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Auto merge of #58 - japaric:init-resources, r=japaric

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safe `&'static mut` references via init.resources

see RFC #59 for details
This commit is contained in:
homunkulus 2017-12-23 10:36:08 +00:00
commit 8a396c51f2
19 changed files with 453 additions and 249 deletions
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1
.gitignore vendored
View file

@ -1,5 +1,6 @@
**/*.rs.bk
*.org
.#*
.gdb_history
Cargo.lock
target/

6
Cargo.toml
View file

@ -15,11 +15,13 @@ version = "0.3.0"
[dependencies]
cortex-m = { git = "https://github.com/japaric/cortex-m" }
untagged-option = "0.1.1"
rtfm-core = "0.1.0"
# rtfm-core = "0.2.0"
rtfm-core = { git = "https://github.com/japaric/rtfm-core" }
cortex-m-rtfm-macros = { path = "macros" }
[target.'cfg(target_arch = "x86_64")'.dev-dependencies]
compiletest_rs = "0.3.3"
# compiletest_rs = "0.3.4"
compiletest_rs = { git = "https://github.com/dwrensha/compiletest-rs", branch = "rustup" }
[dev-dependencies.cortex-m-rt]
features = ["abort-on-panic"]

50
examples/custom-type.rs Normal file
View file

@ -0,0 +1,50 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
pub struct Foo;
app! {
device: stm32f103xx,
resources: {
static CO_OWNED: Foo = Foo;
static ON: Foo = Foo;
static OWNED: Foo = Foo;
static SHARED: Foo = Foo;
},
idle: {
resources: [OWNED, SHARED],
},
tasks: {
SYS_TICK: {
path: sys_tick,
resources: [CO_OWNED, ON, SHARED],
},
TIM2: {
enabled: false,
path: tim2,
priority: 1,
resources: [CO_OWNED],
},
},
}
fn init(_p: ::init::Peripherals, _r: ::init::Resources) {}
fn idle(_t: &mut Threshold, _r: ::idle::Resources) -> ! {
loop {}
}
fn sys_tick(_t: &mut Threshold, _r: SYS_TICK::Resources) {}
fn tim2(_t: &mut Threshold, _r: TIM2::Resources) {}

14
examples/full-syntax.rs
View file

@ -63,22 +63,22 @@ mod main {
*r.OWNED != *r.OWNED;
if *r.OWNED {
if r.SHARED.claim(t, |shared, _| **shared) {
if r.SHARED.claim(t, |shared, _| *shared) {
rtfm::wfi();
}
} else {
r.SHARED.claim_mut(t, |shared, _| **shared = !**shared);
r.SHARED.claim_mut(t, |shared, _| *shared = !*shared);
}
}
}
}
fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
**r.ON = !**r.ON;
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
*r.ON = !*r.ON;
**r.CO_OWNED += 1;
*r.CO_OWNED += 1;
}
fn tim2(_t: &mut Threshold, r: TIM2::Resources) {
**r.CO_OWNED += 1;
fn tim2(_t: &mut Threshold, mut r: TIM2::Resources) {
*r.CO_OWNED += 1;
}

2
examples/generics.rs
View file

@ -70,5 +70,5 @@ fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
// This task has direct access to the resources
fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
work(t, r.GPIOA, r.SPI1);
work(t, &r.GPIOA, &r.SPI1);
}

1
examples/late-resources.rs
View file

@ -1,5 +1,4 @@
//! Demonstrates initialization of resources in `init`.
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]

6
examples/one-task.rs
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@ -77,11 +77,11 @@ fn idle() -> ! {
// `r` is the set of resources this task has access to. `SYS_TICK::Resources`
// has one field per resource declared in `app!`.
#[allow(unsafe_code)]
fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// toggle state
**r.ON = !**r.ON;
*r.ON = !*r.ON;
if **r.ON {
if *r.ON {
// set the pin PC13 high
// NOTE(unsafe) atomic write to a stateless register
unsafe {

6
examples/preemption.rs
View file

@ -42,12 +42,12 @@ fn idle() -> ! {
}
}
fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// ..
// This task can't be preempted by `tim2` so it has direct access to the
// resource data
**r.COUNTER += 1;
*r.COUNTER += 1;
// ..
}
@ -61,7 +61,7 @@ fn tim2(t: &mut Threshold, mut r: TIM2::Resources) {
// lead to undefined behavior.
r.COUNTER.claim_mut(t, |counter, _t| {
// `claim_mut` creates a critical section
**counter += 1;
*counter += 1;
});
// ..

