_m_rt;
//! #[macro_use]
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f100xx;
//!
//! use rtfm::{C0, C16, P0, Peripheral};
//!
//! static GPIOA: Peripheral<stm32f100xx::Gpioa, C0> =
//! unsafe { Peripheral::new(stm32f100xx::GPIOA) };
//!
//! static RCC: Peripheral<stm32f100xx::Rcc, C0> =
//! unsafe { Peripheral::new(stm32f100xx::RCC) };
//!
//! tasks!(stm32f100xx, {});
//!
//! fn init(priority: P0, ceiling: &C16) {
//! let gpioa = GPIOA.borrow(&priority, &ceiling);
//! let rcc = RCC.borrow(&priority, &ceiling);
//!
//! // ..
//! }
//!
//! fn idle(_priority: P0) -> ! {
//! // Sleep
//! loop { rtfm::wfi() }
//! }
//! ```
//!
//! Peripherals are global resources too and as such they can be protected in
//! the same way as `Resource`s using the
//! [`Peripheral`](./struct.Peripheral.html) abstraction.
//!
//! `Peripheral` and `Resource` has pretty much the same API except that
//! `Peripheral.new` is `unsafe`. Care must be taken to NOT alias peripherals;
//! i.e. create two `Peripheral`s that point to the same register block address.
//!
//! # References
//!
//! - Baker, T. P. (1991). Stack-based scheduling of realtime processes.
//! *Real-Time Systems*, 3(1), 67-99.
//!
//! > The seminal Stack Resource Policy paper. [PDF].
//!
//! [PDF]: http://www.cs.fsu.edu/~baker/papers/mstacks3.pdf
//!
//! - Eriksson, J., Häggström, F., Aittamaa, S., Kruglyak, A., & Lindgren, P.
//! (2013, June). Real-time for the masses, step 1: Programming API and static
//! priority SRP kernel primitives. In Industrial Embedded Systems (SIES),
//! 2013 8th IEEE International Symposium on (pp. 110-113). IEEE.
//!
//! > A description of the RTFM task and resource model. [PDF]
//!
//! [PDF]: http://www.diva-portal.org/smash/get/diva2:1005680/FULLTEXT01.pdf
#![deny(missing_docs)]
#![deny(warnings)]
@ -18,16 +366,16 @@ use cortex_m::interrupt::Nr;
#[cfg(not(thumbv6m))]
use cortex_m::register::{basepri, basepri_max};
use static_ref::Ref;
use typenum::Unsigned;
use typenum::{U0, Unsigned};
#[cfg(not(thumbv6m))]
use typenum::{Cmp, Greater, Less};
pub use cortex_m::ctxt::Local;
pub use cortex_m::asm::{bkpt, wfi};
#[doc(hidden)]
pub use cortex_m::peripheral::NVIC;
pub use cortex_m::peripheral::NVIC as _NVIC;
/// Compiler barrier
macro_rules! barrier {
() => {
asm!(""
@ -38,18 +386,46 @@ macro_rules! barrier {
}
}
/// A resource
pub struct Resource<T, CEILING> {
_ceiling: PhantomData<CEILING>,
/// Task local data
///
/// This data can only be accessed by the task `T`
pub struct Local<D, T> {
_task: PhantomData<T>,
data: UnsafeCell<D>,
}
impl<T, TASK> Local<T, TASK> {
/// Creates a task local variable with some initial `value`
pub const fn new(value: T) -> Self {
Local {
_task: PhantomData,
data: UnsafeCell::new(value),
}
}
/// Borrows the task local data for the duration of the task
pub fn borrow<'task>(&'static self, _task: &'task TASK) -> &'task T {
unsafe { &*self.data.get() }
}
}
unsafe impl<T, TASK> Sync for Local<T, TASK> {}
/// A resource with ceiling `C`
///
/// Only tasks with priority equal to or smaller than `C` can access this resource
pub struct Resource<T, C> {
_ceiling: PhantomData<C>,
data: UnsafeCell<T>,
}
impl<T, C> Resource<T, C> {
