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replace the ceiling token with a preemption threshold token

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This commit is contained in:
Jorge Aparicio 2017-05-08 12:05:42 -05:00
parent 2063697c62
commit fc4cb7d472
18 changed files with 260 additions and 216 deletions
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2
Cargo.toml
View file

@ -17,7 +17,7 @@ quote = "0.3.15"
syn = "0.11.10"
[dependencies]
cortex-m = "0.2.4"
cortex-m = "0.2.5"
static-ref = "0.1.0"
typenum = "1.7.0"

39
build.rs
View file

@ -39,16 +39,25 @@ fn main() {
},
);
// Ceilings
// Ceilings and thresholds
for i in 0..(1 << bits) + 1 {
let c = Ident::new(format!("C{}", i));
let t = Ident::new(format!("T{}", i));
let u = Ident::new(format!("U{}", i));
let doc = format!("A ceiling of {}", i);
tokens.push(
quote! {
#[doc = #doc]
pub type #c = C<::typenum::#u>;
pub type #c = Ceiling<::typenum::#u>;
},
);
let doc = format!("A preemption threshold of {}", i);
tokens.push(
quote! {
#[doc = #doc]
pub type #t = Threshold<::typenum::#u>;
},
);
}
@ -58,23 +67,21 @@ fn main() {
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!(
let doc = format!(
"A priority of {}{}",
i,
if i == (1 << bits) {
if i == 0 {
", the lowest priority"
} else if i == (1 << bits) {
", the highest priority"
} else {
""
}
)
};
);
tokens.push(
quote! {
#[doc = #doc]
pub type #p = P<::typenum::#u>;
pub type #p = Priority<::typenum::#u>;
},
);
}
@ -99,13 +106,21 @@ fn main() {
let u = Ident::new(format!("U{}", (1 << bits)));
let c = Ident::new(format!("C{}", (1 << bits)));
let p = Ident::new(format!("P{}", (1 << bits)));
let t = Ident::new(format!("T{}", (1 << bits)));
tokens.push(
quote! {
/// Maximum ceiling
pub type CMAX = #c;
pub type CMax = #c;
/// Maximum priority
pub type PMax = #p;
/// Maximum preemption threshold
pub type TMax = #t;
/// Maximum priority level
pub type UMAX = ::typenum::#u;
pub type UMax = ::typenum::#u;
},
);

