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https://github.com/rtic-rs/rtic.git
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add debug assertions to lock and get
This commit is contained in:
Jorge Aparicio
parent
f3b73bcc12
commit
4c1b6c8293
1 changed files with 120 additions and 204 deletions
324
src/lib.rs
324
src/lib.rs
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@ -12,7 +12,7 @@ extern crate cortex_m;
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use cortex_m::ctxt::Context;
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use cortex_m::interrupt::CriticalSection;
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use cortex_m::peripheral::Peripheral;
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use cortex_m::peripheral::{Peripheral, NVIC, SCB};
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use cortex_m::register::{basepri, basepri_max};
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use core::cell::UnsafeCell;
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@ -23,6 +23,34 @@ use core::ptr;
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// considered when determining priorities.
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const PRIORITY_BITS: u8 = 4;
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/// Logical task priority
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unsafe fn task_priority() -> u8 {
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// NOTE(safe) atomic read
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let nr = match (*SCB.get()).icsr.read() as u8 {
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n if n >= 16 => n - 16,
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_ => panic!("not in a task"),
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};
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// NOTE(safe) atomic read
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hardware((*NVIC.get()).ipr[nr as usize].read())
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}
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#[cfg(debug_assertions)]
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unsafe fn lock_check(ceiling: u8) {
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let ceiling = hardware(ceiling);
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let task_priority = task_priority();
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if task_priority > ceiling {
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panic!(
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"bad ceiling value. task_priority = {}, resource_ceiling = {}",
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task_priority,
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ceiling,
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);
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}
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}
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#[cfg(not(debug_assertions))]
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unsafe fn lock_check(_ceiling: u8) {}
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// XXX Do we need memory / instruction / compiler barriers here?
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#[inline(always)]
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unsafe fn lock<T, R, C, F>(f: F, res: *const T, ceiling: u8) -> R
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@ -30,6 +58,7 @@ where
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C: Ceiling,
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F: FnOnce(&T, C) -> R,
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{
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lock_check(ceiling);
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let old_basepri = basepri::read();
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basepri_max::write(ceiling);
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let ret = f(&*res, ptr::read(0 as *const _));
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@ -44,6 +73,7 @@ where
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C: Ceiling,
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F: FnOnce(&mut T, C) -> R,
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{
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lock_check(ceiling);
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let old_basepri = basepri::read();
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basepri_max::write(ceiling);
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let ret = f(&mut *res, ptr::read(0 as *const _));
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@ -131,7 +161,7 @@ where
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F: FnOnce(&P, C) -> R,
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Ctxt: Context,
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{
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unsafe { lock(f, self.peripheral.get(), C::ceiling()) }
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unsafe { lock(f, self.peripheral.get(), C::hw_ceiling()) }
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}
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/// Mutably locks the resource, preventing tasks with priority lower than
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@ -141,7 +171,7 @@ where
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F: FnOnce(&mut P, C) -> R,
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Ctxt: Context,
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{
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unsafe { lock_mut(f, self.peripheral.get(), C::ceiling()) }
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unsafe { lock_mut(f, self.peripheral.get(), C::hw_ceiling()) }
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}
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}
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@ -229,9 +259,43 @@ where
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unsafe { &mut *self.data.get() }
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}
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/// Returns a mutable pointer to the wrapped value
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pub fn get(&self) -> *mut T {
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self.data.get()
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/// Returns a mutable reference to the wrapped value
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pub unsafe fn get(&self) -> &'static mut T {
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match () {
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#[cfg(debug_assertions)]
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() => {
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let task_priority = task_priority();
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let system_ceiling =
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hardware(cortex_m::register::basepri::read());
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let resource_ceiling = C::ceiling();
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if resource_ceiling < task_priority {
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panic!("bad ceiling value. task priority = {}, \
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resource ceiling = {}",
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task_priority,
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resource_ceiling);
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} else if resource_ceiling == task_priority {
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// OK: safe to access the resource without locking in the
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// task with highest priority
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} else if resource_ceiling <= system_ceiling {
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// OK: use within another resource critical section, where
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// the locked resource has higher or equal ceiling
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} else {
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panic!("racy access to resource. \
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task priority = {}, \
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resource ceiling = {}, \
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system ceiling = {}",
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task_priority,
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resource_ceiling,
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system_ceiling);
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}
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}
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#[cfg(not(debug_assertions))]
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() => {}
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}
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&mut *self.data.get()
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}
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/// Locks the resource, preventing tasks with priority lower than `Ceiling`
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@ -241,7 +305,7 @@ where
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F: FnOnce(&T, C) -> R,
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Ctxt: Context,
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{
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unsafe { lock(f, self.data.get(), C::ceiling()) }
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unsafe { lock(f, self.data.get(), C::hw_ceiling()) }
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}
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/// Mutably locks the resource, preventing tasks with priority lower than
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@ -251,7 +315,7 @@ where
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F: FnOnce(&mut T, C) -> R,
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Ctxt: Context,
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{
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unsafe { lock_mut(f, self.data.get(), C::ceiling()) }
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unsafe { lock_mut(f, self.data.get(), C::hw_ceiling()) }
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}
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}
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@ -278,6 +342,11 @@ impl<T> Resource<T, C0> {
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unsafe impl<T, Ceiling> Sync for Resource<T, Ceiling> {}
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/// Maps a hardware priority to a logical priority
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fn hardware(priority: u8) -> u8 {
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16 - (priority >> (8 - PRIORITY_BITS))
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}
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/// Turns a `logical` priority into a NVIC-style priority
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///
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/// With `logical` priorities, `2` has HIGHER priority than `1`.