/// Creates a new resource with ceiling `C`
pub const fn new(data: T) -> Self
where
C: Ceiling,
{
impl<T, CEILING> Resource<T, C<CEILING>>
where
CEILING: GreaterThanOrEqual<U0>,
CEILING: LessThanOrEqual<UMAX>,
{
/// Creates a new resource with the specified `CEILING`
pub const fn new(data: T) -> Self {
Resource {
_ceiling: PhantomData,
data: UnsafeCell::new(data),
@ -58,17 +434,19 @@ impl<T, C> Resource<T, C> {
}
impl<T, CEILING> Resource<T, C<CEILING>> {
/// Borrows the resource for the duration of another resource's critical
/// section
/// Borrows the resource for the duration of a critical section
///
/// This operation is zero cost and doesn't impose any additional blocking
pub fn borrow<'cs, PRIORITY, SCEILING>(
/// This operation is zero cost and doesn't impose any additional blocking.
///
/// **NOTE** Only tasks with a priority equal to or smaller than the
/// resource ceiling can access the resource.
pub fn borrow<'cs, PRIORITY, CCEILING>(
&'static self,
_priority: &P<PRIORITY>,
_system_ceiling: &'cs C<SCEILING>,
_current_ceiling: &'cs C<CCEILING>,
) -> Ref<'cs, T>
where
SCEILING: GreaterThanOrEqual<CEILING>,
CCEILING: GreaterThanOrEqual<CEILING>,
CEILING: GreaterThanOrEqual<PRIORITY>,
{
unsafe { Ref::new(&*self.data.get()) }
@ -81,16 +459,26 @@ impl<T, CEILING> Resource<T, C<CEILING>> {
/// preempting the current task.
///
/// Within this critical section, resources with ceiling equal to or smaller
/// than `CEILING` can be borrowed at zero cost. See
/// [Resource.borrow](struct.Resource.html#method.borrow).
/// than `CEILING` can be borrowed at zero cost using the
/// [Resource.borrow](struct.Resource.html#method.borrow) method.
///
/// **NOTE** Only tasks with a priority equal to or smaller than the
/// resource ceiling can access the resource.
#[cfg(not(thumbv6m))]
pub fn lock<R, PRIORITY, F>(&'static self, _priority: &P<PRIORITY>, f: F) -> R
where F: FnOnce(Ref<T>, &C<CEILING>) -> R,
CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less> + Level
pub fn lock<R, PRIORITY, F>(
&'static self,
_priority: &P<PRIORITY>,
f: F,
) -> R
where
F: FnOnce(Ref<T>, &C<CEILING>) -> R,
CEILING: Cmp<PRIORITY, Output = Greater>,
CEILING: Cmp<UMAX, Output = Less>,
CEILING: Unsigned,
{
unsafe {
let old_basepri = basepri::read();
basepri_max::write(<CEILING>::hw());
basepri_max::write(logical2hw(CEILING::to_u8()));
barrier!();
let ret =
f(Ref::new(&*self.data.get()), &C { _marker: PhantomData });
@ -101,11 +489,7 @@ impl<T, CEILING> Resource<T, C<CEILING>> {
}
}
unsafe impl<T, C> Sync for Resource<T, C>
where
C: Ceiling,
{
}
unsafe impl<T, C> Sync for Resource<T, C> {}
/// A hardware peripheral as a resource
pub struct Peripheral<P, CEILING>
@ -116,9 +500,10 @@ where
_ceiling: PhantomData<CEILING>,
}
impl<P, C> Peripheral<P, C>
impl<P, CEILING> Peripheral<P, C<CEILING>>
where
C: Ceiling,
CEILING: GreaterThanOrEqual<U0>,
CEILING: LessThanOrEqual<UMAX>,
{
/// Assigns a ceiling `C` to the `peripheral`
///
@ -139,7 +524,7 @@ impl<Periph, CEILING> Peripheral<Periph, C<CEILING>> {
pub fn borrow<'cs, PRIORITY, SCEILING>(
&'static self,
_priority: &P<PRIORITY>,
_system_ceiling: &'cs C<SCEILING>,
_current_ceiling: &'cs C<SCEILING>,
) -> Ref<'cs, Periph>
where