211
src/lib.rs
View file

@ -14,17 +14,18 @@
//! # Features
//!
//! - **Event triggered tasks** as the unit of concurrency.
//! - Supports prioritization of tasks and, thus, **preemptive multitasking**.
//! - Support for prioritization of tasks and, thus, **preemptive
//! multitasking**.
//! - **Efficient and data race free memory sharing** through fine grained *non
//! global* critical sections.
//! - **Deadlock free execution**, guaranteed at compile time.
//! - **Minimal scheduling overhead** as the scheduler has no "software
//! component"; the hardware does all the scheduling.
//! - **Highly efficient memory usage**. All the tasks share the call stack and
//! there's no hard dependency on a dynamic allocator.
//! - **Highly efficient memory usage**. All the tasks share a single call stack
//! and there's no hard dependency on a dynamic memory allocator.
//! - **All Cortex M3, M4 and M7 devices are fully supported**. M0(+) is
//! partially supported as the whole API is not available (due to missing
//! hardware features).
//! partially supported as the whole API is not available due to missing
//! hardware features.
//! - The number of task 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
@ -76,18 +77,18 @@
//! // device crate generated using svd2rust
//! extern crate stm32f30x;
//!
//! use rtfm::{C0, C16, P0};
//! use rtfm::{P0, T0, TMax};
//!
//! // TASKS (None in this example)
//! tasks!(stm32f30x, {});
//!
//! // INITIALIZATION PHASE
//! fn init(_priority: P0, _ceiling: &C16) {
//! fn init(_priority: P0, _threshold: &TMax) {
//! hprintln!("INIT");
//! }
//!
//! // IDLE LOOP
//! fn idle(_priority: P0, _ceiling: C0) -> ! {
//! fn idle(_priority: P0, _threshold: T0) -> ! {
//! hprintln!("IDLE");
//!
//! // Sleep
@ -112,7 +113,8 @@
//!
//! - `idle`, a never ending function that runs after `init`.
//!
//! Note that both `init` and `idle` have priority 0, the lowest priority.
//! Both `init` and `idle` have a priority of 0, the lowest priority. In RTFM,
//! a higher priority value means more urgent.
//!
//! # One task
//!
@ -127,16 +129,16 @@
//! extern crate stm32f30x;
//!
//! use stm32f30x::interrupt::Tim7;
//! use rtfm::{C0, C1, C16, Local, P0, P1};
//! use rtfm::{Local, P0, P1, T0, T1, TMax};
//!
//! // INITIALIZATION PHASE
//! fn init(_priority: P0, _ceiling: &C16) {
//! fn init(_priority: P0, _threshold: &TMax) {
//! // Configure TIM7 for periodic interrupts
//! // Configure GPIO for LED driving
//! }
//!
//! // IDLE LOOP
//! fn idle(_priority: P0, _ceiling: C0) -> ! {
//! fn idle(_priority: P0, _threshold: T0) -> ! {
//! // Sleep
//! loop {
//! rtfm::wfi();
@ -152,7 +154,7 @@
//! },
//! });
//!
//! fn periodic(mut task: Tim7, _priority: P1, _ceiling: C1) {
//! fn periodic(mut task: Tim7, _priority: P1, _threshold: T1) {
//! // Task local data
//! static STATE: Local<bool, Tim7> = Local::new(false);
//!
@ -196,9 +198,7 @@
//! use core::cell::Cell;
//!
//! use stm32f30x::interrupt::{Tim6Dacunder, Tim7};
//! use rtfm::{C0, C1, C16, P0, P1, Resource};
//!
//! // omitted: `idle`, `init`
//! use rtfm::{C1, P0, P1, Resource, T0, T1, TMax};
//!
//! tasks!(stm32f30x, {
//! t1: Task {
@ -216,25 +216,25 @@
//! // Data shared between tasks `t1` and `t2`
//! static COUNTER: Resource<Cell<u32>, C1> = Resource::new(Cell::new(0));
//!
//! fn init(priority: P0, ceiling: &C16) {
//! fn init(priority: P0, threshold: &TMax) {
//! // ..
//! }
//!
//! fn idle(priority: P0, ceiling: C0) -> ! {
//! fn idle(priority: P0, threshold: T0) -> ! {
//! // Sleep
//! loop {
//! rtfm::wfi();
//! }
//! }
//!
//! fn t1(_task: Tim6Dacunder, priority: P1, ceiling: C1) {
//! let counter = COUNTER.access(&priority, &ceiling);
//! fn t1(_task: Tim6Dacunder, priority: P1, threshold: T1) {
//! let counter = COUNTER.access(&priority, &threshold);
//!
//! counter.set(counter.get() + 1);
//! }
//!
//! fn t2(_task: Tim7, priority: P1, ceiling: C1) {
//! let counter = COUNTER.access(&priority, &ceiling);
//! fn t2(_task: Tim7, priority: P1, threshold: T1) {
//! let counter = COUNTER.access(&priority, &threshold);
//!
//! counter.set(counter.get() + 2);
//! }
@ -272,7 +272,7 @@
//! use core::cell::Cell;
//!
//! use stm32f30x::interrupt::{Tim6Dacunder, Tim7};
//! use rtfm::{C0, C1, C16, C2, P0, P1, P2, Resource};
//! use rtfm::{C2, P0, P1, P2, Resource, T0, T1, T2, TMax};
//!
//! tasks!(stm32f30x, {
//! t1: Task {
@ -289,23 +289,23 @@
//!
//! static COUNTER: Resource<Cell<u32>, C2> = Resource::new(Cell::new(0));
//!
//! fn init(priority: P0, ceiling: &C16) {
//! fn init(priority: P0, threshold: &TMax) {
//! // ..
//! }
//!
//! fn idle(priority: P0, ceiling: C0) -> ! {
//! fn idle(priority: P0, threshold: T0) -> ! {
//! // Sleep
//! loop {
//! rtfm::wfi();
//! }
//! }
//!
//! fn t1(_task: Tim6Dacunder, priority: P1, ceiling: C1) {
//! fn t1(_task: Tim6Dacunder, priority: P1, threshold: T1) {
//! // ..
//!
//! ceiling.raise(
//! &COUNTER, |ceiling: &C2| {
//! let counter = COUNTER.access(&priority, ceiling);
//! threshold.raise(
//! &COUNTER, |threshold: &T2| {
//! let counter = COUNTER.access(&priority, threshold);
//!
//! counter.set(counter.get() + 1);
//! }
@ -314,8 +314,8 @@
//! // ..
