Remove use of basepri register on thumbv8m.base

The basepri register appears to be aviable on thumbv8m.main but not
thumbv8m.base. At the very least, attempting to compile against a
Cortex-M23 based Microchip ATSAML10E16A generates an error:

```
error[E0432]: unresolved import `cortex_m::register::basepri`
  --> /Users/dwatson/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rtic-1.1.3/src/export.rs:25:5
   |
25 | use cortex_m::register::basepri;
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^ no `basepri` in `register`
```

This is an attempt to account for the fact that thumbv8m.base (M23)
MCUs don't have the BASEPRI register but have more than 32
interrupts. This moves away from the architecture specific config
flags and switches to a more functional flag.

Make the mask size depend on the max interrupt id

Rather than assuming a fixed interrupt count of 32 this code uses an
array of u32 bitmasks to calculate the priority mask. The size of this
array is calculated at compile time based on the size of the largest
interrupt id being used in the target code. For thumbv6m this should
be equivalent to the previous version that used a single u32 mask. For
thumbv8m.base it will be larger depending on the interrupts used.

Don't write 0s to the ISER and ICER registers

Writing 0s to these registers is a no-op. Since these masks should be
calculated at compile time, this conditional should result in writes
being optimized out of the code.

Prevent panic on non-arm targets

Panicking on unknown targets was breaking things like the doc build on
linux. This change should only panic when building on unknown arm
targets.

CHANGELOG.md

@@ -11,6 +11,8 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ### Fixed
 
+- Distinguish between thumbv8m.base and thumbv8m.main for basepri usage.
+
 ### Changed
 
 ## [v1.1.3] - 2022-06-23

build.rs

@@ -7,15 +7,21 @@ fn main() {
         println!("cargo:rustc-cfg=rustc_is_nightly");
     }
 
-    if target.starts_with("thumbv6m") {
-        println!("cargo:rustc-cfg=armv6m");
-    }
-
+    // These targets all have know support for the BASEPRI register.
     if target.starts_with("thumbv7m")
         | target.starts_with("thumbv7em")
-        | target.starts_with("thumbv8m")
+        | target.starts_with("thumbv8m.main")
     {
-        println!("cargo:rustc-cfg=armv7m");
+        println!("cargo:rustc-cfg=have_basepri");
+
+    // These targets are all known to _not_ have the BASEPRI register.
+    } else if target.starts_with("thumb")
+        && !(target.starts_with("thumbv6m") | target.starts_with("thumbv8m.base"))
+    {
+        panic!(
+            "Unknown target '{}'. Need to update BASEPRI logic in build.rs.",
+            target
+        );
     }
 
     println!("cargo:rerun-if-changed=build.rs");

macros/src/codegen/assertions.rs

@@ -22,15 +22,16 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
     }
 
     let device = &extra.device;
-    let arm_v6_checks: Vec<_> = app
+    let chunks_name = util::priority_mask_chunks_ident();
+    let no_basepri_checks: Vec<_> = app
         .hardware_tasks
         .iter()
         .filter_map(|(_, task)| {
             if !util::is_exception(&task.args.binds) {
                 let interrupt_name = &task.args.binds;
                 Some(quote!(
-                    if (#device::Interrupt::#interrupt_name as u32) > 31 {
-                        ::core::panic!("An interrupt above value 31 is used while in armv6");
+                    if (#device::Interrupt::#interrupt_name as usize) >= (#chunks_name * 32) {
+                        ::core::panic!("An interrupt out of range is used while in armv6 or armv8m.base");
                     }
                 ))
             } else {
@@ -41,8 +42,8 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
 
     let const_check = quote! {
         const _CONST_CHECK: () = {
-            if rtic::export::is_armv6() {
-                #(#arm_v6_checks)*
+            if !rtic::export::have_basepri() {
+                #(#no_basepri_checks)*
             } else {
                 // TODO: Add armv7 checks here
             }

macros/src/codegen/shared_resources.rs

@@ -112,6 +112,8 @@ pub fn codegen(
     let device = &extra.device;
     let mut uses_exceptions_with_resources = false;
 
+    let mut mask_ids = Vec::new();
+
     for (&priority, name) in interrupt_ids.chain(app.hardware_tasks.values().flat_map(|task| {
         if !util::is_exception(&task.args.binds) {
             Some((&task.args.priority, &task.args.binds))
@@ -141,12 +143,13 @@ pub fn codegen(
     })) {
         let v = prio_to_masks.entry(priority - 1).or_insert(Vec::new());
         v.push(quote!(#device::Interrupt::#name as u32));
+        mask_ids.push(quote!(#device::Interrupt::#name as u32));
     }
 
-    // Call rtic::export::create_mask([u32; N]), where the array is the list of shifts
+    // Call rtic::export::create_mask([Mask; N]), where the array is the list of shifts
 
     let mut mask_arr = Vec::new();
-    // NOTE: 0..3 assumes max 4 priority levels according to M0 spec
+    // NOTE: 0..3 assumes max 4 priority levels according to M0, M23 spec
     for i in 0..3 {
         let v = if let Some(v) = prio_to_masks.get(&i) {
             v.clone()
@@ -159,18 +162,26 @@ pub fn codegen(
         ));
     }
 
