esp32c3 support

rtic-common/CHANGELOG.md

@@ -13,4 +13,8 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ### Fixed
 
+## [v1.0.1]
+
+- `portable-atomic` used as a drop in replacement for `core::sync::atomic` in code and macros. `portable-atomic` imported with `default-features = false`, as we do not require CAS.
+
 ## [v1.0.0] - 2023-05-31

rtic-common/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rtic-common"
-version = "1.0.0"
+version = "1.0.1"
 
 edition = "2021"
 authors = [
@@ -18,6 +18,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 critical-section = "1"
+portable-atomic = { version = "1", default-features = false }
 
 [features]
 default = []

rtic-common/src/wait_queue.rs

@@ -3,9 +3,9 @@
 use core::marker::PhantomPinned;
 use core::pin::Pin;
 use core::ptr::null_mut;
-use core::sync::atomic::{AtomicBool, AtomicPtr, Ordering};
 use core::task::Waker;
 use critical_section as cs;
+use portable_atomic::{AtomicBool, AtomicPtr, Ordering};
 
 /// A helper definition of a wait queue.
 pub type WaitQueue = DoublyLinkedList<Waker>;

rtic-macros/CHANGELOG.md

@@ -7,6 +7,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## [Unreleased]
 
+### Added
+
+- Unstable ESP32-C3 support.
+
 ## [v2.0.1] - 2023-07-25
 
 ### Added

rtic-macros/Cargo.toml

@@ -33,9 +33,11 @@ default = []
 # list of supported codegen backends
 cortex-m-source-masking = []
 cortex-m-basepri = []
+riscv-esp32c3 = []
 # riscv-clic = []
 # riscv-ch32 = []
 
+
 # backend API test
 test-template = []
 

rtic-macros/src/codegen/async_dispatchers.rs

@@ -2,7 +2,7 @@ use crate::syntax::ast::App;
 use crate::{
     analyze::Analysis,
     codegen::{
-        bindings::{interrupt_entry, interrupt_exit},
+        bindings::{async_entry, interrupt_entry, interrupt_exit, handler_config},
         util,
     },
 };
@@ -67,14 +67,17 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
             let attribute = &interrupts.get(&level).expect("UNREACHABLE").1.attrs;
             let entry_stmts = interrupt_entry(app, analysis);
             let exit_stmts = interrupt_exit(app, analysis);
-
+            let async_entry_stmts = async_entry(app, analysis, dispatcher_name.clone());
+            let config = handler_config(app,analysis,dispatcher_name.clone());
             items.push(quote!(
                 #[allow(non_snake_case)]
                 #[doc = #doc]
                 #[no_mangle]
                 #(#attribute)*
+                #(#config)*
                 unsafe fn #dispatcher_name() {
                     #(#entry_stmts)*
+                    #(#async_entry_stmts)*
 
                     /// The priority of this interrupt handler
                     const PRIORITY: u8 = #level;

rtic-macros/src/codegen/bindings.rs

@@ -1,3 +1,11 @@
+#[cfg(not(any(
+    feature = "cortex-m-source-masking",
+    feature = "cortex-m-basepri",
+    feature = "test-template",
+    feature = "riscv-esp32c3"
+)))]
+compile_error!("No backend selected");
+
 #[cfg(any(feature = "cortex-m-source-masking", feature = "cortex-m-basepri"))]
 pub use cortex::*;
 
@@ -9,3 +17,9 @@ mod cortex;
 
 #[cfg(feature = "test-template")]
 mod template;
+
+#[cfg(feature = "riscv-esp32c3")]
+pub use esp32c3::*;
+
+#[cfg(feature = "riscv-esp32c3")]
+mod esp32c3;

rtic-macros/src/codegen/bindings/cortex.rs

@@ -3,7 +3,7 @@ use crate::{
     codegen::util,
     syntax::{analyze::Analysis as SyntaxAnalysis, ast::App},
 };
-use proc_macro2::TokenStream as TokenStream2;
+use proc_macro2::{Span, TokenStream as TokenStream2};
 use quote::quote;
 use std::collections::HashSet;
 use syn::{parse, Attribute, Ident};
@@ -29,6 +29,10 @@ fn is_exception(name: &Ident) -> bool {
             | "SysTick"
     )
 }
+pub fn interrupt_ident() -> Ident {
+    let span = Span::call_site();
+    Ident::new("interrupt", span)
+}
 