//! }
//!
//! fn t2(_task: Tim7, priority: P2, ceiling: C2) {
//! let counter = COUNTER.access(&priority, &ceiling);
//! fn t2(_task: Tim7, priority: P2, threshold: T2) {
//! let counter = COUNTER.access(&priority, &threshold);
//!
//! counter.set(counter.get() + 2);
//! }
@ -328,9 +328,10 @@
//!
//! 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 by [`raise`](./struct.C.html#method.raise)-ing the `ceiling`.
//! This creates a critical section, denoted by a closure; for whose execution,
//! `COUNTER` is accessible but `t2` is blocked from preempting `t1`.
//! accomplished by [`raise`](./struct.C.html#method.raise)-ing the preemption
//! `threshold`. This creates a critical section, denoted by a closure; for
//! whose execution, `COUNTER` is accessible while `t2` is prevented 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`.
@ -339,11 +340,12 @@
//! required because the ceiling must be the maximum between `P1` and `P2`.
//!
//! Finally, it should be noted that the critical section in `t1` 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. Note that a task with
//! e.g. a priority of 3 (`P3`) effectively imposes a ceiling of 3 (`C3`)
//! because only other task with a priority of 4 or greater can preempt it.
//! block tasks with a priority of 2 or lower. This is exactly what the
//! preemption threshold represents: it's the "bar" that a task priority must
//! pass in order to be able to preempt the current task / critical section.
//! Note that a task with a priority of e.g. 3 (`P3`) effectively imposes a
//! threshold of 3 (`C3`) because only a task with a priority of 4 or greater
//! can preempt it.
//!
//! # Peripherals as resources
//!
@ -357,7 +359,7 @@
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f30x;
//!
//! use rtfm::{C0, C16, P0, Peripheral};
//! use rtfm::{P0, Peripheral, T0, TMax};
//!
//! peripherals!(stm32f30x, {
//! GPIOA: Peripheral {
@ -372,14 +374,14 @@
//!
//! tasks!(stm32f30x, {});
//!
//! fn init(priority: P0, ceiling: &C16) {
//! let gpioa = GPIOA.access(&priority, &ceiling);
//! let rcc = RCC.access(&priority, &ceiling);
//! fn init(priority: P0, threshold: &TMax) {
//! let gpioa = GPIOA.access(&priority, threshold);
//! let rcc = RCC.access(&priority, threshold);
//!
//! // ..
//! }
//!
//! fn idle(_priority: P0) -> ! {
//! fn idle(_priority: P0, _threshold: T0) -> ! {
//! // Sleep
//! loop {
//! rtfm::wfi();
@ -491,10 +493,10 @@ pub struct Resource<T, C> {
data: UnsafeCell<T>,
}
impl<T, RC> Resource<T, C<RC>>
impl<T, RC> Resource<T, Ceiling<RC>>
where
RC: GreaterThanOrEqual<U0>,
RC: LessThanOrEqual<UMAX>,
RC: LessThanOrEqual<UMax>,
{
/// Creates a new resource
pub const fn new(data: T) -> Self {
@ -505,7 +507,7 @@ where
}
}
impl<T, RC> Resource<T, C<RC>> {
impl<T, RC> Resource<T, Ceiling<RC>> {
/// Grants data race free and deadlock free access to the resource data
///
/// This operation is zero cost and doesn't impose any additional blocking.
@ -516,16 +518,16 @@ impl<T, RC> Resource<T, C<RC>> {
///
/// - The resource ceiling must be greater than or equal to the task
/// priority
/// - The system ceiling must be greater than or equal to the resource
/// - The preemption threshold must be greater than or equal to the resource
/// ceiling
pub fn access<'cs, TP, SC>(
pub fn access<'cs, TP, PT>(
&'static self,
_priority: &P<TP>,
_current_ceiling: &'cs C<SC>,
_task_priority: &Priority<TP>,
_preemption_threshold: &'cs Threshold<PT>,
) -> Ref<'cs, T>
where
RC: GreaterThanOrEqual<TP>,
SC: GreaterThanOrEqual<RC>,
PT: GreaterThanOrEqual<RC>,
{
unsafe { Ref::new(&*self.data.get()) }
}
@ -545,10 +547,10 @@ where
_ceiling: PhantomData<PC>,
}
impl<P, CEILING> Peripheral<P, C<CEILING>>
impl<P, PC> Peripheral<P, Ceiling<PC>>
where
CEILING: GreaterThanOrEqual<U0>,
CEILING: LessThanOrEqual<UMAX>,
PC: GreaterThanOrEqual<U0>,
PC: LessThanOrEqual<UMax>,
{
#[doc(hidden)]
pub const unsafe fn _new(peripheral: cortex_m::peripheral::Peripheral<P>,)
@ -560,16 +562,16 @@ where
}
}
impl<Periph, RC> Peripheral<Periph, C<RC>> {
impl<Periph, PC> Peripheral<Periph, Ceiling<PC>> {
/// See [Resource.access](./struct.Resource.html#method.access)
pub fn access<'cs, TP, SC>(
pub fn access<'cs, TP, PT>(
&'static self,
_priority: &P<TP>,
_system_ceiling: &'cs C<SC>,
_task_priority: &Priority<TP>,
_preemption_threshold: &'cs Threshold<PT>,
) -> Ref<'cs, Periph>
where
RC: GreaterThanOrEqual<TP>,
SC: GreaterThanOrEqual<RC>,
PC: GreaterThanOrEqual<TP>,
PT: GreaterThanOrEqual<PC>,
{
unsafe { Ref::new(&*self.peripheral.get()) }
}
@ -582,17 +584,17 @@ unsafe impl<T, C> Sync for Peripheral<T, C> {}
/// No task can preempt the execution of the closure
pub fn atomic<R, F>(f: F) -> R
where
F: FnOnce(&CMAX) -> R,
F: FnOnce(&TMax) -> R,
{
let primask = ::cortex_m::register::primask::read();
::cortex_m::interrupt::disable();
let r = f(&C { _marker: PhantomData });
let r = f(&Threshold { _marker: PhantomData });
// If the interrupts were active before our `disable` call, then re-enable
// them. Otherwise, keep them disabled
if primask.is_active() {
::cortex_m::interrupt::enable();
unsafe { ::cortex_m::interrupt::enable() }
}
r
@ -601,7 +603,7 @@ where
