mirror of
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synced 2024-11-23 20:22:51 +01:00
wip3, examples lock3 and lock4 now express intended use, relation to Exclusive still not resolved
This commit is contained in:
parent
c360ffaad8
commit
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5 changed files with 263 additions and 87 deletions
176
Cargo.toml
176
Cargo.toml
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@ -1,111 +1,121 @@
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[[example]]
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name = 'baseline'
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required-features = ['__v7']
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[[example]]
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name = 'periodic'
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required-features = ['__v7']
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[[example]]
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name = 'pool'
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required-features = ['__v7']
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[[example]]
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name = 'schedule'
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required-features = ['__v7']
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[[example]]
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name = 't-cfg'
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required-features = ['__v7']
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[[example]]
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name = 't-cfg-resources'
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required-features = ['__min_r1_43']
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[[example]]
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name = 't-schedule'
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required-features = ['__v7']
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[[example]]
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name = 'types'
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required-features = ['__v7']
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[package]
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authors = [
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"The Real-Time Interrupt-driven Concurrency developers",
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"Jorge Aparicio <jorge@japaric.io>",
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"Per Lindgren <per.lindgren@ltu.se>",
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'The Real-Time Interrupt-driven Concurrency developers',
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'Jorge Aparicio <jorge@japaric.io>',
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'Per Lindgren <per.lindgren@ltu.se>',
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]
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categories = ["concurrency", "embedded", "no-std"]
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description = "Real-Time Interrupt-driven Concurrency (RTIC): a concurrency framework for building real time systems"
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documentation = "https://rtic.rs/"
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edition = "2018"
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keywords = ["arm", "cortex-m"]
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license = "MIT OR Apache-2.0"
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name = "cortex-m-rtic"
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readme = "README.md"
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repository = "https://github.com/rtic-rs/cortex-m-rtic"
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version = "0.5.3"
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categories = [
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'concurrency',
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'embedded',
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'no-std',
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]
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description = 'Real-Time Interrupt-driven Concurrency (RTIC): a concurrency framework for building real time systems'
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documentation = 'https://rtic.rs/'
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edition = '2018'
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keywords = [
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'arm',
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'cortex-m',
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]
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license = 'MIT OR Apache-2.0'
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name = 'cortex-m-rtic'
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readme = 'README.md'
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repository = 'https://github.com/rtic-rs/cortex-m-rtic'
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version = '0.5.3'
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[lib]
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name = "rtic"
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[[example]]
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name = "baseline"
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required-features = ["__v7"]
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[[example]]
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name = "periodic"
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required-features = ["__v7"]
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[[example]]
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name = "pool"
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required-features = ["__v7"]
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[[example]]
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name = "schedule"
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required-features = ["__v7"]
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[[example]]
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name = "t-cfg"
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required-features = ["__v7"]
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[[example]]
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name = "t-cfg-resources"
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required-features = ["__min_r1_43"]
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[[example]]
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name = "t-schedule"
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required-features = ["__v7"]
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[[example]]
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name = "types"
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required-features = ["__v7"]
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name = 'rtic'
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[patch.crates-io.rtic-core]
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git = 'https://github.com/rtic-rs/rtic-core.git'
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branch = 'immutable_resource_proxies'
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[dependencies]
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cortex-m = "0.6.2"
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cortex-m-rtic-macros = { path = "macros", version = "0.5.0" }
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rtic-core = "0.3.0"
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cortex-m-rt = "0.6.9"
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heapless = "0.5.0"