32
examples/safe-static-mut-ref.rs Normal file
View file

@ -0,0 +1,32 @@
//! Safe creation of `&'static mut` references
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::app;
app! {
device: stm32f103xx,
resources: {
static BUFFER: [u8; 16] = [0; 16];
},
init: {
resources: [BUFFER],
},
}
fn init(_p: init::Peripherals, r: init::Resources) {
let _buf: &'static mut [u8] = r.BUFFER;
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}

8
examples/two-tasks.rs
View file

@ -42,18 +42,18 @@ fn idle() -> ! {
// As both tasks are running at the same priority one can't preempt the other.
// Thus both tasks have direct access to the resource
fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// ..
**r.COUNTER += 1;
*r.COUNTER += 1;
// ..
}
fn tim2(_t: &mut Threshold, r: TIM2::Resources) {
fn tim2(_t: &mut Threshold, mut r: TIM2::Resources) {
// ..
**r.COUNTER += 1;
*r.COUNTER += 1;
// ..
}

3
macros/Cargo.toml
View file

@ -12,7 +12,8 @@ version = "0.2.1"
[dependencies]
error-chain = "0.10.0"
quote = "0.3.15"
rtfm-syntax = "0.2.0"
# rtfm-syntax = "0.2.0"
rtfm-syntax = { git = "https://github.com/japaric/rtfm-syntax" }
syn = "0.11.11"
[lib]

7
macros/src/analyze.rs
View file

@ -17,6 +17,13 @@ pub enum Ownership {
}
impl Ownership {
pub fn ceiling(&self) -> u8 {
match *self {
Ownership::Owned { priority } => priority,
Ownership::Shared { ceiling } => ceiling,
}
}
pub fn is_owned(&self) -> bool {
match *self {
Ownership::Owned { .. } => true,

31
macros/src/check.rs
View file

@ -77,7 +77,38 @@ pub fn app(app: check::App) -> Result<App> {
}
fn resources(app: &App) -> Result<()> {
for name in &app.init.resources {
if let Some(resource) = app.resources.get(name) {
ensure!(
resource.expr.is_some(),
"resource `{}`, allocated to `init`, must have an initial value",
name
);
} else {
bail!(
"resource `{}`, allocated to `init`, must be a data resource",
name
);
}
ensure!(
!app.idle.resources.contains(name),
"resources assigned to `init` can't be shared with `idle`"
);
ensure!(
app.tasks
.iter()
.all(|(_, task)| !task.resources.contains(name)),
"resources assigned to `init` can't be shared with tasks"
)
}
for resource in app.resources.keys() {
if app.init.resources.contains(resource) {
continue;
}
if app.idle.resources.contains(resource) {
continue;
}

