diff --git a/rtic-monotonics/Cargo.toml b/rtic-monotonics/Cargo.toml index 728e171dc4..b9145a245a 100644 --- a/rtic-monotonics/Cargo.toml +++ b/rtic-monotonics/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rtic-monotonics" -version = "1.0.0-alpha.0" +version = "1.0.0-alpha.1" edition = "2021" authors = [ @@ -17,7 +17,7 @@ license = "MIT OR Apache-2.0" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html [dependencies] -rtic-time = { version = "1.0.0-alpha.0", path = "../rtic-time" } +rtic-time = { version = "1.0.0-alpha.1", path = "../rtic-time" } embedded-hal-async = { version = "0.2.0-alpha.0", optional = true } fugit = { version = "0.3.6" } atomic-polyfill = "1" diff --git a/rtic-time/CHANGELOG.md b/rtic-time/CHANGELOG.md index 3a2fb9104a..9f6a40989b 100644 --- a/rtic-time/CHANGELOG.md +++ b/rtic-time/CHANGELOG.md @@ -15,4 +15,6 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top! ### Fixed +- If the queue was non-empty and a new instant was added that was earlier than `head`, then the queue would no pend the monotonic handler. This would cause the new `head` to be dequeued at the wrong time. + ## [v1.0.0] - 2023-xx-xx diff --git a/rtic-time/Cargo.toml b/rtic-time/Cargo.toml index c7d13bb451..462ad5d2b5 100644 --- a/rtic-time/Cargo.toml +++ b/rtic-time/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rtic-time" -version = "1.0.0-alpha.0" +version = "1.0.0-alpha.1" edition = "2021" authors = [ diff --git a/rtic-time/src/lib.rs b/rtic-time/src/lib.rs index 9bf148558a..1ed1e9d6ce 100644 --- a/rtic-time/src/lib.rs +++ b/rtic-time/src/lib.rs @@ -25,7 +25,7 @@ mod monotonic; struct WaitingWaker { waker: Waker, release_at: Mono::Instant, - was_poped: AtomicBool, + was_popped: AtomicBool, } impl Clone for WaitingWaker { @@ -33,7 +33,7 @@ impl Clone for WaitingWaker { Self { waker: self.waker.clone(), release_at: self.release_at, - was_poped: AtomicBool::new(self.was_poped.load(Ordering::Relaxed)), + was_popped: AtomicBool::new(self.was_popped.load(Ordering::Relaxed)), } } } @@ -132,7 +132,7 @@ impl TimerQueue { release_at = Some(head.release_at); let should_pop = Mono::should_dequeue_check(head.release_at); - head.was_poped.store(should_pop, Ordering::Relaxed); + head.was_popped.store(should_pop, Ordering::Relaxed); should_pop }); @@ -234,7 +234,7 @@ impl TimerQueue { let link_ref = link.insert(Link::new(WaitingWaker { waker: cx.waker().clone(), release_at: instant, - was_poped: AtomicBool::new(false), + was_popped: AtomicBool::new(false), })); // SAFETY(new_unchecked): The address to the link is stable as it is defined @@ -243,13 +243,13 @@ impl TimerQueue { // we make sure in `dropper` that the link is removed from the queue before // dropping `link_ptr` AND `dropper` makes sure that the shadowed `link_ptr` lives // until the end of the stack frame. - let (was_empty, addr) = unsafe { queue.insert(Pin::new_unchecked(link_ref)) }; + let (head_updated, addr) = unsafe { queue.insert(Pin::new_unchecked(link_ref)) }; marker.store(addr, Ordering::Relaxed); - if was_empty { - // Pend the monotonic handler if the queue was empty to setup the timer. - Mono::pend_interrupt(); + if head_updated { + // Pend the monotonic handler if the queue head was updated. + Mono::pend_interrupt() } } @@ -261,8 +261,8 @@ impl TimerQueue { // exited the `poll_fn` below in the `drop(dropper)` call. The other dereference // of this pointer is in the `poll_fn`. if let Some(link) = unsafe { link_ptr.get() } { - if link.val.was_poped.load(Ordering::Relaxed) { - // If it was poped from the queue there is no need to run delete + if link.val.was_popped.load(Ordering::Relaxed) { + // If it was popped from the queue there is no need to run delete dropper.defuse(); } } else { diff --git a/rtic-time/src/linked_list.rs b/rtic-time/src/linked_list.rs index d4256c9d73..c2a99676b2 100644 --- a/rtic-time/src/linked_list.rs +++ b/rtic-time/src/linked_list.rs @@ -92,7 +92,8 @@ impl LinkedList { } /// Insert a new link into the linked list. - /// The return is (was_empty, address), where the address of the link is for use with `delete`. + /// The return is (updated head, address), where the address of the link is for use + /// with `delete`. /// /// SAFETY: The pinned link must live until it is removed from this list. pub unsafe fn insert(&self, val: Pin<&Link>) -> (bool, usize) { @@ -127,7 +128,7 @@ impl LinkedList { self.head .store(val as *const _ as *mut _, Ordering::Relaxed); - return (false, addr); + return (true, addr); } // 3. search list for correct place diff --git a/rtic/Cargo.toml b/rtic/Cargo.toml index 3d3a8ff950..9a05b7532e 100644 --- a/rtic/Cargo.toml +++ b/rtic/Cargo.toml @@ -22,7 +22,7 @@ name = "rtic" readme = "../README.md" repository = "https://github.com/rtic-rs/rtic" -version = "2.0.0-alpha.0" +version = "2.0.0-alpha.1" [lib] name = "rtic" @@ -32,7 +32,7 @@ cortex-m = { version = "0.7.0", optional = true } bare-metal = "1.0.0" #portable-atomic = { version = "0.3.19" } atomic-polyfill = "1" -rtic-monotonics = { path = "../rtic-monotonics", version = "1.0.0-alpha.0", optional = true } +rtic-monotonics = { path = "../rtic-monotonics", version = "1.0.0-alpha.1", optional = true } rtic-macros = { path = "../rtic-macros", version = "2.0.0-alpha.0" } rtic-core = "1" critical-section = "1"