 #[cfg(feature = "cortex-m-source-masking")]
 mod source_masking {
@@ -323,6 +327,14 @@ pub fn interrupt_exit(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStrea
     vec![]
 }
 
+pub fn async_entry(
+    _app: &App,
+    _analysis: &CodegenAnalysis,
+    _dispatcher_name: Ident,
+) -> Vec<TokenStream2> {
+    vec![]
+}
+
 pub fn async_prio_limit(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
     let max = if let Some(max) = analysis.max_async_prio {
         quote!(#max)
@@ -338,3 +350,10 @@ pub fn async_prio_limit(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStrea
         static RTIC_ASYNC_MAX_LOGICAL_PRIO: u8 = #max;
     )]
 }
+pub fn handler_config(
+    _app: &App,
+    _analysis: &CodegenAnalysis,
+    _dispatcher_name: Ident,
+) -> Vec<TokenStream2> {
+    vec![]
+}

rtic-macros/src/codegen/bindings/esp32c3.rs

@@ -0,0 +1,213 @@
+#[cfg(feature = "riscv-esp32c3")]
+pub use esp32c3::*;
+
+#[cfg(feature = "riscv-esp32c3")]
+mod esp32c3 {
+    use crate::{
+        analyze::Analysis as CodegenAnalysis,
+        codegen::util,
+        syntax::{analyze::Analysis as SyntaxAnalysis, ast::App},
+    };
+    use proc_macro2::{Span, TokenStream as TokenStream2};
+    use quote::quote;
+    use std::collections::HashSet;
+    use syn::{parse, Attribute, Ident};
+
+    #[allow(clippy::too_many_arguments)]
+    pub fn impl_mutex(
+        _app: &App,
+        _analysis: &CodegenAnalysis,
+        cfgs: &[Attribute],
+        resources_prefix: bool,
+        name: &Ident,
+        ty: &TokenStream2,
+        ceiling: u8,
+        ptr: &TokenStream2,
+    ) -> TokenStream2 {
+        let path = if resources_prefix {
+            quote!(shared_resources::#name)
+        } else {
+            quote!(#name)
+        };
+        quote!(
+            #(#cfgs)*
+            impl<'a> rtic::Mutex for #path<'a> {
+                type T = #ty;
+
+                #[inline(always)]
+                fn lock<RTIC_INTERNAL_R>(&mut self, f: impl FnOnce(&mut #ty) -> RTIC_INTERNAL_R) -> RTIC_INTERNAL_R {
+                    /// Priority ceiling
+                    const CEILING: u8 = #ceiling;
+                    unsafe {
+                        rtic::export::lock(
+                            #ptr,
+                            CEILING,
+                            f,
+                        )
+                    }
+                }
+            }
+        )
+    }
+
+    pub fn interrupt_ident() -> Ident {
+        let span = Span::call_site();
+        Ident::new("Interrupt", span)
+    }
+
+    pub fn extra_assertions(_: &App, _: &SyntaxAnalysis) -> Vec<TokenStream2> {
+        vec![]
+    }
+
+    pub fn pre_init_checks(app: &App, _: &SyntaxAnalysis) -> Vec<TokenStream2> {
+        let mut stmts = vec![];
+        // check that all dispatchers exists in the `Interrupt` enumeration regardless of whether
+        // they are used or not
+        let rt_err = util::rt_err_ident();
+
+        for name in app.args.dispatchers.keys() {
+            stmts.push(quote!(let _ = #rt_err::Interrupt::#name;));
+        }
+        stmts
+    }
+    pub fn pre_init_enable_interrupts(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+        let mut stmts = vec![];
+        let mut curr_cpu_id:u8 = 1; //cpu interrupt id 0 is reserved
+        let rt_err = util::rt_err_ident();
+        let max_prio: usize = 15; //unfortunately this is not part of pac, but we know that max prio is 15.
+        let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
+        // Unmask interrupts and set their priorities
+        for (&priority, name) in interrupt_ids.chain(
+            app.hardware_tasks
+                .values()
+                .filter_map(|task| Some((&task.args.priority, &task.args.binds))),
+        ) {
+            let es = format!(
+                "Maximum priority used by interrupt vector '{name}' is more than supported by hardware"
+            );
+            // Compile time assert that this priority is supported by the device
+            stmts.push(quote!(
+                const _: () =  if (#max_prio) <= #priority as usize { ::core::panic!(#es); };