444
macros/src/trans.rs
View file

@ -1,7 +1,7 @@
use quote::{Ident, Tokens};
use syn::{Lit, StrStyle};
use analyze::{Ownership, Ownerships};
use analyze::Ownerships;
use check::{App, Kind};
fn krate() -> Ident {
@ -81,11 +81,11 @@ fn idle(app: &App, ownerships: &Ownerships, main: &mut Vec<Tokens>, root: &mut V
});
} else {
rfields.push(quote! {
pub #name: #super_::_resource::#name,
pub #name: ::idle::#name,
});
rexprs.push(quote! {
#name: #super_::_resource::#name::new(),
#name: ::idle::#name { _0: core::marker::PhantomData },
});
}
}
@ -126,6 +126,85 @@ fn idle(app: &App, ownerships: &Ownerships, main: &mut Vec<Tokens>, root: &mut V
exprs.push(quote!(unsafe { idle::Resources::new() }));
}
let device = &app.device;
for name in &app.idle.resources {
let ceiling = ownerships[name].ceiling();
// owned resource
if ceiling == 0 {
continue
}
let _name = Ident::new(format!("_{}", name.as_ref()));
let resource = app.resources
.get(name)
.expect(&format!("BUG: resource {} has no definition", name));
let ty = &resource.ty;
let _static = if resource.expr.is_some() {
quote!(#_name)
} else {
quote!(#_name.some)
};
mod_items.push(quote! {
#[allow(non_camel_case_types)]
pub struct #name { _0: core::marker::PhantomData<*const ()> }
});
root.push(quote! {
#[allow(unsafe_code)]
unsafe impl #krate::Resource for idle::#name {
type Data = #ty;
fn borrow<'cs>(&'cs self, t: &'cs Threshold) -> &'cs Self::Data {
assert!(t.value() >= #ceiling);
unsafe { &#_static }
}
fn borrow_mut<'cs>(
&'cs mut self,
t: &'cs Threshold,
) -> &'cs mut Self::Data {
assert!(t.value() >= #ceiling);
unsafe { &mut #_static }
}
fn claim<R, F>(&self, t: &mut Threshold, f: F) -> R
where
F: FnOnce(&Self::Data, &mut Threshold) -> R
{
unsafe {
#krate::claim(
&#_static,
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
fn claim_mut<R, F>(&mut self, t: &mut Threshold, f: F) -> R
where
F: FnOnce(&mut Self::Data, &mut Threshold) -> R
{
unsafe {
#krate::claim(
&mut #_static,
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
}
});
}
if !mod_items.is_empty() {
root.push(quote! {
#[allow(unsafe_code)]
@ -170,18 +249,30 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
let mut rexprs = vec![];
for (name, resource) in init_resources {
let _name = Ident::new(format!("_{}", name.as_ref()));
lifetime = Some(quote!('a));
let ty = &resource.ty;
fields.push(quote! {
pub #name: &'a mut #krate::Static<#ty>,
});
if app.init.resources.contains(name) {
fields.push(quote! {
pub #name: &'static mut #ty,
});
rexprs.push(quote! {
#name: ::#krate::Static::ref_mut(&mut ::#_name),
});
let expr = &resource.expr;
rexprs.push(quote!(#name: {
static mut #name: #ty = #expr;
&mut #name
},));
} else {
let _name = Ident::new(format!("_{}", name.as_ref()));
lifetime = Some(quote!('a));
fields.push(quote! {
pub #name: &'a mut #ty,
});
rexprs.push(quote! {
#name: &mut ::#_name,
});
}
}
root.push(quote! {
@ -323,234 +414,153 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
fn resources(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
let krate = krate();
let device = &app.device;
let mut items = vec![];
let mut impls = vec![];
for (name, ownership) in ownerships {
for name in ownerships.keys() {
let _name = Ident::new(format!("_{}", name.as_ref()));
if let Some(resource) = app.resources.get(name) {
// Declare the static that holds the resource
let expr = &resource.expr;
let ty = &resource.ty;
// Declare the static that holds the resource
let resource = app.resources
.get(name)
.expect(&format!("BUG: resource {} has no definition", name));
root.push(match *expr {
Some(ref expr) => quote! {
static mut #_name: #ty = #expr;
},
None => quote! {
// Resource initialized in `init`
static mut #_name: #krate::UntaggedOption<#ty> = #krate::UntaggedOption { none: () };
},
});
}
let expr = &resource.expr;
let ty = &resource.ty;
let mut impl_items = vec![];
match *ownership {
Ownership::Owned { .. } => {
// For owned resources we don't need claim() or borrow()
}
Ownership::Shared { ceiling } => {