SCEILING: GreaterThanOrEqual<CEILING>,
@ -150,13 +535,19 @@ impl<Periph, CEILING> Peripheral<Periph, C<CEILING>> {
/// See [Resource.lock](./struct.Resource.html#method.lock)
#[cfg(not(thumbv6m))]
pub fn lock<R, PRIORITY, F>(&'static self, _priority: &P<PRIORITY>, f: F) -> R
where F: FnOnce(Ref<Periph>, &C<CEILING>) -> R,
CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less> + Level
pub fn lock<R, PRIORITY, F>(
&'static self,
_priority: &P<PRIORITY>,
f: F,
) -> R
where
F: FnOnce(Ref<Periph>, &C<CEILING>) -> R,
CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less>,
CEILING: Unsigned,
{
unsafe {
let old_basepri = basepri::read();
basepri_max::write(<CEILING>::hw());
basepri_max::write(logical2hw(CEILING::to_u8()));
barrier!();
let ret = f(
Ref::new(&*self.peripheral.get()),
@ -169,13 +560,9 @@ impl<Periph, CEILING> Peripheral<Periph, C<CEILING>> {
}
}
unsafe impl<T, C> Sync for Peripheral<T, C>
where
C: Ceiling,
{
}
unsafe impl<T, C> Sync for Peripheral<T, C> {}
/// A global critical section
/// Runs closure `f` in a *global* critical section
///
/// No task can preempt this critical section
pub fn critical<R, F>(f: F) -> R
@ -197,12 +584,11 @@ where
}
/// Requests the execution of a `task`
pub fn request<T, P>(_task: fn(T, P))
pub fn request<T, PRIORITY>(_task: fn(T, P<PRIORITY>))
where
T: Context + Nr,
P: Priority,
{
let nvic = unsafe { &*NVIC.get() };
let nvic = unsafe { &*_NVIC.get() };
match () {
#[cfg(debug_assertions)]
@ -219,10 +605,18 @@ where
// NOTE(safe) zero sized type
let task = unsafe { core::ptr::read(0x0 as *const T) };
// NOTE(safe) atomic write
nvic.set_pending(task);
}
#[doc(hidden)]
pub fn _validate_priority<PRIORITY>(_: &P<PRIORITY>)
where
PRIORITY: Cmp<U0, Output = Greater> + LessThanOrEqual<UMAX>,
{
}
/// A type-level ceiling
pub struct C<T> {
_marker: PhantomData<T>,
@ -235,93 +629,88 @@ pub struct P<T> {
impl<T> P<T>
where
T: Level,
T: Unsigned,
{
#[doc(hidden)]
pub fn hw() -> u8 {
T::hw()
pub fn _hw() -> u8 {
logical2hw(T::to_u8())
}
}
/// A valid resource ceiling
///
/// DO NOT IMPLEMENT THIS TRAIT YOURSELF
pub unsafe trait Ceiling {}
/// Type-level `>=` operator
///
/// DO NOT IMPLEMENT THIS TRAIT YOURSELF
/// Do not implement this trait yourself. This is an implementation detail.
pub unsafe trait GreaterThanOrEqual<RHS> {}
/// Interrupt hardware level
/// Type-level `<=` operator
///
/// DO NOT IMPLEMENT THIS TRAIT YOURSELF
pub unsafe trait Level {
/// Interrupt hardware level
fn hw() -> u8;
}
/// Do not implement this trait yourself. This is an implementation detail.
pub unsafe trait LessThanOrEqual<RHS> {}
/// A valid task priority
/// Converts a logical priority into a shifted hardware priority, as used by the
/// NVIC and the BASEPRI register
///
/// DO NOT IMPLEMENT THIS TRAIT YOURSELF
pub unsafe trait Priority {}
/// Convert a logical priority to a shifted hardware prio
/// as used by the NVIC and basepri registers
/// Notice, wrapping causes a panic due to u8
/// # Panics
///
/// This function panics if `logical` is outside the closed range
/// `[1, 1 << PRIORITY_BITS]`. Where `PRIORITY_BITS` is the number of priority
/// bits used by the device specific NVIC implementation.
pub fn logical2hw(logical: u8) -> u8 {
