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|
use core::{
cell::Cell,
sync::atomic::{AtomicBool, Ordering},
};
pub use crate::tq::{NotReady, TimerQueue};
pub use bare_metal::CriticalSection;
#[cfg(armv7m)]
pub use cortex_m::register::basepri;
pub use cortex_m::{
asm::wfi,
interrupt,
peripheral::{scb::SystemHandler, syst::SystClkSource, DWT, NVIC},
Peripherals,
};
use heapless::spsc::SingleCore;
pub use heapless::{consts, i::Queue as iQueue, spsc::Queue};
pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap};
pub type SCFQ<N> = Queue<u8, N, u8, SingleCore>;
pub type SCRQ<T, N> = Queue<(T, u8), N, u8, SingleCore>;
#[cfg(armv7m)]
#[inline(always)]
pub fn run<F>(priority: u8, f: F)
where
F: FnOnce(),
{
if priority == 1 {
// If the priority of this interrupt is `1` then BASEPRI can only be `0`
f();
unsafe { basepri::write(0) }
} else {
let initial = basepri::read();
f();
unsafe { basepri::write(initial) }
}
}
#[cfg(not(armv7m))]
#[inline(always)]
pub fn run<F>(_priority: u8, f: F)
where
F: FnOnce(),
{
f();
}
pub struct Barrier {
inner: AtomicBool,
}
impl Barrier {
pub const fn new() -> Self {
Barrier {
inner: AtomicBool::new(false),
}
}
pub fn release(&self) {
self.inner.store(true, Ordering::Release)
}
pub fn wait(&self) {
while !self.inner.load(Ordering::Acquire) {}
}
}
// Newtype over `Cell` that forbids mutation through a shared reference
pub struct Priority {
inner: Cell<u8>,
}
impl Priority {
/// Create a new Priority
///
/// # Safety
///
/// Will overwrite the current Priority
#[inline(always)]
pub unsafe fn new(value: u8) -> Self {
Priority {
inner: Cell::new(value),
}
}
/// Change the current priority to `value`
// These two methods are used by `lock` (see below) but can't be used from the RTIC application
#[inline(always)]
fn set(&self, value: u8) {
self.inner.set(value)
}
/// Get the current priority
#[inline(always)]
fn get(&self) -> u8 {
self.inner.get()
}
}
#[inline(always)]
pub fn assert_send<T>()
where
T: Send,
{
}
#[inline(always)]
pub fn assert_sync<T>()
where
T: Sync,
{
}
/// Lock the resource proxy by setting the BASEPRI
/// and running the closure with interrupt::free
///
/// # Safety
///
/// Writing to the BASEPRI
/// Dereferencing a raw pointer
#[cfg(armv7m)]
#[inline(always)]
pub unsafe fn lock<T, R>(
ptr: *mut T,
priority: &Priority,
ceiling: u8,
nvic_prio_bits: u8,
f: impl FnOnce(&mut T) -> R,
) -> R {
let current = priority.get();
if current < ceiling {
if ceiling == (1 << nvic_prio_bits) {
priority.set(u8::max_value());
let r = interrupt::free(|_| f(&mut *ptr));
priority.set(current);
r
} else {
priority.set(ceiling);
basepri::write(logical2hw(ceiling, nvic_prio_bits));
let r = f(&mut *ptr);
basepri::write(logical2hw(current, nvic_prio_bits));
priority.set(current);
r
}
} else {
f(&mut *ptr)
}
}
/// Lock the resource proxy by setting the PRIMASK
/// and running the closure with interrupt::free
///
/// # Safety
///
/// Writing to the PRIMASK
/// Dereferencing a raw pointer
#[cfg(not(armv7m))]
#[inline(always)]
pub unsafe fn lock<T, R>(
ptr: *mut T,
priority: &Priority,
ceiling: u8,
_nvic_prio_bits: u8,
f: impl FnOnce(&mut T) -> R,
) -> R {
let current = priority.get();
if current < ceiling {
priority.set(u8::max_value());
let r = interrupt::free(|_| f(&mut *ptr));
priority.set(current);
r
} else {
f(&mut *ptr)
}
}
#[inline]
pub fn logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
((1 << nvic_prio_bits) - logical) << (8 - nvic_prio_bits)
}
|