/// Disables a `task`
///
/// The task won't run even if the underlying interrupt is raised
pub fn disable<T, TP>(_task: fn(T, P<TP>, C<TP>))
pub fn disable<T, N>(_task: fn(T, Priority<N>, Threshold<N>))
where
T: Context + Nr,
{
@ -613,7 +615,7 @@ where
}
/// Enables a `task`
pub fn enable<T, TP>(_task: fn(T, P<TP>, C<TP>))
pub fn enable<T, N>(_task: fn(T, Priority<N>, Threshold<N>))
where
T: Context + Nr,
{
@ -644,7 +646,7 @@ pub fn logical2hw(logical: u8) -> u8 {
}
/// Requests the execution of a `task`
pub fn request<T, TP>(_task: fn(T, P<TP>, C<TP>))
pub fn request<T, N>(_task: fn(T, Priority<N>, Threshold<N>))
where
T: Context + Nr,
{
@ -671,31 +673,36 @@ where
}
#[doc(hidden)]
pub fn _validate_priority<TP>(_: &P<TP>)
pub fn _validate_priority<TP>(_: &Priority<TP>)
where
TP: Cmp<U0, Output = Greater> + LessThanOrEqual<UMAX>,
TP: Cmp<U0, Output = Greater> + LessThanOrEqual<UMax>,
{
}
/// A type-level ceiling
pub struct C<T> {
/// Resource ceiling
pub struct Ceiling<N> {
_marker: PhantomData<N>,
}
/// Preemption threshold
pub struct Threshold<T> {
_marker: PhantomData<T>,
}
impl<SC> C<SC> {
/// Raises the system ceiling to match the `resource` ceiling
impl<PT> Threshold<PT> {
/// Raises the preemption threshold to match the `resource` ceiling
#[cfg(not(thumbv6m))]
pub fn raise<RC, RES, R, F>(&self, _resource: &'static RES, f: F) -> R
where
RES: ResourceLike<Ceiling = RC>,
RC: Cmp<SC, Output = Greater> + Cmp<UMAX, Output = Less> + Unsigned,
F: FnOnce(&C<RC>) -> R,
RC: Cmp<PT, Output = Greater> + Cmp<UMax, Output = Less> + Unsigned,
F: FnOnce(&Threshold<RC>) -> R,
{
unsafe {
let old_basepri = basepri::read();
basepri_max::write(logical2hw(RC::to_u8()));
barrier!();
let ret = f(&C { _marker: PhantomData });
let ret = f(&Threshold { _marker: PhantomData });
barrier!();
basepri::write(old_basepri);
ret
@ -703,12 +710,12 @@ impl<SC> C<SC> {
}
}
/// A type-level priority
pub struct P<T> {
_marker: PhantomData<T>,
/// Priority
pub struct Priority<N> {
_marker: PhantomData<N>,
}
impl<T> P<T>
impl<T> Priority<T>
where
T: Unsigned,
{
@ -726,11 +733,11 @@ pub unsafe trait ResourceLike {
type Ceiling;
}
unsafe impl<P, RC> ResourceLike for Peripheral<P, C<RC>> {
type Ceiling = RC;
unsafe impl<P, PC> ResourceLike for Peripheral<P, Ceiling<PC>> {
type Ceiling = PC;
}
unsafe impl<T, RC> ResourceLike for Resource<T, C<RC>> {
unsafe impl<T, RC> ResourceLike for Resource<T, Ceiling<RC>> {
type Ceiling = RC;
}
@ -798,18 +805,22 @@ macro_rules! peripherals {
/// The `$Interrupt` handlers are defined in the `$device` crate.
///
/// Apart from defining the listed `$tasks`, the `init` and `idle` functions
/// must be defined as well. `init` has signature `fn(P0, &C16)`, and `idle` has
/// signature `fn(P0) -> !`.
/// must be defined as well. `init` has signature `fn(P0, &TMax)`, and `idle`
/// has signature `fn(P0) -> !`.
///
/// # Example
///
/// ``` ignore
/// #[feature(used)]
/// #[no_std]
///
/// extern crate cortex_m_rt;
/// #[macro_use]
/// extern crate cortex_m_rtfm as rtfm;
/// // device crate generated using `svd2rust`
/// extern crate stm32f30x;
///
/// use rtfm::{C16, P0, P1, P2};
/// use rtfm::{P0, P1, P2, T0, T1, T2, TMax};
/// use stm32f30x::interrupt::{Exti0, Tim7};
///
/// tasks!(stm32f30x, {
@ -825,11 +836,11 @@ macro_rules! peripherals {
/// },
/// });
///
/// fn init(priority: P0, ceiling: C16) {
/// fn init(priority: P0, threshold: &TMax) {
/// // ..
/// }
///
/// fn idle(priority: P0) -> ! {
/// fn idle(priority: P0, threshold: T0) -> ! {
/// // Sleep
/// loop {
/// rtfm::wfi();
@ -837,11 +848,11 @@ macro_rules! peripherals {
/// }
///
/// // NOTE signature must match the tasks! declaration
/// fn periodic(task: Tim7, priority: P1) {
/// fn periodic(task: Tim7, priority: P1, threshold: T1) {
/// // ..
/// }
///
/// fn button(task: Exti0, priority: P2) {
/// fn button(task: Exti0, priority: P2, threshold: T2) {
/// // ..
/// }
/// ```
@ -855,22 +866,22 @@ macro_rules! tasks {
},)*
}) => {
fn main() {
$crate::atomic(|cmax| {
fn validate_signature(_: fn($crate::P0, &$crate::CMAX)) {}
$crate::atomic(|t_max| {
fn validate_signature(_: fn($crate::P0, &$crate::TMax)) {}
validate_signature(init);
let p0 = unsafe { ::core::mem::transmute::<_, P0>(()) };
init(p0, cmax);
init(p0, t_max);
set_priorities();
enable_tasks();
});
fn validate_signature(_: fn($crate::P0, $crate::C0) -> !) {}
fn validate_signature(_: fn($crate::P0, $crate::T0) -> !) {}
validate_signature(idle);
let p0 = unsafe { ::core::mem::transmute::<_, P0>(()) };
let c0 = unsafe { ::core::mem::transmute::<_, C0>(()) };
idle(p0, c0);
let t0 = unsafe { ::core::mem::transmute::<_, T0>(()) };
idle(p0, t0);
fn set_priorities() {
// NOTE(safe) this function runs in an interrupt free context
@ -914,17 +925,17 @@ macro_rules! tasks {
) {
fn validate_signature<N>(
_: fn(::$device::interrupt::$Interrupt,
$crate::P<N>,
$crate::C<N>)) {}
$crate::Priority<N>,
$crate::Threshold<N>)) {}
validate_signature(::$task);
let p = unsafe {
::core::mem::transmute::<_, $crate::$P>(())
};
let c = unsafe {
let t = unsafe {
::core::mem::transmute(())
};
$crate::_validate_priority(&p);
::$task(task, p, c)
::$task(task, p, t)
}
$task