assert!(logical >= 1 && logical <= (1 << PRIORITY_BITS));
((1 << PRIORITY_BITS) - logical) << (8 - PRIORITY_BITS)
}
/// Convert a shifted hardware prio to a logical priority
/// as used by the NVIC and basepri registers
/// Notice, wrapping causes a panic due to u8
/// Converts a shifted hardware priority into a logical priority
pub fn hw2logical(hw: u8) -> u8 {
(1 << PRIORITY_BITS) - (hw >> (8 - PRIORITY_BITS))
}
/// Priority 0, the lowest priority
pub type P0 = P<::typenum::U0>;
/// Declares tasks
/// A macro to declare tasks
///
/// Each `$task` is bound to an `$Interrupt` handler and has a priority `$P`.
///
/// The `$Interrupt` handlers are defined in the `$device` crate.
///
/// **NOTE** This macro will expand to a `main` function.
///
/// Apart from defining the listed `$tasks`, the `init` and `idle` functions
/// must be defined as well. `init` has type signature `fn(P0, &C16)`, and
/// `idle` has signature `fn(P0) -> !`.
#[macro_export]
macro_rules! tasks {
($krate:ident, {
($device:ident, {
$($task:ident: ($Interrupt:ident, $P:ident),)*
}) => {
fn main() {
$crate::critical(|cmax| {
fn signature(_: fn($crate::P0, &$crate::CMAX)) {}
fn validate_signature(_: fn($crate::P0, &$crate::CMAX)) {}
signature(init);
let p0 = unsafe { ::core::ptr::read(0x0 as *const _) };
validate_signature(init);
let p0 = unsafe { ::core::mem::transmute::<_, P0>(()) };
init(p0, cmax);
set_priorities();
enable_tasks();
});
fn signature(_: fn($crate::P0) -> !) {}
fn validate_signature(_: fn($crate::P0) -> !) {}
signature(idle);
let p0 = unsafe { ::core::ptr::read(0x0 as *const _) };
validate_signature(idle);
let p0 = unsafe { ::core::mem::transmute::<_, P0>(()) };
idle(p0);
fn set_priorities() {
// NOTE(safe) this function runs in an interrupt free context
let _nvic = unsafe { &*$crate::NVIC.get() };
let _nvic = unsafe { &*$crate::_NVIC.get() };
$(
{
let hw = $crate::$P::hw();
if hw != 0 {
unsafe {
_nvic.set_priority
(::$krate::interrupt::Interrupt::$Interrupt,
hw,
);
}
let hw = $crate::$P::_hw();
unsafe {
_nvic.set_priority(
::$device::interrupt::Interrupt::$Interrupt,
hw,
);
}
}
)*
@ -331,42 +720,34 @@ macro_rules! tasks {
fn enable_tasks() {
// NOTE(safe) this function runs in an interrupt free context
let _nvic = unsafe { &*$crate::NVIC.get() };
let _nvic = unsafe { &*$crate::_NVIC.get() };
$(
_nvic.enable(::$krate::interrupt::Interrupt::$Interrupt);
_nvic.enable(::$device::interrupt::Interrupt::$Interrupt);
)*
}
#[allow(dead_code)]
fn is_priority<P>()
where
P: $crate::Priority,
{
}
#[allow(dead_code)]
#[link_section = ".rodata.interrupts"]
#[used]
static INTERRUPTS: ::$krate::interrupt::Handlers =
::$krate::interrupt::Handlers {
static INTERRUPTS: ::$device::interrupt::Handlers =
::$device::interrupt::Handlers {
$(
$Interrupt: {
extern "C" fn $task(
task: ::$krate::interrupt::$Interrupt
task: ::$device::interrupt::$Interrupt
) {
is_priority::<$crate::$P>();
::$task(
task, unsafe {
::core::ptr::read(0x0 as *const $crate::$P)
}
)
let p = unsafe {
::core::mem::transmute::<_, $crate::$P>(())
};
$crate::_validate_priority(&p);
::$task(task, p)
}
$task
},
)*
..::$krate::interrupt::DEFAULT_HANDLERS
..::$device::interrupt::DEFAULT_HANDLERS
};
}
}

