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Merge #723

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723: Fix monotonics race r=AfoHT a=korken89



Co-authored-by: Emil Fresk <emil.fresk@gmail.com>
This commit is contained in:
bors[bot] 2023-04-05 18:22:41 +00:00 committed by GitHub
commit 539d4b1674
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 20 additions and 4 deletions
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7
rtic-monotonics/src/nrf/rtc.rs
View file

@ -189,13 +189,18 @@ macro_rules! make_rtc {
// and the flag here. // and the flag here.
critical_section::with(|_| { critical_section::with(|_| {
let rtc = unsafe { &*$rtc::PTR }; let rtc = unsafe { &*$rtc::PTR };
let cnt = rtc.counter.read().bits() as u64; let cnt = rtc.counter.read().bits();
// OVERFLOW HAPPENS HERE race needs to be handled
let ovf = if Self::is_overflow() { let ovf = if Self::is_overflow() {
$overflow.load(Ordering::Relaxed) + 1 $overflow.load(Ordering::Relaxed) + 1
} else { } else {
$overflow.load(Ordering::Relaxed) $overflow.load(Ordering::Relaxed)
} as u64; } as u64;
// Check and fix if above race happened
let new_cnt = rtc.counter.read().bits();
let cnt = if new_cnt >= cnt { cnt } else { new_cnt } as u64;
Self::Instant::from_ticks((ovf << 24) | cnt) Self::Instant::from_ticks((ovf << 24) | cnt)
}) })
} }

17
rtic-monotonics/src/nrf/timer.rs
View file

@ -182,6 +182,12 @@ macro_rules! make_timer {
pub async fn delay_until(instant: <Self as Monotonic>::Instant) { pub async fn delay_until(instant: <Self as Monotonic>::Instant) {
$tq.delay_until(instant).await; $tq.delay_until(instant).await;
} }
#[inline(always)]
fn is_overflow() -> bool {
let timer = unsafe { &*$timer::PTR };
timer.events_compare[1].read().bits() & 1 != 0
}
} }
#[cfg(feature = "embedded-hal-async")] #[cfg(feature = "embedded-hal-async")]
@ -213,17 +219,22 @@ macro_rules! make_timer {
critical_section::with(|_| { critical_section::with(|_| {
let timer = unsafe { &*$timer::PTR }; let timer = unsafe { &*$timer::PTR };
timer.tasks_capture[2].write(|w| unsafe { w.bits(1) }); timer.tasks_capture[2].write(|w| unsafe { w.bits(1) });
let cnt = timer.cc[2].read().bits();
let unhandled_overflow = if timer.events_compare[1].read().bits() & 1 != 0 { let unhandled_overflow = if Self::is_overflow() {
// The overflow has not been handled yet, so add an extra to the read overflow. // The overflow has not been handled yet, so add an extra to the read overflow.
1 1
} else { } else {
0 0
}; };
timer.tasks_capture[2].write(|w| unsafe { w.bits(1) });
let new_cnt = timer.cc[2].read().bits();
let cnt = if new_cnt >= cnt { cnt } else { new_cnt } as u64;
Self::Instant::from_ticks( Self::Instant::from_ticks(
(unhandled_overflow + $overflow.load(Ordering::Relaxed) as u64) << 32 (unhandled_overflow + $overflow.load(Ordering::Relaxed) as u64) << 32
| timer.cc[2].read().bits() as u64, | cnt as u64,
) )
}) })
} }
@ -232,7 +243,7 @@ macro_rules! make_timer {
let timer = unsafe { &*$timer::PTR }; let timer = unsafe { &*$timer::PTR };
// If there is a compare match on channel 1, it is an overflow // If there is a compare match on channel 1, it is an overflow
if timer.events_compare[1].read().bits() & 1 != 0 { if Self::is_overflow() {
timer.events_compare[1].write(|w| w); timer.events_compare[1].write(|w| w);
$overflow.fetch_add(1, Ordering::SeqCst); $overflow.fetch_add(1, Ordering::SeqCst);
} }