30
tests/cfail/access.rs
View file

@ -1,6 +1,6 @@
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C1, C2, C3, C4, C5, P2, Resource};
use rtfm::{C1, C2, C3, C4, C5, P2, Resource, T2};
static R1: Resource<i32, C4> = Resource::new(0);
static R2: Resource<i32, C3> = Resource::new(0);
@ -9,27 +9,27 @@ static R4: Resource<i32, C5> = Resource::new(0);
static R5: Resource<i32, C1> = Resource::new(0);
static R6: Resource<i32, C2> = Resource::new(0);
fn j1(prio: P2, ceil: C2) {
ceil.raise(
&R1, |ceil| {
// NOTE SC = System Ceiling, P = task Priority
fn j1(prio: P2, thr: T2) {
thr.raise(
&R1, |thr| {
// NOTE PT = Preemption Threshold, TP = Task Priority
// CAN access a resource with ceiling RC when SC > RC
let r2 = R2.access(&prio, ceil);
// CAN access a resource with ceiling RC when PT > RC
let r2 = R2.access(&prio, thr);
// CAN access a resource with ceiling RC when SC == RC
let r3 = R3.access(&prio, ceil);
// CAN access a resource with ceiling RC when PT == RC
let r3 = R3.access(&prio, thr);
// CAN'T access a resource with ceiling RC when SC < RC
let r4 = R4.access(&prio, ceil);
// CAN'T access a resource with ceiling RC when PT < RC
let r4 = R4.access(&prio, thr);
//~^ error
// CAN'T access a resource with ceiling RC when RC < P
let r5 = R5.access(&prio, ceil);
// CAN'T access a resource with ceiling RC when RC < TP
let r5 = R5.access(&prio, thr);
//~^ error
// CAN access a resource with ceiling RC when RC == P
let r6 = R6.access(&prio, ceil);
// CAN access a resource with ceiling RC when RC == tP
let r6 = R6.access(&prio, thr);
}
);
}