+            ));
+            stmts.push(quote!(
+                rtic::export::enable(
+                    #rt_err::Interrupt::#name,
+                    #priority,
+                    #curr_cpu_id,
+                );
+            ));
+            curr_cpu_id += 1;
+        }
+        stmts
+    }
+
+    pub fn architecture_specific_analysis(
+        app: &App,
+        _analysis: &SyntaxAnalysis,
+    ) -> parse::Result<()> {
+        //check if the dispatchers are supported
+        for name in app.args.dispatchers.keys() {
+            let name_s = name.to_string();
+            match &*name_s {
+                "FROM_CPU_INTR0" | "FROM_CPU_INTR1" | "FROM_CPU_INTR2" | "FROM_CPU_INTR3" => {}
+
+                _ => {
+                    return Err(parse::Error::new(
+                        name.span(),
+                        "Only FROM_CPU_INTRX are supported as dispatchers",
+                    ));
+                }
+            }
+        }
+
+        // Check that there are enough external interrupts to dispatch the software tasks and the timer
+        // queue handler
+        let mut first = None;
+        let priorities = app
+            .software_tasks
+            .iter()
+            .map(|(name, task)| {
+                first = Some(name);
+                task.args.priority
+            })
+            .filter(|prio| *prio > 0)
+            .collect::<HashSet<_>>();
+
+        let need = priorities.len();
+        let given = app.args.dispatchers.len();
+        if need > given {
+            let s = {
+                format!(
+                    "not enough interrupts to dispatch \
+                        all software tasks (need: {need}; given: {given})"
+                )
+            };
+
+            // If not enough tasks and first still is None, may cause
+            // "custom attribute panicked" due to unwrap on None
+            return Err(parse::Error::new(first.unwrap().span(), s));
+        }
+        Ok(())
+    }
+
+    pub fn interrupt_entry(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+        vec![]
+    }
+
+    pub fn interrupt_exit(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+        vec![]
+    }
+
+    pub fn async_entry(
+        _app: &App,
+        _analysis: &CodegenAnalysis,
+        dispatcher_name: Ident,
+    ) -> Vec<TokenStream2> {
+        let mut stmts = vec![];
+        stmts.push(quote!(
+            rtic::export::unpend(rtic::export::Interrupt::#dispatcher_name); //simulate cortex-m behavior by unpending the interrupt on entry.
+        ));
+        stmts
+    }
+
+    pub fn async_prio_limit(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+        let max = if let Some(max) = analysis.max_async_prio {
+            quote!(#max)
+        } else {
+            // No limit
+            let device = &app.args.device;
+            quote!(1 << #device::NVIC_PRIO_BITS)
+        };
+
+        vec![quote!(
+            /// Holds the maximum priority level for use by async HAL drivers.
+            #[no_mangle]
+            static RTIC_ASYNC_MAX_LOGICAL_PRIO: u8 = #max;
+        )]
+    }
+    pub fn handler_config(
+        app: &App,
+        analysis: &CodegenAnalysis,
+        dispatcher_name: Ident,
+    ) -> Vec<TokenStream2> {
+        let mut stmts = vec![];
+        let mut curr_cpu_id = 1;
+        //let mut ret = "";
+        let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
+        for (_, name) in interrupt_ids.chain(
+            app.hardware_tasks
+                .values()
+                .filter_map(|task| Some((&task.args.priority, &task.args.binds))),
+        ) {
+            if *name == dispatcher_name{
+                let ret = &("cpu_int_".to_owned()+&curr_cpu_id.to_string()+"_handler");
+                stmts.push(
+                    quote!(#[export_name = #ret])
+                );
+            }
+            curr_cpu_id += 1;
+        }
+
+        stmts
+    }
+}

rtic-macros/src/codegen/bindings/template.rs

@@ -43,6 +43,21 @@ pub fn interrupt_exit(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStrea
     vec![]
 }
 
