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wip3, examples lock3 and lock4 now express intended use, relation to Exclusive still not resolved

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This commit is contained in:
Per Lindgren 2020-06-13 01:21:22 +02:00
parent c360ffaad8
commit 7c504668da
5 changed files with 263 additions and 87 deletions
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176
Cargo.toml
View file

@ -1,111 +1,121 @@
[[example]]
name = 'baseline'
required-features = ['__v7']
[[example]]
name = 'periodic'
required-features = ['__v7']
[[example]]
name = 'pool'
required-features = ['__v7']
[[example]]
name = 'schedule'
required-features = ['__v7']
[[example]]
name = 't-cfg'
required-features = ['__v7']
[[example]]
name = 't-cfg-resources'
required-features = ['__min_r1_43']
[[example]]
name = 't-schedule'
required-features = ['__v7']
[[example]]
name = 'types'
required-features = ['__v7']
[package]
authors = [
"The Real-Time Interrupt-driven Concurrency developers",
"Jorge Aparicio <jorge@japaric.io>",
"Per Lindgren <per.lindgren@ltu.se>",
'The Real-Time Interrupt-driven Concurrency developers',
'Jorge Aparicio <jorge@japaric.io>',
'Per Lindgren <per.lindgren@ltu.se>',
]
categories = ["concurrency", "embedded", "no-std"]
description = "Real-Time Interrupt-driven Concurrency (RTIC): a concurrency framework for building real time systems"
documentation = "https://rtic.rs/"
edition = "2018"
keywords = ["arm", "cortex-m"]
license = "MIT OR Apache-2.0"
name = "cortex-m-rtic"
readme = "README.md"
repository = "https://github.com/rtic-rs/cortex-m-rtic"
version = "0.5.3"
categories = [
'concurrency',
'embedded',
'no-std',
]
description = 'Real-Time Interrupt-driven Concurrency (RTIC): a concurrency framework for building real time systems'
documentation = 'https://rtic.rs/'
edition = '2018'
keywords = [
'arm',
'cortex-m',
]
license = 'MIT OR Apache-2.0'
name = 'cortex-m-rtic'
readme = 'README.md'
repository = 'https://github.com/rtic-rs/cortex-m-rtic'
version = '0.5.3'
[lib]
name = "rtic"
[[example]]
name = "baseline"
required-features = ["__v7"]
[[example]]
name = "periodic"
required-features = ["__v7"]
[[example]]
name = "pool"
required-features = ["__v7"]
[[example]]
name = "schedule"
required-features = ["__v7"]
[[example]]
name = "t-cfg"
required-features = ["__v7"]
[[example]]
name = "t-cfg-resources"
required-features = ["__min_r1_43"]
[[example]]
name = "t-schedule"
required-features = ["__v7"]
[[example]]
name = "types"
required-features = ["__v7"]
name = 'rtic'
[patch.crates-io.rtic-core]
git = 'https://github.com/rtic-rs/rtic-core.git'
branch = 'immutable_resource_proxies'
[dependencies]
cortex-m = "0.6.2"
cortex-m-rtic-macros = { path = "macros", version = "0.5.0" }
rtic-core = "0.3.0"
cortex-m-rt = "0.6.9"
heapless = "0.5.0"
cortex-m = '0.6.2'
rtic-core = '0.3.0'
cortex-m-rt = '0.6.9'
heapless = '0.5.0'
[build-dependencies]
version_check = "0.9"
[dependencies.cortex-m-rtic-macros]
path = 'macros'
version = '0.5.0'
[dependencies.microamp]
optional = true
version = "0.1.0-alpha.2"
version = '0.1.0-alpha.2'
[build-dependencies]
version_check = '0.9'
[dev-dependencies]
lm3s6965 = "0.1.3"
panic-halt = "0.2.0"
cortex-m-semihosting = "0.3.3"
lm3s6965 = '0.1.3'
panic-halt = '0.2.0'
cortex-m-semihosting = '0.3.3'
[dev-dependencies.panic-semihosting]
features = ["exit"]
version = "0.5.2"
features = ['exit']
version = '0.5.2'
[target.x86_64-unknown-linux-gnu.dev-dependencies]
trybuild = "1"
trybuild = '1'
[features]
heterogeneous = ["cortex-m-rtic-macros/heterogeneous", "microamp"]
homogeneous = ["cortex-m-rtic-macros/homogeneous"]
# used for testing this crate; do not use in applications
__v7 =[]
__min_r1_43 =[]
heterogeneous = [
'cortex-m-rtic-macros/heterogeneous',
'microamp',
]
homogeneous = ['cortex-m-rtic-macros/homogeneous']
__v7 = []
__min_r1_43 = []
[profile.release]
codegen-units = 1
lto = true
[workspace]
members = [
"heterogeneous",
"homogeneous",
"macros",
]
# do not optimize proc-macro deps or build scripts
[profile.dev.build-override]
codegen-units = 16
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false
[profile.release.build-override]
codegen-units = 16
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false
[profile.dev.build-override]
codegen-units = 16
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false
[workspace]
members = [
'heterogeneous',
'homogeneous',
'macros',
]