+    // Generate a constant for the number of chunks needed by Mask.
+    let chunks_name = util::priority_mask_chunks_ident();
+    mod_app.push(quote!(
+        #[doc(hidden)]
+        #[allow(non_upper_case_globals)]
+        const #chunks_name: usize = rtic::export::compute_mask_chunks([#(#mask_ids),*]);
+    ));
+
     let masks_name = util::priority_masks_ident();
     mod_app.push(quote!(
         #[doc(hidden)]
         #[allow(non_upper_case_globals)]
-        const #masks_name: [u32; 3] = [#(#mask_arr),*];
+        const #masks_name: [rtic::export::Mask<#chunks_name>; 3] = [#(#mask_arr),*];
     ));
 
     if uses_exceptions_with_resources {
         mod_app.push(quote!(
             #[doc(hidden)]
             #[allow(non_upper_case_globals)]
-            const __rtic_internal_V6_ERROR: () = rtic::export::v6_panic();
+            const __rtic_internal_V6_ERROR: () = rtic::export::no_basepri_panic();
         ));
     }
 

macros/src/codegen/util.rs

@@ -253,6 +253,11 @@ pub fn static_shared_resource_ident(name: &Ident) -> Ident {
     mark_internal_name(&format!("shared_resource_{}", name))
 }
 
+/// Generates an Ident for the number of 32 bit chunks used for Mask storage.
+pub fn priority_mask_chunks_ident() -> Ident {
+    mark_internal_name("MASK_CHUNKS")
+}
+
 pub fn priority_masks_ident() -> Ident {
     mark_internal_name("MASKS")
 }

src/export.rs

@@ -21,10 +21,43 @@ pub use rtic_monotonic as monotonic;
 pub type SCFQ<const N: usize> = Queue<u8, N>;
 pub type SCRQ<T, const N: usize> = Queue<(T, u8), N>;
 
-#[cfg(armv7m)]
+/// 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.
+/// For M23 there can be as many as 480 interrupts.
+/// Rather than providing space for all possible interrupts, we just detect the highest interrupt in
+/// use at compile time and allocate enough u32 chunks to cover them.
+#[derive(Copy, Clone)]
+pub struct Mask<const M: usize>([u32; M]);
+
+impl<const M: usize> core::ops::BitOrAssign for Mask<M> {
+    fn bitor_assign(&mut self, rhs: Self) {
+        for i in 0..M {
+            self.0[i] |= rhs.0[i];
+        }
+    }
+}
+
+#[cfg(not(have_basepri))]
+impl<const M: usize> Mask<M> {
+    /// Set a bit inside a Mask.
+    const fn set_bit(mut self, bit: u32) -> Self {
+        let block = bit / 32;
+
+        if block as usize >= M {
+            panic!("Generating masks for thumbv6/thumbv8m.base failed! Are you compiling for thumbv6 on an thumbv7 MCU or using an unsupported thumbv8m.base MCU?");
+        }
+
+        let offset = bit - (block * 32);
+        self.0[block as usize] |= 1 << offset;
+        self
+    }
+}
+
+#[cfg(have_basepri)]
 use cortex_m::register::basepri;
 
-#[cfg(armv7m)]
+#[cfg(have_basepri)]
 #[inline(always)]
 pub fn run<F>(priority: u8, f: F)
 where
@@ -41,7 +74,7 @@ where
     }
 }
 
-#[cfg(not(armv7m))]
+#[cfg(not(have_basepri))]
 #[inline(always)]
 pub fn run<F>(_priority: u8, f: F)
 where
@@ -105,16 +138,16 @@ impl Priority {
 }
 
 /// Const helper to check architecture
-pub const fn is_armv6() -> bool {
-    #[cfg(not(armv6m))]
-    {
-        false
-    }
-
-    #[cfg(armv6m)]
+pub const fn have_basepri() -> bool {
+    #[cfg(have_basepri)]
     {
         true
     }
+
+    #[cfg(not(have_basepri))]
+    {
+        false
+    }
 }
 
 #[inline(always)]
@@ -172,14 +205,14 @@ where
 /// Total OH of per task is max 2 clock cycles, negligible in practice
 /// but can in theory be fixed.
 ///
-#[cfg(armv7m)]
+#[cfg(have_basepri)]
 #[inline(always)]
-pub unsafe fn lock<T, R>(
+pub unsafe fn lock<T, R, const M: usize>(
     ptr: *mut T,
     priority: &Priority,
     ceiling: u8,
     nvic_prio_bits: u8,
-    _mask: &[u32; 3],
+    _mask: &[Mask<M>; 3],
     f: impl FnOnce(&mut T) -> R,
 ) -> R {
     let current = priority.get();
@@ -247,14 +280,14 @@ pub unsafe fn lock<T, R>(
 /// - Temporary lower exception priority
 ///
 /// These possible solutions are set goals for future work
-#[cfg(not(armv7m))]
+#[cfg(not(have_basepri))]
 #[inline(always)]
-pub unsafe fn lock<T, R>(
+pub unsafe fn lock<T, R, const M: usize>(
     ptr: *mut T,
     priority: &Priority,
     ceiling: u8,
     _nvic_prio_bits: u8,
-    masks: &[u32; 3],
+    masks: &[Mask<M>; 3],
     f: impl FnOnce(&mut T) -> R,
 ) -> R {
     let current = priority.get();
@@ -288,28 +321,38 @@ pub unsafe fn lock<T, R>(
     }
 }
 