-pub fn async_prio_limit(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+pub fn async_entry(
+    _app: &App,
+    _analysis: &CodegenAnalysis,
+    _dispatcher_name: Ident,
+) -> Vec<TokenStream2> {
+    vec![]
+}
+
+pub fn async_prio_limit(app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+    vec![]
+}
+pub fn handler_config(
+    _app: &App,
+    _analysis: &CodegenAnalysis,
+    dispatcher_name: Ident,
+) -> Vec<TokenStream2> {
     vec![]
 }

rtic-macros/src/codegen/hardware_tasks.rs

@@ -2,7 +2,7 @@ use crate::syntax::{ast::App, Context};
 use crate::{
     analyze::Analysis,
     codegen::{
-        bindings::{interrupt_entry, interrupt_exit},
+        bindings::{interrupt_entry, interrupt_exit, handler_config},
         local_resources_struct, module, shared_resources_struct,
     },
 };
@@ -22,12 +22,14 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
         let attrs = &task.attrs;
         let entry_stmts = interrupt_entry(app, analysis);
         let exit_stmts = interrupt_exit(app, analysis);
+        let config = handler_config(app, analysis, symbol.clone());
 
         mod_app.push(quote!(
             #[allow(non_snake_case)]
             #[no_mangle]
             #(#attrs)*
             #(#cfgs)*
+            #(#config)*
             unsafe fn #symbol() {
                 #(#entry_stmts)*
 

rtic-macros/src/codegen/util.rs

@@ -3,13 +3,11 @@ use core::sync::atomic::{AtomicUsize, Ordering};
 use proc_macro2::{Span, TokenStream as TokenStream2};
 use quote::quote;
 use syn::{Ident, PatType};
+//hook the target specific interrupt_ident function
+pub use super::bindings::interrupt_ident;
 
 const RTIC_INTERNAL: &str = "__rtic_internal";
 
-pub fn interrupt_ident() -> Ident {
-    let span = Span::call_site();
-    Ident::new("interrupt", span)
-}
 
 /// Mark a name as internal
 pub fn mark_internal_name(name: &str) -> Ident {

rtic-macros/src/lib.rs

@@ -13,7 +13,8 @@ macro_rules! with_backend {
         #[cfg(any(
             feature = "cortex-m-source-masking",
             feature = "cortex-m-basepri",
-            feature = "test-template"
+            feature = "test-template",
+            feature = "riscv-esp32c3"
         ))]
         $($tokens)*
     };
@@ -107,6 +108,7 @@ with_backend! {
 #[cfg(not(any(
     feature = "cortex-m-source-masking",
     feature = "cortex-m-basepri",
-    feature = "test-template"
+    feature = "test-template",
+    feature = "riscv-esp32c3"
 )))]
 compile_error!("Cannot compile. No backend feature selected.");

rtic-sync/CHANGELOG.md

@@ -3,7 +3,7 @@
 All notable changes to this project will be documented in this file.
 This project adheres to [Semantic Versioning](http://semver.org/).
 
-For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
+For each category, _Added_, _Changed_, _Fixed_ add new entries at the top!
 