63
examples/lock4.rs Normal file
View file

@ -0,0 +1,63 @@
//! examples/lock.rs
#![deny(unsafe_code)]
#![deny(warnings)]
#![no_main]
#![no_std]
use cortex_m_semihosting::{debug, hprintln};
use lm3s6965::Interrupt;
use panic_semihosting as _;
#[rtic::app(device = lm3s6965)]
const APP: () = {
struct Resources {
#[init(0)]
shared: u32,
}
#[init]
fn init(_: init::Context) {
rtic::pend(Interrupt::GPIOA);
}
// when omitted priority is assumed to be `1`
#[task(binds = GPIOA, resources = [shared])]
fn gpioa(c: gpioa::Context) {
hprintln!("A").unwrap();
// the lower priority task requires a critical section to access the data
c.resources.shared.lock(|shared| {
// data can only be modified within this critical section (closure)
*shared += 1;
// GPIOB will *not* run right now due to the critical section
rtic::pend(Interrupt::GPIOB);
hprintln!("B - shared = {}", *shared).unwrap();
c.resources.shared.lock(|_shared| {});
// GPIOC does not contend for `shared` so it's allowed to run now
rtic::pend(Interrupt::GPIOC);
});
// critical section is over: GPIOB can now start
hprintln!("E").unwrap();
debug::exit(debug::EXIT_SUCCESS);
}
#[task(binds = GPIOB, priority = 2, resources = [shared])]
fn gpiob(c: gpiob::Context) {
// the higher priority task does *not* need a critical section
*c.resources.shared += 1;
hprintln!("D - shared = {}", *c.resources.shared).unwrap();
}
#[task(binds = GPIOC, priority = 3)]
fn gpioc(_: gpioc::Context) {
hprintln!("C").unwrap();
}
};