12
tests/cfail/ceiling.rs
View file

@ -1,19 +1,19 @@
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C2, C3, P0, P2, Resource};
use rtfm::{C2, C3, P0, P2, Resource, T2};
static R1: Resource<(), C3> = Resource::new(());
fn j1(prio: P2, ceil: C2) {
let c3 = ceil.raise(
&R1, |ceil| {
fn j1(prio: P2, thr: T2) {
let t3 = thr.raise(
&R1, |thr| {
// forbidden: ceiling token can't outlive the critical section
ceil //~ error
thr //~ error
}
);
// Would be bad: lockless access to a resource with ceiling = 3
let r2 = R1.access(&prio, c3);
let r2 = R1.access(&prio, t3);
}
fn j2(prio: P0) {

34
tests/cfail/lock.rs
View file

@ -1,42 +1,36 @@
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C16, C1, C2, C3, P1, P16, P2, P3, Resource};
use rtfm::{CMax, C2, P1, P2, P3, PMax, Resource, T1, T2, T3, TMax};
static R1: Resource<i32, C2> = Resource::new(0);
// You CAN'T use `raise` to lower the system ceiling
fn j1(prio: P3, ceil: C3) {
ceil.raise(&R1, |ceil| {});
//~^ error
}
// You don't need to raise the ceiling to access a resource with ceiling equal
// to the task priority.
fn j2(prio: P2, ceil: C2) {
ceil.raise(&R1, |_| {});
fn j1(prio: P2, thr: T2) {
thr.raise(&R1, |_| {});
//~^ error
// OK
let r1 = R1.access(&prio, &ceil);
let r1 = R1.access(&prio, &thr);
}
// You CAN access a resource with ceiling C from a task with priority P if C > P
// and you raise the ceiling first
fn j3(prio: P1, ceil: C1) {
// if you raise the preemption threshold first
fn j2(prio: P1, thr: T1) {
// OK
ceil.raise(&R1, |ceil| { let r1 = R1.access(&prio, ceil); })
thr.raise(&R1, |thr| { let r1 = R1.access(&prio, thr); })
}
static R2: Resource<i32, C16> = Resource::new(0);
static R2: Resource<i32, CMax> = Resource::new(0);
// Tasks with priority less than P16 can't access a resource with ceiling C16
fn j4(prio: P1, ceil: C1) {
ceil.raise(&R2, |ceil| {});
// Tasks with priority less than P16 can't access a resource with ceiling CMax
fn j4(prio: P1, thr: T1) {
thr.raise(&R2, |thr| {});
//~^ error
}
// Only tasks with priority P16 can access a resource with ceiling C16
fn j5(prio: P16, ceil: C16) {
// Only tasks with priority P16 can directly access a resource with ceiling CMax
fn j5(prio: PMax, thr: TMax) {
// OK
let r2 = R2.access(&prio, &ceil);
let r2 = R2.access(&prio, &thr);
}

6
tests/cfail/peripherals-alias-1.rs
View file

@ -5,7 +5,7 @@
#[macro_use]
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C16, P0, P1};
use rtfm::{P0, P1, T0, TMax};
use device::interrupt::Exti0;
peripherals!(device, {
@ -22,9 +22,9 @@ peripherals!(device, {
tasks!(device, {});
fn init(_: P0, _: &C16) {}
fn init(_: P0, _: &TMax) {}
fn idle(_: P0) -> ! {
fn idle(_: P0, _: T0) -> ! {
loop {}
}

6
tests/cfail/peripherals-alias-2.rs
View file

@ -6,7 +6,7 @@
#[macro_use]
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C0, C16, P0, P1};
use rtfm::{P0, P1, T0, TMax};
use device::interrupt::Exti0;
peripherals!(device, {
@ -28,9 +28,9 @@ mod foo {
tasks!(device, {});
fn init(_: P0, _: &C16) {}
fn init(_: P0, _: &TMax) {}
fn idle(_: P0, _: C0) -> ! {
fn idle(_: P0, _: T0) -> ! {
loop {}
}