 ## [Unreleased]
 
@@ -13,6 +13,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ### Fixed
 
+## [v1.0.3]
+
+- `portable-atomic` used as a drop in replacement for `core::sync::atomic` in code and macros. `portable-atomic` imported with `default-features = false`, as we do not require CAS.
+
 ## [v1.0.2] - 2023-08-29
 
 ### Fixed
@@ -25,6 +29,6 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 - `make_channel` could be UB
 
-## [v1.0.0] - 2023-05-31 - yanked 
+## [v1.0.0] - 2023-05-31 - yanked
 
 - Initial release

rtic-sync/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rtic-sync"
-version = "1.0.2"
+version = "1.0.3"
 
 edition = "2021"
 authors = [
@@ -20,6 +20,7 @@ license = "MIT OR Apache-2.0"
 heapless = "0.7"
 critical-section = "1"
 rtic-common = { version = "1.0.0", path = "../rtic-common" }
+portable-atomic = { version = "1", default-features = false }
 
 [dev-dependencies]
 tokio = { version = "1", features = ["rt", "macros", "time"] }

rtic-sync/src/arbiter.rs

@@ -27,8 +27,8 @@ use core::cell::UnsafeCell;
 use core::future::poll_fn;
 use core::ops::{Deref, DerefMut};
 use core::pin::Pin;
-use core::sync::atomic::{fence, AtomicBool, Ordering};
 use core::task::{Poll, Waker};
+use portable_atomic::{fence, AtomicBool, Ordering};
 
 use rtic_common::dropper::OnDrop;
 use rtic_common::wait_queue::{Link, WaitQueue};

rtic-sync/src/channel.rs

@@ -108,7 +108,7 @@ macro_rules! make_channel {
         static mut CHANNEL: $crate::channel::Channel<$type, $size> =
             $crate::channel::Channel::new();
 
-        static CHECK: ::core::sync::atomic::AtomicU8 = ::core::sync::atomic::AtomicU8::new(0);
+        static CHECK: $crate::portable_atomic::AtomicU8 = $crate::portable_atomic::AtomicU8::new(0);
 
         $crate::channel::critical_section::with(|_| {
             if CHECK.load(::core::sync::atomic::Ordering::Relaxed) != 0 {

rtic-sync/src/lib.rs

@@ -5,6 +5,7 @@
 
 pub mod arbiter;
 pub mod channel;
+pub use portable_atomic;
 
 #[cfg(test)]
 #[macro_use]

rtic/CHANGELOG.md

@@ -8,6 +8,7 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 ## [Unreleased]
 
 ### Added
+- Unstable support for ESP32-C3
 
 ### Fixed
 

rtic/Cargo.toml

@@ -31,6 +31,8 @@ features = ["rtic-macros/test-template"]
 name = "rtic"
 
 [dependencies]
+esp32c3 = { version = "0.17.0", optional = true}
+riscv = {version = "0.10.1", optional = true}
 cortex-m = { version = "0.7.0", optional = true }
 bare-metal = "1.0.0"
 #portable-atomic = { version = "0.3.19" }
@@ -62,14 +64,13 @@ trybuild = "1"
 
 [features]
 default = []
-
 thumbv6-backend = ["cortex-m", "rtic-macros/cortex-m-source-masking"]
 thumbv7-backend = ["cortex-m", "rtic-macros/cortex-m-basepri"]
 thumbv8base-backend = ["cortex-m", "rtic-macros/cortex-m-source-masking"]
 thumbv8main-backend = ["cortex-m", "rtic-macros/cortex-m-basepri"]
 # riscv-clic-backend = ["rtic-macros/riscv-clic"]
 # riscv-ch32-backend = ["rtic-macros/riscv-ch32"]
-# riscv-esp32c3-backend = ["rtic-macros/riscv-esp32c3"]
+riscv-esp32c3-backend = ["esp32c3", "riscv", "rtic-macros/riscv-esp32c3"]
 
 # needed for testing
 rtic-uitestv7 = ["thumbv7-backend"]

rtic/build.rs

@@ -11,8 +11,12 @@ fn main() {
         println!("cargo:rustc-cfg=feature=\"cortex-m-basepri\"");
     } else if target.starts_with("thumbv6m") | target.starts_with("thumbv8m.base") {
         println!("cargo:rustc-cfg=feature=\"cortex-m-source-masking\"");
+        //this should not be this general
+        //riscv processors differ in interrupt implementation
+        //even within the same target
+        //need some other way to discern
     } else if target.starts_with("riscv32i") {
-        panic!("No RISC-V support yet.");
+        println!("cargo:rustc-cfg=feature=\"riscv-esp32c3\"");
 