107
expand_lock.rs
View file

@ -75,8 +75,8 @@ pub mod init {
}
}
mod resources {
use rtic::export::Priority;
use core::cell::Cell;
use rtic::export::Priority;
#[allow(non_camel_case_types)]
pub struct shared<'a> {
priority: &'a Priority,
@ -163,5 +163,108 @@ pub mod gpioc {
}
}
}
/// Implementation details
const APP: () = { # [ doc = r" Always include the device crate which contains the vector table" ] use lm3s6965 as _ ; # [ allow ( non_upper_case_globals ) ] static mut shared : u32 = 0 ; impl < 'a > rtic :: Mutex for resources :: shared < 'a > { type T = u32 ; # [ inline ( always ) ] fn lock < R > ( & mut self , f : impl FnOnce ( & mut u32 ) -> R ) -> R { # [ doc = r" Priority ceiling" ] const CEILING : u8 = 2u8 ; if self . get_locked ( ) { :: core :: panicking :: panic ( "Resource locked in sequential context" ) ; } ; self . set_locked ( true ) ; let r = unsafe { rtic :: export :: lock ( & mut shared , self . priority ( ) , CEILING , lm3s6965 :: NVIC_PRIO_BITS , f ) } ; self . set_locked ( false ) ; r } } # [ allow ( non_snake_case ) ] # [ no_mangle ] unsafe fn GPIOA ( ) { const PRIORITY : u8 = 1u8 ; rtic :: export :: run ( PRIORITY , | | { crate :: gpioa ( gpioa :: Context :: new ( & rtic :: export :: Priority :: new ( PRIORITY ) ) ) } ) ; } impl < 'a > gpioaResources < 'a > { # [ inline ( always ) ] unsafe fn new ( priority : & 'a rtic :: export :: Priority ) -> Self { gpioaResources { shared : resources :: shared :: new ( priority ) , } } } # [ allow ( non_snake_case ) ] # [ no_mangle ] unsafe fn GPIOB ( ) { const PRIORITY : u8 = 2u8 ; rtic :: export :: run ( PRIORITY , | | { crate :: gpiob ( gpiob :: Context :: new ( & rtic :: export :: Priority :: new ( PRIORITY ) ) ) } ) ; } impl < 'a > gpiobResources < 'a > { # [ inline ( always ) ] unsafe fn new ( priority : & 'a rtic :: export :: Priority ) -> Self { gpiobResources { shared : & mut shared , } } } # [ allow ( non_snake_case ) ] # [ no_mangle ] unsafe fn GPIOC ( ) { const PRIORITY : u8 = 3u8 ; rtic :: export :: run ( PRIORITY , | | { crate :: gpioc ( gpioc :: Context :: new ( & rtic :: export :: Priority :: new ( PRIORITY ) ) ) } ) ; } # [ no_mangle ] unsafe extern "C" fn main ( ) -> ! { let _TODO : ( ) = ( ) ; rtic :: export :: interrupt :: disable ( ) ; let mut core : rtic :: export :: Peripherals = core :: mem :: transmute ( ( ) ) ; let _ = [ ( ) ; ( ( 1 << lm3s6965 :: NVIC_PRIO_BITS ) - 1u8 as usize ) ] ; core . NVIC . set_priority ( lm3s6965 :: Interrupt :: GPIOA , rtic :: export :: logical2hw ( 1u8 , lm3s6965 :: NVIC_PRIO_BITS ) ) ; rtic :: export :: NVIC :: unmask ( lm3s6965 :: Interrupt :: GPIOA ) ; let _ = [ ( ) ; ( ( 1 << lm3s6965 :: NVIC_PRIO_BITS ) - 2u8 as usize ) ] ; core . NVIC . set_priority ( lm3s6965 :: Interrupt :: GPIOB , rtic :: export :: logical2hw ( 2u8 , lm3s6965 :: NVIC_PRIO_BITS ) ) ; rtic :: export :: NVIC :: unmask ( lm3s6965 :: Interrupt :: GPIOB ) ; let _ = [ ( ) ; ( ( 1 << lm3s6965 :: NVIC_PRIO_BITS ) - 3u8 as usize ) ] ; core . NVIC . set_priority ( lm3s6965 :: Interrupt :: GPIOC , rtic :: export :: logical2hw ( 3u8 , lm3s6965 :: NVIC_PRIO_BITS ) ) ; rtic :: export :: NVIC :: unmask ( lm3s6965 :: Interrupt :: GPIOC ) ; core . SCB . scr . modify ( | r | r | 1 << 1 ) ; let late = crate :: init ( init :: Context :: new ( core . into ( ) ) ) ; rtic :: export :: interrupt :: enable ( ) ; loop { rtic :: export :: wfi ( ) } } };