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@ -298,86 +367,14 @@ pub struct C0 {
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_0: (),
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}
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/// Ceiling
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pub struct C1 {
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_0: (),
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}
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/// Ceiling
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pub struct C2 {
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_0: (),
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}
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/// Ceiling
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pub struct C3 {
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_0: (),
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}
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/// Ceiling
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pub struct C4 {
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_0: (),
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}
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/// Ceiling
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pub struct C5 {
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_0: (),
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}
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/// Ceiling
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pub struct C6 {
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_0: (),
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}
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/// Ceiling
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pub struct C7 {
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_0: (),
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}
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/// Ceiling
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pub struct C8 {
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_0: (),
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}
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/// Ceiling
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pub struct C9 {
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_0: (),
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}
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/// Ceiling
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pub struct C10 {
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_0: (),
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}
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/// Ceiling
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pub struct C11 {
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_0: (),
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}
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/// Ceiling
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pub struct C12 {
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_0: (),
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}
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/// Ceiling
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pub struct C13 {
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_0: (),
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}
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/// Ceiling
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pub struct C14 {
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_0: (),
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}
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/// Ceiling
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pub struct C15 {
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_0: (),
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}
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/// A real ceiling
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// XXX this should be a "closed" trait
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pub unsafe trait Ceiling {
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/// Returns the ceiling as a number
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/// Returns the logical ceiling as a number
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fn ceiling() -> u8;
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/// Returns the HW ceiling as a number
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fn hw_ceiling() -> u8;
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}
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/// Usable as a ceiling
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@ -388,6 +385,45 @@ pub unsafe trait CeilingLike {}
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// XXX this should be a "closed" trait
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pub unsafe trait HigherThan<C> {}
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macro_rules! ceiling {
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($ceiling:ident, $logical:expr) => {
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/// Ceiling
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pub struct $ceiling {
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_0: ()
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}
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unsafe impl CeilingLike for $ceiling {}
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unsafe impl Ceiling for $ceiling {
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#[inline(always)]
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fn ceiling() -> u8 {
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$logical
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}
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#[inline(always)]
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fn hw_ceiling() -> u8 {
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((1 << PRIORITY_BITS) - $logical) << (8 - PRIORITY_BITS)
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}
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}
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}
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}
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ceiling!(C1, 1);
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ceiling!(C2, 2);
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ceiling!(C3, 3);
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ceiling!(C4, 4);
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ceiling!(C5, 5);
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ceiling!(C6, 6);
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ceiling!(C7, 7);
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ceiling!(C8, 8);
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ceiling!(C9, 9);
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ceiling!(C10, 10);
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ceiling!(C11, 11);
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ceiling!(C12, 12);
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ceiling!(C13, 13);
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ceiling!(C14, 14);
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ceiling!(C15, 15);
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unsafe impl HigherThan<C1> for C2 {}
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unsafe impl HigherThan<C1> for C3 {}
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unsafe impl HigherThan<C1> for C4 {}
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@ -507,124 +543,4 @@ unsafe impl HigherThan<C13> for C15 {}
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unsafe impl HigherThan<C14> for C15 {}
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unsafe impl Ceiling for C1 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 1) << 4
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}
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}
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unsafe impl Ceiling for C2 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 2) << 4
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}
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}
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unsafe impl Ceiling for C3 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 3) << 4
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}
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}
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unsafe impl Ceiling for C4 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 4) << 4
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}
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}
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unsafe impl Ceiling for C5 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 5) << 4
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}
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}
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unsafe impl Ceiling for C6 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 6) << 4
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}
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}
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unsafe impl Ceiling for C7 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 7) << 4
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}
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}
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unsafe impl Ceiling for C8 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 8) << 4
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}
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}
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unsafe impl Ceiling for C9 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 9) << 4
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}
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}
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unsafe impl Ceiling for C10 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 10) << 4
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}
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}
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unsafe impl Ceiling for C11 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 11) << 4
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}
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}
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unsafe impl Ceiling for C12 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 12) << 4
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}
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}
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unsafe impl Ceiling for C13 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 13) << 4
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}
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}
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unsafe impl Ceiling for C14 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 14) << 4
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}
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}
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unsafe impl Ceiling for C15 {
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#[inline(always)]
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fn ceiling() -> u8 {
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((1 << 4) - 15) << 4
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}
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}
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unsafe impl CeilingLike for C0 {}
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unsafe impl CeilingLike for C1 {}
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unsafe impl CeilingLike for C2 {}
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unsafe impl CeilingLike for C3 {}
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unsafe impl CeilingLike for C4 {}
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unsafe impl CeilingLike for C5 {}
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unsafe impl CeilingLike for C6 {}
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unsafe impl CeilingLike for C7 {}
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unsafe impl CeilingLike for C8 {}
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unsafe impl CeilingLike for C9 {}
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unsafe impl CeilingLike for C10 {}
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unsafe impl CeilingLike for C11 {}
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unsafe impl CeilingLike for C12 {}
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unsafe impl CeilingLike for C13 {}
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unsafe impl CeilingLike for C14 {}
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unsafe impl CeilingLike for C15 {}
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