-#[cfg(not(armv7m))]
+#[cfg(not(have_basepri))]
 #[inline(always)]
-fn compute_mask(from_prio: u8, to_prio: u8, masks: &[u32; 3]) -> u32 {
-    let mut res = 0;
+fn compute_mask<const M: usize>(from_prio: u8, to_prio: u8, masks: &[Mask<M>; 3]) -> Mask<M> {
+    let mut res = Mask([0; M]);
     masks[from_prio as usize..to_prio as usize]
         .iter()
-        .for_each(|m| res |= m);
+        .for_each(|m| res |= *m);
     res
 }
 
 // enables interrupts
-#[cfg(not(armv7m))]
+#[cfg(not(have_basepri))]
 #[inline(always)]
-unsafe fn set_enable_mask(mask: u32) {
-    (*NVIC::PTR).iser[0].write(mask)
+unsafe fn set_enable_mask<const M: usize>(mask: Mask<M>) {
+    for i in 0..M {
+        // This check should involve compile time constants and be optimized out.
+        if mask.0[i] != 0 {
+            (*NVIC::PTR).iser[i].write(mask.0[i]);
+        }
+    }
 }
 
 // disables interrupts
-#[cfg(not(armv7m))]
+#[cfg(not(have_basepri))]
 #[inline(always)]
-unsafe fn clear_enable_mask(mask: u32) {
-    (*NVIC::PTR).icer[0].write(mask)
+unsafe fn clear_enable_mask<const M: usize>(mask: Mask<M>) {
+    for i in 0..M {
+        // This check should involve compile time constants and be optimized out.
+        if mask.0[i] != 0 {
+            (*NVIC::PTR).icer[i].write(mask.0[i]);
+        }
+    }
 }
 
 #[inline]
@@ -318,36 +361,56 @@ pub fn logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
     ((1 << nvic_prio_bits) - logical) << (8 - nvic_prio_bits)
 }
 
-#[cfg(not(armv6m))]
-pub const fn create_mask<const N: usize>(_: [u32; N]) -> u32 {
-    0
+#[cfg(have_basepri)]
+pub const fn create_mask<const N: usize, const M: usize>(_: [u32; N]) -> Mask<M> {
+    Mask([0; M])
 }
 
-#[cfg(armv6m)]
-pub const fn create_mask<const N: usize>(list_of_shifts: [u32; N]) -> u32 {
-    let mut mask = 0;
+#[cfg(not(have_basepri))]
+pub const fn create_mask<const N: usize, const M: usize>(list_of_shifts: [u32; N]) -> Mask<M> {
+    let mut mask = Mask([0; M]);
     let mut i = 0;
 
     while i < N {
         let shift = list_of_shifts[i];
         i += 1;
-
-        if shift > 31 {
-            panic!("Generating masks for thumbv6 failed! Are you compiling for thumbv6 on an thumbv7 MCU?");
-        }
-
-        mask |= 1 << shift;
+        mask = mask.set_bit(shift);
     }
 
     mask
 }
 
-#[cfg(not(armv6m))]
-pub const fn v6_panic() {
+#[cfg(have_basepri)]
+pub const fn compute_mask_chunks<const L: usize>(_: [u32; L]) -> usize {
+    0
+}
+
+/// Compute the number of u32 chunks needed to store the Mask value.
+/// On M0, M0+ this should always end up being 1.
+/// On M23 we will pick a number that allows us to store the highest index used by the code.
+/// This means the amount of overhead will vary based on the actually interrupts used by the code.
+#[cfg(not(have_basepri))]
+pub const fn compute_mask_chunks<const L: usize>(ids: [u32; L]) -> usize {
+    let mut max: usize = 0;
+    let mut i = 0;
+
+    while i < L {
+        let id = ids[i] as usize;
+        i += 1;
+
+        if id > max {
+            max = id;
+        }
+    }
+    (max + 32) / 32
+}
+
+#[cfg(have_basepri)]
+pub const fn no_basepri_panic() {
     // For non-v6 all is fine
 }
 
-#[cfg(armv6m)]
-pub const fn v6_panic() {
-    panic!("Exceptions with shared resources are not allowed when compiling for thumbv6. Use local resources or `#[lock_free]` shared resources");
+#[cfg(not(have_basepri))]
+pub const fn no_basepri_panic() {
+    panic!("Exceptions with shared resources are not allowed when compiling for thumbv6 or thumbv8m.base. Use local resources or `#[lock_free]` shared resources");
 }