         // TODO: Add feature here for risc-v targets
         // println!("cargo:rustc-cfg=feature=\"riscv\"");

rtic/src/export.rs

@@ -4,56 +4,38 @@ pub use atomic_polyfill as atomic;
 
 pub mod executor;
 
-#[cfg(all(
-    feature = "cortex-m-basepri",
-    not(any(feature = "thumbv7-backend", feature = "thumbv8main-backend"))
-))]
-compile_error!(
-    "Building for Cortex-M with basepri, but 'thumbv7-backend' or 'thumbv8main-backend' backend not selected"
-);
+// Cortex-M target (any)
+#[cfg(feature = "cortex-m")]
+pub use cortex_common::*;
 
-#[cfg(all(
-    feature = "cortex-m-source-masking",
-    not(any(feature = "thumbv6-backend", feature = "thumbv8base-backend"))
-))]
-compile_error!(
-    "Building for Cortex-M with source masking, but 'thumbv6-backend' or 'thumbv8base-backend' backend not selected"
-);
+#[cfg(feature = "cortex-m")]
+mod cortex_common;
+
+// Cortex-M target with basepri support
+#[cfg(any(feature = "cortex-m-basepri", feature = "rtic-uitestv7"))]
+mod cortex_basepri;
 
 #[cfg(any(feature = "cortex-m-basepri", feature = "rtic-uitestv7"))]
 pub use cortex_basepri::*;
 
-#[cfg(any(feature = "cortex-m-basepri", feature = "rtic-uitestv7"))]
-mod cortex_basepri;
+// Cortex-M target with source mask support
+#[cfg(any(feature = "cortex-m-source-masking", feature = "rtic-uitestv6"))]
+mod cortex_source_mask;
 
 #[cfg(any(feature = "cortex-m-source-masking", feature = "rtic-uitestv6"))]
 pub use cortex_source_mask::*;
 
-#[cfg(any(feature = "cortex-m-source-masking", feature = "rtic-uitestv6"))]
-mod cortex_source_mask;
+// RISC-V target (any)
+#[cfg(feature = "riscv")]
+pub use riscv_common::*;
 
-#[cfg(feature = "cortex-m")]
-pub use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC};
+#[cfg(feature = "riscv")]
+mod riscv_common;
 
-/// Sets the given `interrupt` as pending
-///
-/// This is a convenience function around
-/// [`NVIC::pend`](../cortex_m/peripheral/struct.NVIC.html#method.pend)
-#[cfg(feature = "cortex-m")]
-pub fn pend<I>(interrupt: I)
-where
-    I: InterruptNumber,
-{
-    NVIC::pend(interrupt);
-}
-
-/// Priority conversion, takes logical priorities 1..=N and converts it to NVIC priority.
-#[cfg(feature = "cortex-m")]
-#[inline]
-#[must_use]
-pub const fn cortex_logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
-    ((1 << nvic_prio_bits) - logical) << (8 - nvic_prio_bits)
-}
+#[cfg(feature = "riscv-esp32c3")]
+mod riscv_esp32c3;
+#[cfg(feature = "riscv-esp32c3")]
+pub use riscv_esp32c3::*;
 
 #[inline(always)]
 pub fn assert_send<T>()

rtic/src/export/cortex_basepri.rs

@@ -8,6 +8,11 @@ pub use cortex_m::{
     Peripherals,
 };
 