4
tests/cfail/borrow.rs
View file

@ -1,6 +1,6 @@
extern crate cortex_m_srp;
extern crate cortex_m_rtfm as rtfm;
use cortex_m_srp::{C1, C2, C3, C4, C5, P2, Resource};
use rtfm::{C1, C2, C3, C4, C5, P2, Resource};
static R1: Resource<i32, C4> = Resource::new(0);
static R2: Resource<i32, C3> = Resource::new(0);

2
tests/cfail/ceiling.rs
View file

@ -1,4 +1,4 @@
extern crate cortex_m_srp as rtfm;
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C3, P0, P2, Resource};

4
tests/cfail/lock.rs
View file

@ -1,6 +1,6 @@
extern crate cortex_m_srp;
extern crate cortex_m_rtfm as rtfm;
use cortex_m_srp::{C16, C2, P1, P16, P2, P3, Resource};
use rtfm::{C16, C2, P1, P16, P2, P3, Resource};
static R1: Resource<i32, C2> = Resource::new(0);

8
tests/cfail/race-1.rs
View file

@ -1,18 +1,18 @@
extern crate cortex_m_srp as srp;
extern crate cortex_m_rtfm as rtfm;
use srp::{C2, C4, P1, P3, Resource};
use rtfm::{C2, C4, P1, P3, Resource};
static R1: Resource<i32, C2> = Resource::new(0);
fn j1(prio: P1) {
R1.lock(&prio, |r1, _| {
// Would preempt this critical section
// srp::request(j2);
// rtfm::request(j2);
});
}
fn j2(prio: P3) {
srp::critical(|ceil| {
rtfm::critical(|ceil| {
let r1 = R1.borrow(&prio, &ceil);
//~^ error
});

6
tests/cfail/race-2.rs
View file

@ -1,6 +1,6 @@
extern crate cortex_m_srp as srp;
extern crate cortex_m_rtfm as rtfm;
use srp::{C2, C4, P1, P3, Resource};
use rtfm::{C2, C4, P1, P3, Resource};
static R1: Resource<i32, C2> = Resource::new(0);
static R2: Resource<i32, C4> = Resource::new(0);
@ -8,7 +8,7 @@ static R2: Resource<i32, C4> = Resource::new(0);
fn j1(prio: P1) {
R1.lock(&prio, |r1, _| {
// Would preempt this critical section
// srp::request(j2);
// rtfm::request(j2);
});
}

12
tests/cfail/tasks-p0.rs
View file

@ -1,13 +1,13 @@
// error-pattern: no associated item named `hw`
// error-pattern: type mismatch
#![feature(used)]
extern crate core;
extern crate cortex_m;
#[macro_use]
extern crate cortex_m_srp;
extern crate cortex_m_rtfm as rtfm;
use cortex_m_srp::{C16, P0, P1};
use rtfm::{C16, P0, P1};
use device::interrupt::Exti0;
/// Tasks can't have priority 0. Only idle has priority 0
@ -15,9 +15,11 @@ tasks!(device, {
j1: (Exti0, P0),
});
fn init(_: C16) {}
fn init(_: P0, _: &C16) {}
fn idle(_: P0) {}
fn idle(_: P0) -> ! {
loop {}
}
fn j1(_task: Exti0, _prio: P1) {}