18
tests/cfail/race-1.rs
View file

@ -1,13 +1,13 @@
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C1, C2, C3, C4, P1, P3, Resource};
use rtfm::{C2, P1, P3, Resource, T1, T3};
static R1: Resource<i32, C2> = Resource::new(0);
fn j1(prio: P1, ceil: C1) {
ceil.raise(
&R1, |ceil| {
let r1 = R1.access(&prio, ceil);
fn j1(prio: P1, thr: T1) {
thr.raise(
&R1, |thr| {
let r1 = R1.access(&prio, thr);
// `j2` preempts this critical section
rtfm::request(j2);
@ -15,12 +15,12 @@ fn j1(prio: P1, ceil: C1) {
);
}
fn j2(_task: Task, prio: P3, ceil: C3) {
fn j2(_task: Task, prio: P3, thr: T3) {
rtfm::atomic(
|ceil| {
// OK C2 (R1's ceiling) <= C16 (system ceiling)
|thr| {
// OK C2 (R1's ceiling) <= T16 (preemption threshold)
// BAD C2 (R1's ceiling) < P3 (j2's priority)
let r1 = R1.access(&prio, &ceil);
let r1 = R1.access(&prio, &thr);
//~^ error
},
);

20
tests/cfail/race-2.rs
View file

@ -1,14 +1,14 @@
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C1, C2, C3, C4, P1, P3, Resource};
use rtfm::{C2, C4, P1, P3, Resource, T1, T3};
static R1: Resource<i32, C2> = Resource::new(0);
static R2: Resource<i32, C4> = Resource::new(0);
fn j1(prio: P1, ceil: C1) {
ceil.raise(
&R1, |ceil| {
let r1 = R1.access(&prio, ceil);
fn j1(prio: P1, thr: T1) {
thr.raise(
&R1, |thr| {
let r1 = R1.access(&prio, thr);
// `j2` preempts this critical section
rtfm::request(j2);
@ -16,12 +16,12 @@ fn j1(prio: P1, ceil: C1) {
);
}
fn j2(_task: Task, prio: P3, ceil: C3) {
ceil.raise(
&R2, |ceil| {
// OK C2 (R1's ceiling) <= C4 (system ceiling)
fn j2(_task: Task, prio: P3, thr: T3) {
thr.raise(
&R2, |thr| {
// OK C2 (R1's ceiling) <= T4 (preemption threshold)
// BAD C2 (R1's ceiling) < P3 (j2's priority)
let r1 = R1.access(&prio, ceil);
let r1 = R1.access(&prio, thr);
//~^ error
}
);

24
tests/cfail/raise.rs Normal file
View file

@ -0,0 +1,24 @@
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C2, CMax, P1, P3, Resource, T1, T3};
static R1: Resource<i32, C2> = Resource::new(0);
// You CAN'T use `raise` to lower the preemption level
fn j1(prio: P3, thr: T3) {
thr.raise(&R1, |thr| {});
//~^ error
}
static R2: Resource<i32, CMax> = Resource::new(0);
// You CAN'T `raise` the preemption level to the maximum
fn j2(prio: P1, thr: T1) {
thr.raise(&R2, |thr| {});
//~^ error
// Instead use `rtfm::atomic` to access a resource with ceiling C16
rtfm::atomic(|thr| {
let r2 = R2.access(&prio, thr);
});
}

8
tests/cfail/tasks-p0.rs
View file

@ -5,7 +5,7 @@
#[macro_use]
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C0, C1, C16, P0, P1};
use rtfm::{P0, P1, T0, T1, TMax};
use device::interrupt::Exti0;
// WRONG: Tasks can't have a priority of 0.
@ -18,13 +18,13 @@ tasks!(device, {
},
});
fn init(_: P0, _: &C16) {}
fn init(_: P0, _: &TMax) {}
fn idle(_: P0, _: C0) -> ! {
fn idle(_: P0, _: T0) -> ! {
loop {}
}
fn j1(_task: Exti0, _prio: P1, _ceil: C1) {}
fn j1(_task: Exti0, _prio: P1, _thr: T1) {}
// fake device crate
extern crate core;

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

@ -5,7 +5,7 @@
#[macro_use]
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C0, C1, C16, C2, P0, P1, P2};
use rtfm::{P0, P1, P2, T0, T1, T2, TMax};
use device::interrupt::{Exti0, Exti1};
// WRONG: Two tasks mapped to the same interrupt handler
@ -22,15 +22,15 @@ tasks!(device, {
},
});
fn init(_: P0, _: &C16) {}
fn init(_: P0, _: &TMax) {}
fn idle(_: P0, _: C0) -> ! {
fn idle(_: P0, _: T0) -> ! {
loop {}
}
fn j1(_task: Exti0, _prio: P1, _ceil: C1) {}
fn j1(_task: Exti0, _prio: P1, _thr: T1) {}
fn j2(_task: Exti0, _prio: P2, _ceil: C2) {}
fn j2(_task: Exti0, _prio: P2, _thr: T2) {}
// fake device crate
extern crate core;

