Added interface for cancel/reschedule

Use wrapping add for marker

No need to store handle to queue

Remove unnecessary `SpawnHandle::new`

Fix test

Updated interface to follow proposal

src/cyccnt.rs

@@ -1,221 +0,0 @@
-//! Data Watchpoint Trace (DWT) unit's CYCle CouNTer (CYCCNT)
-
-use core::{
-    cmp::Ordering,
-    convert::{Infallible, TryInto},
-    fmt, ops,
-};
-
-use cortex_m::peripheral::DWT;
-
-use crate::Fraction;
-
-/// A measurement of the CYCCNT. Opaque and useful only with `Duration`
-///
-/// This data type is only available on ARMv7-M
-///
-/// # Correctness
-///
-/// Adding or subtracting a `Duration` of more than `(1 << 31)` cycles to an `Instant` effectively
-/// makes it "wrap around" and creates an incorrect value. This is also true if the operation is
-/// done in steps, e.g. `(instant + dur) + dur` where `dur` is `(1 << 30)` ticks.
-#[derive(Clone, Copy, Eq, PartialEq)]
-pub struct Instant {
-    inner: i32,
-}
-
-impl Instant {
-    /// Returns an instant corresponding to "now"
-    ///
-    /// *HEADS UP* this function can, and will, return nonsensical values if called within `init`.
-    /// Only use it in `idle` and tasks. In `init`, use the `init::Context.start` field, or the
-    /// `CYCCNT::zero` function, instead of this function
-    pub fn now() -> Self {
-        Instant {
-            inner: DWT::get_cycle_count() as i32,
-        }
-    }
-
-    /// Returns the amount of time elapsed since this instant was created.
-    pub fn elapsed(&self) -> Duration {
-        let diff = Instant::now().inner.wrapping_sub(self.inner);
-        assert!(diff >= 0, "instant now is earlier than self");
-        Duration { inner: diff as u32 }
-    }
-
-    /// Returns the amount of time elapsed from another instant to this one.
-    pub fn duration_since(&self, earlier: Instant) -> Duration {
-        let diff = self.inner.wrapping_sub(earlier.inner);
-        assert!(diff >= 0, "second instant is later than self");
-        Duration { inner: diff as u32 }
-    }
-}
-
-impl fmt::Debug for Instant {
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        f.debug_tuple("Instant")
-            .field(&(self.inner as u32))
-            .finish()
-    }
-}
-
-impl ops::AddAssign<Duration> for Instant {
-    fn add_assign(&mut self, dur: Duration) {
-        // NOTE this is a debug assertion because there's no foolproof way to detect a wrap around;
-        // the user may write `(instant + dur) + dur` where `dur` is `(1<<31)-1` ticks.
-        debug_assert!(dur.inner < (1 << 31));
-        self.inner = self.inner.wrapping_add(dur.inner as i32);
-    }
-}
-
-impl ops::Add<Duration> for Instant {
-    type Output = Self;
-
-    fn add(mut self, dur: Duration) -> Self {
-        self += dur;
-        self
-    }
-}
-
-impl ops::SubAssign<Duration> for Instant {
-    fn sub_assign(&mut self, dur: Duration) {
-        // NOTE see the NOTE in `<Instant as AddAssign<Duration>>::add_assign`
-        debug_assert!(dur.inner < (1 << 31));
-        self.inner = self.inner.wrapping_sub(dur.inner as i32);
-    }
-}
-
-impl ops::Sub<Duration> for Instant {
-    type Output = Self;
-
-    fn sub(mut self, dur: Duration) -> Self {
-        self -= dur;
-        self
-    }
-}
-
-impl ops::Sub<Instant> for Instant {
-    type Output = Duration;
-
-    fn sub(self, other: Instant) -> Duration {
-        self.duration_since(other)
-    }
-}
-
-impl Ord for Instant {
-    fn cmp(&self, rhs: &Self) -> Ordering {
-        self.inner.wrapping_sub(rhs.inner).cmp(&0)
-    }
-}
-
-impl PartialOrd for Instant {
-    fn partial_cmp(&self, rhs: &Self) -> Option<Ordering> {
-        Some(self.cmp(rhs))
-    }
-}
-
-/// A `Duration` type to represent a span of time.
-///
-/// This data type is only available on ARMv7-M
-///
-/// # Correctness
-///
-/// This type is *not* appropriate for representing time spans in the order of, or larger than,
-/// seconds because it can hold a maximum of `(1 << 31)` "ticks" where each tick is the inverse of
-/// the CPU frequency, which usually is dozens of MHz.
-#[derive(Clone, Copy, Default, Eq, Ord, PartialEq, PartialOrd)]
-pub struct Duration {
-    inner: u32,
-}
-
-impl Duration {
-    /// Creates a new `Duration` from the specified number of clock cycles
-    pub fn from_cycles(cycles: u32) -> Self {
-        Duration { inner: cycles }
-    }
-
-    /// Returns the total number of clock cycles contained by this `Duration`
-    pub fn as_cycles(&self) -> u32 {
-        self.inner
-    }
-}
-
-impl TryInto<u32> for Duration {
-    type Error = Infallible;
-
-    fn try_into(self) -> Result<u32, Infallible> {
-        Ok(self.as_cycles())
-    }
-}
-
-impl ops::AddAssign for Duration {
-    fn add_assign(&mut self, dur: Duration) {
-        self.inner += dur.inner;
-    }
-}
-
-impl ops::Add<Duration> for Duration {
-    type Output = Self;
-
-    fn add(self, other: Self) -> Self {
-        Duration {
-            inner: self.inner + other.inner,
-        }
-    }
-}
-
-impl ops::SubAssign for Duration {
-    fn sub_assign(&mut self, rhs: Duration) {
-        self.inner -= rhs.inner;
-    }
-}
-
-impl ops::Sub<Duration> for Duration {
-    type Output = Self;
-
-    fn sub(self, rhs: Self) -> Self {
-        Duration {
-            inner: self.inner - rhs.inner,
-        }
-    }
-}
-
-/// Adds the `cycles` method to the `u32` type
-///
-/// This trait is only available on ARMv7-M
-pub trait U32Ext {
-    /// Converts the `u32` value into clock cycles
-    fn cycles(self) -> Duration;
-}
-
-impl U32Ext for u32 {
-    fn cycles(self) -> Duration {
-        Duration { inner: self }
-    }
-}
-
-/// Implementation of the `Monotonic` trait based on CYCle CouNTer
-pub struct CYCCNT;
-
-impl crate::Monotonic for CYCCNT {
-    type Instant = Instant;
-
-    fn ratio() -> Fraction {
-        Fraction {
-            numerator: 1,
-            denominator: 1,
-        }
-    }
-
-    unsafe fn reset() {
-        (0xE0001004 as *mut u32).write_volatile(0)
-    }
-
-    fn now() -> Instant {
-        Instant::now()
-    }
-
-    fn zero() -> Instant {
-        Instant { inner: 0 }
-    }
-}