+#[cfg(not(any(feature = "thumbv7-backend", feature = "thumbv8main-backend")))]
+compile_error!(
+    "Building for Cortex-M with basepri, but 'thumbv7-backend' or 'thumbv8main-backend' backend not selected"
+);
+
 #[inline(always)]
 pub fn run<F>(priority: u8, f: F)
 where

rtic/src/export/cortex_common.rs

@@ -0,0 +1,18 @@
+pub use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC};
+
+#[inline]
+#[must_use]
+pub const fn cortex_logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
+    ((1 << nvic_prio_bits) - logical) << (8 - nvic_prio_bits)
+}
+
+/// Sets the given `interrupt` as pending
+///
+/// This is a convenience function around
+/// [`NVIC::pend`](../cortex_m/peripheral/struct.NVIC.html#method.pend)
+pub fn pend<I>(interrupt: I)
+where
+    I: InterruptNumber,
+{
+    NVIC::pend(interrupt);
+}

rtic/src/export/cortex_source_mask.rs

@@ -6,6 +6,11 @@ pub use cortex_m::{
     Peripherals,
 };
 
+#[cfg(not(any(feature = "thumbv6-backend", feature = "thumbv8base-backend")))]
+compile_error!(
+    "Building for Cortex-M with source masking, but 'thumbv6-backend' or 'thumbv8base-backend' backend not selected"
+);
+
 /// Mask is used to store interrupt masks on systems without a BASEPRI register (M0, M0+, M23).
 /// It needs to be large enough to cover all the relevant interrupts in use.
 /// For M0/M0+ there are only 32 interrupts so we only need one u32 value.

rtic/src/export/riscv_common.rs

@@ -0,0 +1,2 @@
+/// GENERIC RE-EXPORTS: needed for all RTIC backends
+pub use riscv::interrupt;