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

@ -6,7 +6,7 @@
extern crate cortex_m_rtfm as rtfm;
use device::interrupt::Exti0;
use rtfm::{C0, C1, C16, P0, P1};
use rtfm::{P0, P1, T0, T1, TMax};
tasks!(device, {
j1: Task {
@ -16,12 +16,12 @@ tasks!(device, {
},
});
fn init(_: P0, _: &C16) {}
fn init(_: P0, _: &TMax) {}
// WRONG. `idle` must have signature `fn(P0, C0) -> !`
fn idle(_: P0, _: C0) {}
fn idle(_: P0, _: T0) {}
fn j1(_task: Exti0, _prio: P1, _ceil: C1) {}
fn j1(_task: Exti0, _prio: P1, _thr: T1) {}
// fake device crate
extern crate core;

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

@ -5,7 +5,7 @@
#[macro_use]
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C0, C1, C16, P0, P1};
use rtfm::{P0, P1, T0, T1, TMax};
use device::interrupt::Exti0;
tasks!(device, {
@ -16,14 +16,14 @@ tasks!(device, {
},
});
// WRONG. `init` must have signature `fn(P0, &C16)`
fn init(_: P0, _: &C1) {}
// WRONG. `init` must have signature `fn(P0, &TMax)`
fn init(_: P0, _: &T1) {}
fn idle(_: P0, _: C0) -> ! {
fn idle(_: P0, _: T0) -> ! {
loop {}
}
fn j1(_task: Exti0, _prio: P1, _ceil: C1) {}
fn j1(_task: Exti0, _prio: P1, _thr: T1) {}
// fake device crate
extern crate core;

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

@ -6,7 +6,7 @@
extern crate cortex_m_rtfm as rtfm;
use device::interrupt::Exti0;
use rtfm::{C0, C1, C16, C2, P0, P1, P2};
use rtfm::{P0, P1, P2, T0, T1, T2, TMax};
tasks!(device, {
j1: Task {
@ -16,14 +16,14 @@ tasks!(device, {
},
});
fn init(_: P0, _: &C16) {}
fn init(_: P0, _: &TMax) {}
fn idle(_: P0, _: C0) -> ! {
fn idle(_: P0, _: T0) -> ! {
loop {}
}
// Wrong priority token. Declared P1, got P2
fn j1(_task: Exti0, _prio: P2, _ceil: C2) {}
fn j1(_task: Exti0, _prio: P2, _thr: T2) {}
// fake device crate
extern crate core;

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

@ -6,7 +6,7 @@
extern crate cortex_m_rtfm as rtfm;
use device::interrupt::{Exti0, Exti1};
use rtfm::{C0, C1, C16, P0, P1};
use rtfm::{P0, P1, T0, T1, TMax};
tasks!(device, {
j1: Task {
@ -16,14 +16,14 @@ tasks!(device, {
},
});
fn init(_: P0, _: &C16) {}
fn init(_: P0, _: &TMax) {}
fn idle(_: P0, _: C0) -> ! {
fn idle(_: P0, _: T0) -> ! {
loop {}
}
// Wrong task token. Declared Exti0, got Exti1
fn j1(_task: Exti1, _prio: P1, _ceil: C1) {}
fn j1(_task: Exti1, _prio: P1, _thr: T1) {}
// fake device crate
extern crate core;

10
tests/cfail/tasks-wrong-ceiling.rs → tests/cfail/tasks-wrong-threshold.rs
View file

@ -5,7 +5,7 @@
#[macro_use]
extern crate cortex_m_rtfm as rtfm;
use rtfm::{C0, C1, C16, C2, P0, P1};
use rtfm::{C2, P0, P1, T0, T2, TMax};
use device::interrupt::Exti0;
tasks!(device, {
@ -16,14 +16,14 @@ tasks!(device, {
},
});
fn init(_: P0, _: &C16) {}
fn init(_: P0, _: &TMax) {}
fn idle(_: P0, _: C0) -> ! {
fn idle(_: P0, _: T0) -> ! {
loop {}
}
// Wrong ceiling token. `prio` and `ceil` must match in levels
fn j1(_task: Exti0, _prio: P1, _ceil: C2) {}
// Wrong ceiling token. `prio` and `thr` must match in levels
fn j1(_task: Exti0, _prio: P1, _thr: T2) {}
// fake device crate
extern crate core;