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cortex-m = '0.6.2'
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rtic-core = '0.3.0'
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cortex-m-rt = '0.6.9'
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heapless = '0.5.0'
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[build-dependencies]
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version_check = "0.9"
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[dependencies.cortex-m-rtic-macros]
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path = 'macros'
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version = '0.5.0'
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[dependencies.microamp]
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optional = true
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version = "0.1.0-alpha.2"
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version = '0.1.0-alpha.2'
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[build-dependencies]
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version_check = '0.9'
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[dev-dependencies]
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lm3s6965 = "0.1.3"
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panic-halt = "0.2.0"
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cortex-m-semihosting = "0.3.3"
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lm3s6965 = '0.1.3'
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panic-halt = '0.2.0'
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cortex-m-semihosting = '0.3.3'
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[dev-dependencies.panic-semihosting]
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features = ["exit"]
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version = "0.5.2"
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features = ['exit']
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version = '0.5.2'
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[target.x86_64-unknown-linux-gnu.dev-dependencies]
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trybuild = "1"
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trybuild = '1'
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[features]
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heterogeneous = ["cortex-m-rtic-macros/heterogeneous", "microamp"]
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homogeneous = ["cortex-m-rtic-macros/homogeneous"]
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# used for testing this crate; do not use in applications
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__v7 =[]
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__min_r1_43 =[]
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heterogeneous = [
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'cortex-m-rtic-macros/heterogeneous',
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'microamp',
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]
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homogeneous = ['cortex-m-rtic-macros/homogeneous']
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__v7 = []
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__min_r1_43 = []
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[profile.release]
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codegen-units = 1
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lto = true
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[workspace]
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members = [
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"heterogeneous",
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"homogeneous",
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"macros",
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]
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# do not optimize proc-macro deps or build scripts
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[profile.dev.build-override]
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codegen-units = 16
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debug = false
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debug-assertions = false
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opt-level = 0
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overflow-checks = false
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[profile.release.build-override]
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codegen-units = 16
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debug = false
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debug-assertions = false
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opt-level = 0
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overflow-checks = false
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[profile.dev.build-override]
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codegen-units = 16
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debug = false
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debug-assertions = false
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opt-level = 0
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overflow-checks = false
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[workspace]
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members = [
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'heterogeneous',
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'homogeneous',
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'macros',
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]
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63
examples/lock4.rs
Normal file
63
examples/lock4.rs
Normal file
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@ -0,0 +1,63 @@
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//! examples/lock.rs
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![no_main]
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#![no_std]
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use cortex_m_semihosting::{debug, hprintln};
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use lm3s6965::Interrupt;
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use panic_semihosting as _;
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#[rtic::app(device = lm3s6965)]
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const APP: () = {
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struct Resources {
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#[init(0)]
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shared: u32,
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}
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#[init]
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fn init(_: init::Context) {
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rtic::pend(Interrupt::GPIOA);
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}
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// when omitted priority is assumed to be `1`
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#[task(binds = GPIOA, resources = [shared])]
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fn gpioa(c: gpioa::Context) {
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hprintln!("A").unwrap();
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// the lower priority task requires a critical section to access the data
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c.resources.shared.lock(|shared| {
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// data can only be modified within this critical section (closure)
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*shared += 1;