rtic/src/export/riscv_esp32c3.rs

@@ -0,0 +1,164 @@
+use esp32c3::INTERRUPT_CORE0; //priority threshold control
+pub use esp32c3::{Interrupt, Peripherals};
+pub use riscv::{interrupt, register::mcause}; //low level interrupt enable/disable
+
+#[cfg(all(feature = "riscv-esp32c3", not(feature = "riscv-esp32c3-backend")))]
+compile_error!("Building for the esp32c3, but 'riscv-esp32c3-backend not selected'");
+
+#[inline(always)]
+pub fn run<F>(priority: u8, f: F)
+where
+    F: FnOnce(),
+{
+    if priority == 1 {
+        //if priority is 1, priority thresh should be 1
+        f();
+        unsafe {
+            (*INTERRUPT_CORE0::ptr())
+                .cpu_int_thresh
+                .write(|w| w.cpu_int_thresh().bits(1));
+        }
+    } else {
+        //read current thresh
+        let initial = unsafe {
+            (*INTERRUPT_CORE0::ptr())
+                .cpu_int_thresh
+                .read()
+                .cpu_int_thresh()
+                .bits()
+        };
+        f();
+        //write back old thresh
+        unsafe {
+            (*INTERRUPT_CORE0::ptr())
+                .cpu_int_thresh
+                .write(|w| w.cpu_int_thresh().bits(initial));
+        }
+    }
+}
+
+/// Lock implementation using threshold and global Critical Section (CS)
+///
+/// # Safety
+///
+/// The system ceiling is raised from current to ceiling
+/// by either
+/// - raising the threshold to the ceiling value, or
+/// - disable all interrupts in case we want to
+///   mask interrupts with maximum priority
+///
+/// Dereferencing a raw pointer inside CS
+///
+/// The priority.set/priority.get can safely be outside the CS
+/// as being a context local cell (not affected by preemptions).
+/// It is merely used in order to omit masking in case current
+/// priority is current priority >= ceiling.
+#[inline(always)]
+pub unsafe fn lock<T, R>(ptr: *mut T, ceiling: u8, f: impl FnOnce(&mut T) -> R) -> R {
+    if ceiling == (15) {
+        //turn off interrupts completely, were at max prio
+        let r = critical_section::with(|_| f(&mut *ptr));
+        r
+    } else {
+        let current = unsafe {
+            (*INTERRUPT_CORE0::ptr())
+                .cpu_int_thresh
+                .read()
+                .cpu_int_thresh()
+                .bits()
+        };
+
+        unsafe {
+            (*INTERRUPT_CORE0::ptr())
+                .cpu_int_thresh
+                .write(|w| w.cpu_int_thresh().bits(ceiling + 1))
+        } //esp32c3 lets interrupts with prio equal to threshold through so we up it by one
+        let r = f(&mut *ptr);
+        unsafe {
+            (*INTERRUPT_CORE0::ptr())
+                .cpu_int_thresh
+                .write(|w| w.cpu_int_thresh().bits(current))
+        }
+        r
+    }
+}
+
+/// Sets the given software interrupt as pending
+#[inline(always)]
+pub fn pend(int: Interrupt) {
+    unsafe {
+        let peripherals = Peripherals::steal();
+        match int {
+            Interrupt::FROM_CPU_INTR0 => peripherals
+                .SYSTEM
+                .cpu_intr_from_cpu_0
+                .write(|w| w.cpu_intr_from_cpu_0().bit(true)),
+            Interrupt::FROM_CPU_INTR1 => peripherals
+                .SYSTEM
+                .cpu_intr_from_cpu_1
+                .write(|w| w.cpu_intr_from_cpu_1().bit(true)),
+            Interrupt::FROM_CPU_INTR2 => peripherals
+                .SYSTEM
+                .cpu_intr_from_cpu_2
+                .write(|w| w.cpu_intr_from_cpu_2().bit(true)),
+            Interrupt::FROM_CPU_INTR3 => peripherals
+                .SYSTEM
+                .cpu_intr_from_cpu_3
+                .write(|w| w.cpu_intr_from_cpu_3().bit(true)),
+            _ => panic!("Unsupported software interrupt"), //should never happen, checked at compile time
+        }
+    }
+}
+
+// Sets the given software interrupt as not pending
+pub fn unpend(int: Interrupt) {
+    unsafe {
+        let peripherals = Peripherals::steal();
+        match int {
+            Interrupt::FROM_CPU_INTR0 => peripherals
+                .SYSTEM
+                .cpu_intr_from_cpu_0
+                .write(|w| w.cpu_intr_from_cpu_0().bit(false)),
+            Interrupt::FROM_CPU_INTR1 => peripherals
+                .SYSTEM
+                .cpu_intr_from_cpu_1
+                .write(|w| w.cpu_intr_from_cpu_1().bit(false)),
+            Interrupt::FROM_CPU_INTR2 => peripherals
+                .SYSTEM
+                .cpu_intr_from_cpu_2
+                .write(|w| w.cpu_intr_from_cpu_2().bit(false)),
+            Interrupt::FROM_CPU_INTR3 => peripherals
+                .SYSTEM
+                .cpu_intr_from_cpu_3
+                .write(|w| w.cpu_intr_from_cpu_3().bit(false)),
+            _ => panic!("Unsupported software interrupt"),
+        }
+    }
+}
+
+pub fn enable(int: Interrupt, prio: u8, cpu_int_id: u8) {
+    const INTERRUPT_MAP_BASE: u32 = 0x600c2000; //this isn't exposed properly in the PAC,
+                                                //should maybe figure out a workaround that
+                                                //doesnt involve raw pointers.
+                                                //Again, this is how they do it in the HAL
+                                                //but i'm really not a fan.
+    let interrupt_number = int as isize;
+    let cpu_interrupt_number = cpu_int_id as isize;
+
+    unsafe {
+        let intr_map_base = INTERRUPT_MAP_BASE as *mut u32;
+        intr_map_base
+            .offset(interrupt_number)
+            .write_volatile(cpu_interrupt_number as u32);
+        //map peripheral interrupt to CPU interrupt
+        (*INTERRUPT_CORE0::ptr())
+            .cpu_int_enable
+            .modify(|r, w| w.bits((1 << cpu_interrupt_number) | r.bits())); //enable the CPU interupt.
+        let intr = INTERRUPT_CORE0::ptr();
+        let intr_prio_base = (*intr).cpu_int_pri_0.as_ptr();
+
+        intr_prio_base
+            .offset(cpu_interrupt_number)
+            .write_volatile(prio as u32);
+    }
+}