const APP: () = {
#[doc = r" Always include the device crate which contains the vector table"]
use lm3s6965 as _;
#[allow(non_upper_case_globals)]
static mut shared: u32 = 0;
impl<'a> rtic::Mutex for resources::shared<'a> {
type T = u32;
#[inline(always)]
fn lock<R>(&self, f: impl FnOnce(&mut u32) -> R) -> R {
#[doc = r" Priority ceiling"]
const CEILING: u8 = 2u8;
if unsafe { self.get_locked() } {
::core::panicking::panic("Resource locked in sequential context");
};
unsafe {
self.set_locked(true);
}
let r = unsafe {
rtic::export::lock(
&mut shared,
self.priority(),
CEILING,
lm3s6965::NVIC_PRIO_BITS,
f,
)
};
unsafe {
self.set_locked(false);
}
r
}
}
#[allow(non_snake_case)]
#[no_mangle]
unsafe fn GPIOA() {
const PRIORITY: u8 = 1u8;
rtic::export::run(PRIORITY, || {
crate::gpioa(gpioa::Context::new(&rtic::export::Priority::new(PRIORITY)))
});
}
impl<'a> gpioaResources<'a> {
#[inline(always)]
unsafe fn new(priority: &'a rtic::export::Priority) -> Self {
gpioaResources {
shared: resources::shared::new(priority),
}
}
}
#[allow(non_snake_case)]
#[no_mangle]
unsafe fn GPIOB() {
const PRIORITY: u8 = 2u8;
rtic::export::run(PRIORITY, || {
crate::gpiob(gpiob::Context::new(&rtic::export::Priority::new(PRIORITY)))
});
}
impl<'a> gpiobResources<'a> {
#[inline(always)]
unsafe fn new(priority: &'a rtic::export::Priority) -> Self {
gpiobResources {
shared: &mut shared,
}
}
}
#[allow(non_snake_case)]
#[no_mangle]
unsafe fn GPIOC() {
const PRIORITY: u8 = 3u8;
rtic::export::run(PRIORITY, || {
crate::gpioc(gpioc::Context::new(&rtic::export::Priority::new(PRIORITY)))
});
}
#[no_mangle]
unsafe extern "C" fn main() -> ! {
let _TODO: () = ();
rtic::export::interrupt::disable();
let mut core: rtic::export::Peripherals = core::mem::transmute(());
let _ = [(); ((1 << lm3s6965::NVIC_PRIO_BITS) - 1u8 as usize)];
core.NVIC.set_priority(
lm3s6965::Interrupt::GPIOA,
rtic::export::logical2hw(1u8, lm3s6965::NVIC_PRIO_BITS),
);
rtic::export::NVIC::unmask(lm3s6965::Interrupt::GPIOA);
let _ = [(); ((1 << lm3s6965::NVIC_PRIO_BITS) - 2u8 as usize)];
core.NVIC.set_priority(
lm3s6965::Interrupt::GPIOB,
rtic::export::logical2hw(2u8, lm3s6965::NVIC_PRIO_BITS),
);
rtic::export::NVIC::unmask(lm3s6965::Interrupt::GPIOB);
let _ = [(); ((1 << lm3s6965::NVIC_PRIO_BITS) - 3u8 as usize)];
core.NVIC.set_priority(
lm3s6965::Interrupt::GPIOC,
rtic::export::logical2hw(3u8, lm3s6965::NVIC_PRIO_BITS),
);
rtic::export::NVIC::unmask(lm3s6965::Interrupt::GPIOC);
core.SCB.scr.modify(|r| r | 1 << 1);
let late = crate::init(init::Context::new(core.into()));
rtic::export::interrupt::enable();
loop {
rtic::export::wfi()
}
}
};

2
macros/src/codegen/util.rs
View file

@ -72,7 +72,7 @@ pub fn impl_mutex(
impl<'a> rtic::Mutex for #path<'a> {
type T = #ty;
#[inline(always)]
fn lock<R>(&mut self, f: impl FnOnce(&mut #ty) -> R) -> R {
fn lock<R>(&self, f: impl FnOnce(&mut #ty) -> R) -> R {
/// Priority ceiling
const CEILING: u8 = #ceiling;

2
src/lib.rs
View file

@ -51,7 +51,7 @@ use cortex_m::{
#[cfg(all(not(feature = "heterogeneous"), not(feature = "homogeneous")))]
use cortex_m_rt as _; // vector table
pub use cortex_m_rtic_macros::app;
pub use rtic_core::{Exclusive, Mutex};
pub use rtic_core::Mutex;
#[cfg(armv7m)]
pub mod cyccnt;