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// GPIOB will *not* run right now due to the critical section
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rtic::pend(Interrupt::GPIOB);
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hprintln!("B - shared = {}", *shared).unwrap();
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c.resources.shared.lock(|_shared| {});
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// GPIOC does not contend for `shared` so it's allowed to run now
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rtic::pend(Interrupt::GPIOC);
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});
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// critical section is over: GPIOB can now start
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hprintln!("E").unwrap();
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debug::exit(debug::EXIT_SUCCESS);
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}
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#[task(binds = GPIOB, priority = 2, resources = [shared])]
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fn gpiob(c: gpiob::Context) {
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// the higher priority task does *not* need a critical section
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*c.resources.shared += 1;
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hprintln!("D - shared = {}", *c.resources.shared).unwrap();
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}
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#[task(binds = GPIOC, priority = 3)]
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fn gpioc(_: gpioc::Context) {
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hprintln!("C").unwrap();
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}
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};
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107
expand_lock.rs
107
expand_lock.rs
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@ -75,8 +75,8 @@ pub mod init {
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}
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}
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mod resources {
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use rtic::export::Priority;
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use core::cell::Cell;
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use rtic::export::Priority;
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#[allow(non_camel_case_types)]
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pub struct shared<'a> {
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priority: &'a Priority,
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@ -163,5 +163,108 @@ pub mod gpioc {
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}
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}
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}
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/// Implementation details
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const APP: () = { # [ doc = r" Always include the device crate which contains the vector table" ] use lm3s6965 as _ ; # [ allow ( non_upper_case_globals ) ] static mut shared : u32 = 0 ; impl < 'a > rtic :: Mutex for resources :: shared < 'a > { type T = u32 ; # [ inline ( always ) ] fn lock < R > ( & mut self , f : impl FnOnce ( & mut u32 ) -> R ) -> R { # [ doc = r" Priority ceiling" ] const CEILING : u8 = 2u8 ; if self . get_locked ( ) { :: core :: panicking :: panic ( "Resource locked in sequential context" ) ; } ; self . set_locked ( true ) ; let r = unsafe { rtic :: export :: lock ( & mut shared , self . priority ( ) , CEILING , lm3s6965 :: NVIC_PRIO_BITS , f ) } ; self . set_locked ( false ) ; r } } # [ allow ( non_snake_case ) ] # [ no_mangle ] unsafe fn GPIOA ( ) { const PRIORITY : u8 = 1u8 ; rtic :: export :: run ( PRIORITY , | | { crate :: gpioa ( gpioa :: Context :: new ( & rtic :: export :: Priority :: new ( PRIORITY ) ) ) } ) ; } impl < 'a > gpioaResources < 'a > { # [ inline ( always ) ] unsafe fn new ( priority : & 'a rtic :: export :: Priority ) -> Self { gpioaResources { shared : resources :: shared :: new ( priority ) , } } } # [ allow ( non_snake_case ) ] # [ no_mangle ] unsafe fn GPIOB ( ) { const PRIORITY : u8 = 2u8 ; rtic :: export :: run ( PRIORITY , | | { crate :: gpiob ( gpiob :: Context :: new ( & rtic :: export :: Priority :: new ( PRIORITY ) ) ) } ) ; } impl < 'a > gpiobResources < 'a > { # [ inline ( always ) ] unsafe fn new ( priority : & 'a rtic :: export :: Priority ) -> Self { gpiobResources { shared : & mut shared , } } } # [ allow ( non_snake_case ) ] # [ no_mangle ] unsafe fn GPIOC ( ) { const PRIORITY : u8 = 3u8 ; rtic :: export :: run ( PRIORITY , | | { crate :: gpioc ( gpioc :: Context :: new ( & rtic :: export :: Priority :: new ( PRIORITY ) ) ) } ) ; } # [ no_mangle ] unsafe extern "C" fn main ( ) -> ! { let _TODO : ( ) = ( ) ; rtic :: export :: interrupt :: disable ( ) ; let mut core : rtic :: export :: Peripherals = core :: mem :: transmute ( ( ) ) ; let _ = [ ( ) ; ( ( 1 << lm3s6965 :: NVIC_PRIO_BITS ) - 1u8 as usize ) ] ; core . NVIC . set_priority ( lm3s6965 :: Interrupt :: GPIOA , rtic :: export :: logical2hw ( 1u8 , lm3s6965 :: NVIC_PRIO_BITS ) ) ; rtic :: export :: NVIC :: unmask ( lm3s6965 :: Interrupt :: GPIOA ) ; let _ = [ ( ) ; ( ( 1 << lm3s6965 :: NVIC_PRIO_BITS ) - 2u8 as usize ) ] ; core . NVIC . set_priority ( lm3s6965 :: Interrupt :: GPIOB , rtic :: export :: logical2hw ( 2u8 , lm3s6965 :: NVIC_PRIO_BITS ) ) ; rtic :: export :: NVIC :: unmask ( lm3s6965 :: Interrupt :: GPIOB ) ; let _ = [ ( ) ; ( ( 1 << lm3s6965 :: NVIC_PRIO_BITS ) - 3u8 as usize ) ] ; core . NVIC . set_priority ( lm3s6965 :: Interrupt :: GPIOC , rtic :: export :: logical2hw ( 3u8 , lm3s6965 :: NVIC_PRIO_BITS ) ) ; rtic :: export :: NVIC :: unmask ( lm3s6965 :: Interrupt :: GPIOC ) ; core . SCB . scr . modify ( | r | r | 1 << 1 ) ; let late = crate :: init ( init :: Context :: new ( core . into ( ) ) ) ; rtic :: export :: interrupt :: enable ( ) ; loop { rtic :: export :: wfi ( ) } } };
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const APP: () = {
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#[doc = r" Always include the device crate which contains the vector table"]
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use lm3s6965 as _;
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#[allow(non_upper_case_globals)]
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static mut shared: u32 = 0;
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impl<'a> rtic::Mutex for resources::shared<'a> {
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type T = u32;
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#[inline(always)]
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fn lock<R>(&self, f: impl FnOnce(&mut u32) -> R) -> R {
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#[doc = r" Priority ceiling"]
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const CEILING: u8 = 2u8;
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if unsafe { self.get_locked() } {
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::core::panicking::panic("Resource locked in sequential context");
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};
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unsafe {
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self.set_locked(true);
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}
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let r = unsafe {
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rtic::export::lock(
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&mut shared,
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self.priority(),
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CEILING,