10
tests/cfail/tasks-same-handler.rs
View file

@ -5,9 +5,9 @@
extern crate core;
extern crate cortex_m;
#[macro_use]
extern crate cortex_m_srp;
extern crate cortex_m_rtfm as rtfm;
use cortex_m_srp::{C16, P0, P1, P2};
use rtfm::{C16, P0, P1, P2};
use device::interrupt::Exti0;
// WRONG: Two tasks mapped to the same interrupt handler
@ -16,9 +16,11 @@ tasks!(device, {
j2: (Exti0, P2),
});
fn init(_: C16) {}
fn init(_: P0, _: &C16) {}
fn idle(_: P0) {}
fn idle(_: P0) -> ! {
loop {}
}
fn j1(_task: Exti0, _prio: P1) {}

12
tests/cfail/tasks-wrong-idle.rs
View file

@ -5,20 +5,22 @@
extern crate core;
extern crate cortex_m;
#[macro_use]
extern crate cortex_m_srp;
extern crate cortex_m_rtfm as rtfm;
use cortex_m_srp::{C16, P0, P1};
use device::interrupt::Exti0;
use rtfm::{C16, P0, P1};
/// Tasks can't have priority 0. Only idle has priority 0
tasks!(device, {
j1: (Exti0, P1),
});
fn init(_: C16) {}
fn init(_: P0, _: &C16) {}
// WRONG. `idle` must have signature `fn(P1)`
fn idle(_: P1) {}
// WRONG. `idle` must have signature `fn(P0) -> !`
fn idle(_: P1) -> ! {
loop {}
}
fn j1(_task: Exti0, _prio: P1) {}

12
tests/cfail/tasks-wrong-init.rs
View file

@ -5,19 +5,21 @@
extern crate core;
extern crate cortex_m;
#[macro_use]
extern crate cortex_m_srp;
extern crate cortex_m_rtfm as rtfm;
use cortex_m_srp::{C1, P0, P1};
use rtfm::{C1, P0, P1};
use device::interrupt::Exti0;
tasks!(device, {
j1: (Exti0, P1),
});
// WRONG. `init` must have signature `fn(P0, C16)`
fn init(_: P0, _: C1) {}
// WRONG. `init` must have signature `fn(P0, &C16)`
fn init(_: P0, _: &C1) {}
fn idle(_: P0) {}
fn idle(_: P0) -> ! {
loop {}
}
fn j1(_task: Exti0, _prio: P1) {}

8
tests/cfail/tasks-wrong-priority.rs
View file

@ -5,7 +5,7 @@
extern crate core;
extern crate cortex_m;
#[macro_use]
extern crate cortex_m_srp;
extern crate cortex_m_rtfm as rtfm;
use cortex_m_srp::{C16, P0, P1, P2};
use device::interrupt::Exti1;
@ -14,9 +14,11 @@ tasks!(device, {
j1: (Exti0, P1),
});
fn init(_: C16) {}
fn init(_: P0, _: &C16) {}
fn idle(_: P0) {}
fn idle(_: P0) -> ! {
loop {}
}
// Wrong priority token. Declared P1, got P2
fn j1(_task: Exti1, _prio: P1) {}

10
tests/cfail/tasks-wrong-task.rs
View file

@ -5,18 +5,20 @@
extern crate core;
extern crate cortex_m;
#[macro_use]
extern crate cortex_m_srp;
extern crate cortex_m_rtfm as rtfm;
use cortex_m_srp::{C16, P0, P1};
use cortex_mrtfm::{C16, P0, P1};
use device::interrupt::Exti1;
tasks!(device, {
j1: (Exti0, P1),
});
fn init(_: C16) {}
fn init(_: P0, _: &C16) {}
fn idle(_: P0) {}
fn idle(_: P0) -> ! {
loop {}
}
// Wrong task token. Declared Exti0, got Exti1
fn j1(_task: Exti1, _prio: P1) {}