src/tq.rs

@@ -5,6 +5,15 @@ use crate::{
 use core::cmp::Ordering;
 use heapless::{binary_heap::Min, ArrayLength, BinaryHeap};
 
+#[inline]
+fn unwrapper<T, E>(val: Result<T, E>) -> T {
+    if let Ok(v) = val {
+        v
+    } else {
+        unreachable!("Your monotonic is not infallible")
+    }
+}
+
 pub struct TimerQueue<Mono, Task, N>(pub BinaryHeap<NotReady<Mono, Task>, N, Min>)
 where
     Mono: Monotonic,
@@ -66,15 +75,6 @@ where
         self.0.is_empty()
     }
 
-    #[inline]
-    fn unwrapper<T, E>(val: Result<T, E>) -> T {
-        if let Ok(v) = val {
-            v
-        } else {
-            unreachable!("Your monotonic is not infallible")
-        }
-    }
-
     /// Dequeue a task from the TimerQueue
     #[inline]
     pub fn dequeue<F>(&mut self, disable_interrupt: F, mono: &mut Mono) -> Option<(Task, u8)>
@@ -84,7 +84,7 @@ where
         mono.clear_compare_flag();
 
         if let Some(instant) = self.0.peek().map(|p| p.instant) {
-            if instant <= Self::unwrapper(Clock::try_now(mono)) {
+            if instant <= unwrapper(Clock::try_now(mono)) {
                 // task became ready
                 let nr = unsafe { self.0.pop_unchecked() };
 
@@ -97,7 +97,7 @@ where
                 // dequeue. If the monotonic is fast enough it can happen that from the
                 // read of now to the set of the compare, the time can overflow. This is to
                 // guard against this.
-                if instant <= Self::unwrapper(Clock::try_now(mono)) {
+                if instant <= unwrapper(Clock::try_now(mono)) {
                     let nr = unsafe { self.0.pop_unchecked() };
 
                     Some((nr.task, nr.index))
@@ -125,6 +125,7 @@ where
     pub index: u8,
     pub instant: Instant<Mono>,
     pub task: Task,
+    pub marker: u32,
 }
 
 impl<Mono, Task> Eq for NotReady<Mono, Task>