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lm3s6965::NVIC_PRIO_BITS,
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f,
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)
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};
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unsafe {
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self.set_locked(false);
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}
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r
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}
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}
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#[allow(non_snake_case)]
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#[no_mangle]
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unsafe fn GPIOA() {
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const PRIORITY: u8 = 1u8;
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rtic::export::run(PRIORITY, || {
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crate::gpioa(gpioa::Context::new(&rtic::export::Priority::new(PRIORITY)))
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});
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}
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impl<'a> gpioaResources<'a> {
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#[inline(always)]
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unsafe fn new(priority: &'a rtic::export::Priority) -> Self {
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gpioaResources {
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shared: resources::shared::new(priority),
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}
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}
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}
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#[allow(non_snake_case)]
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#[no_mangle]
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unsafe fn GPIOB() {
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const PRIORITY: u8 = 2u8;
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rtic::export::run(PRIORITY, || {
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crate::gpiob(gpiob::Context::new(&rtic::export::Priority::new(PRIORITY)))
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});
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}
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impl<'a> gpiobResources<'a> {
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#[inline(always)]
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unsafe fn new(priority: &'a rtic::export::Priority) -> Self {
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gpiobResources {
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shared: &mut shared,
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}
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}
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}
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#[allow(non_snake_case)]
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#[no_mangle]
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unsafe fn GPIOC() {
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const PRIORITY: u8 = 3u8;
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rtic::export::run(PRIORITY, || {
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crate::gpioc(gpioc::Context::new(&rtic::export::Priority::new(PRIORITY)))
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});
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}
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#[no_mangle]
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unsafe extern "C" fn main() -> ! {
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let _TODO: () = ();
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rtic::export::interrupt::disable();
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let mut core: rtic::export::Peripherals = core::mem::transmute(());
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let _ = [(); ((1 << lm3s6965::NVIC_PRIO_BITS) - 1u8 as usize)];
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core.NVIC.set_priority(
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lm3s6965::Interrupt::GPIOA,
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rtic::export::logical2hw(1u8, lm3s6965::NVIC_PRIO_BITS),
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);
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rtic::export::NVIC::unmask(lm3s6965::Interrupt::GPIOA);
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let _ = [(); ((1 << lm3s6965::NVIC_PRIO_BITS) - 2u8 as usize)];
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core.NVIC.set_priority(
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lm3s6965::Interrupt::GPIOB,
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rtic::export::logical2hw(2u8, lm3s6965::NVIC_PRIO_BITS),
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);
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rtic::export::NVIC::unmask(lm3s6965::Interrupt::GPIOB);
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let _ = [(); ((1 << lm3s6965::NVIC_PRIO_BITS) - 3u8 as usize)];
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core.NVIC.set_priority(
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lm3s6965::Interrupt::GPIOC,
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rtic::export::logical2hw(3u8, lm3s6965::NVIC_PRIO_BITS),
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);
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rtic::export::NVIC::unmask(lm3s6965::Interrupt::GPIOC);
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core.SCB.scr.modify(|r| r | 1 << 1);
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let late = crate::init(init::Context::new(core.into()));
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rtic::export::interrupt::enable();
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loop {
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rtic::export::wfi()
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}
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}
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};
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|
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@ -72,7 +72,7 @@ pub fn impl_mutex(
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impl<'a> rtic::Mutex for #path<'a> {
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type T = #ty;
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#[inline(always)]
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fn lock<R>(&mut self, f: impl FnOnce(&mut #ty) -> R) -> R {
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fn lock<R>(&self, f: impl FnOnce(&mut #ty) -> R) -> R {
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/// Priority ceiling
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const CEILING: u8 = #ceiling;
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|
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@ -51,7 +51,7 @@ use cortex_m::{
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#[cfg(all(not(feature = "heterogeneous"), not(feature = "homogeneous")))]
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use cortex_m_rt as _; // vector table
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pub use cortex_m_rtic_macros::app;
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pub use rtic_core::{Exclusive, Mutex};
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pub use rtic_core::Mutex;
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#[cfg(armv7m)]
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pub mod cyccnt;
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