let resource = app.resources
.get(name)
.expect(&format!("BUG: resource {} has no definition", name));
let ty = &resource.ty;
let res_rvalue = if resource.expr.is_some() {
quote!(#_name)
} else {
quote!(#_name.some)
};
impl_items.push(quote! {
type Data = #ty;
fn borrow<'cs>(
&'cs self,
t: &'cs #krate::Threshold,
) -> &'cs #krate::Static<#ty> {
assert!(t.value() >= #ceiling);
unsafe { #krate::Static::ref_(&#res_rvalue) }
}
fn borrow_mut<'cs>(
&'cs mut self,
t: &'cs #krate::Threshold,
) -> &'cs mut #krate::Static<#ty> {
assert!(t.value() >= #ceiling);
unsafe {
#krate::Static::ref_mut(&mut #res_rvalue)
}
}
fn claim<R, F>(
&self,
t: &mut #krate::Threshold,
f: F,
) -> R
where
F: FnOnce(
&#krate::Static<#ty>,
&mut #krate::Threshold) -> R
{
unsafe {
#krate::claim(
#krate::Static::ref_(&#res_rvalue),
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
fn claim_mut<R, F>(
&mut self,
t: &mut #krate::Threshold,
f: F,
) -> R
where
F: FnOnce(
&mut #krate::Static<#ty>,
&mut #krate::Threshold) -> R
{
unsafe {
#krate::claim(
#krate::Static::ref_mut(&mut #res_rvalue),
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
});
impls.push(quote! {
#[allow(unsafe_code)]
unsafe impl #krate::Resource for _resource::#name {
#(#impl_items)*
}
});
items.push(quote! {
#[allow(non_camel_case_types)]
pub struct #name { _0: PhantomData<*const ()> }
#[allow(unsafe_code)]
impl #name {
pub unsafe fn new() -> Self {
#name { _0: PhantomData }
}
}
});
}
}
root.push(match *expr {
Some(ref expr) => quote! {
static mut #_name: #ty = #expr;
},
None => quote! {
// Resource initialized in `init`
static mut #_name: #krate::UntaggedOption<#ty> =
#krate::UntaggedOption { none: () };
},
});
}
if !items.is_empty() {
root.push(quote! {
#[allow(unsafe_code)]
mod _resource {
use core::marker::PhantomData;
#(#items)*
}
})
}
root.push(quote! {
#(#impls)*
});
}
fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
let device = &app.device;
let krate = krate();
for (name, task) in &app.tasks {
for (tname, task) in &app.tasks {
let mut exprs = vec![];
let mut fields = vec![];
let mut items = vec![];
let mut lifetime = None;
let mut needs_reexport = false;
let mut needs_threshold = false;
let has_resources = !task.resources.is_empty();
if has_resources {
needs_threshold = !task.resources.is_empty();
for rname in &task.resources {
let ceiling = ownerships[rname].ceiling();
let _rname = Ident::new(format!("_{}", rname.as_ref()));
let resource = app.resources
.get(rname)
.expect(&format!("BUG: resource {} has no definition", rname));
for name in &task.resources {
let _name = Ident::new(format!("_{}", name.as_ref()));
let ty = &resource.ty;
let _static = if resource.expr.is_some() {
quote!(#_rname)
} else {
quote!(#_rname.some)
};
match ownerships[name] {
Ownership::Shared { ceiling } if ceiling > task.priority => {
needs_threshold = true;
fields.push(quote! {
pub #name: ::_resource::#name,
});
exprs.push(quote! {
#name: {
::_resource::#name::new()
},
});
}
_ => {
lifetime = Some(quote!('a));
let resource = app.resources
.get(name)
.expect(&format!("BUG: resource {} has no definition", name));
needs_reexport = true;
let ty = &resource.ty;
fields.push(quote! {
pub #name: &'a mut ::#krate::Static<#ty>,
});
exprs.push(if resource.expr.is_some() {
quote! {
#name: ::#krate::Static::ref_mut(&mut ::#_name),
}
} else {
quote! {
#name: ::#krate::Static::ref_mut(::#_name.as_mut()),
}
});
}
}
}
if needs_reexport {
let rname = Ident::new(format!("_{}Resources", name));
root.push(quote! {
items.push(quote! {
#[allow(non_camel_case_types)]
#[allow(non_snake_case)]
pub struct #rname<#lifetime> {
#(#fields)*
pub struct #rname { _0: PhantomData<*const ()> }
});
root.push(quote! {
#[allow(unsafe_code)]
unsafe impl #krate::Resource for #tname::#rname {
type Data = #ty;
fn borrow<'cs>(&'cs self, t: &'cs Threshold) -> &'cs Self::Data {
assert!(t.value() >= #ceiling);
unsafe { &#_static }
}
fn borrow_mut<'cs>(
&'cs mut self,
t: &'cs Threshold,
) -> &'cs mut Self::Data {
assert!(t.value() >= #ceiling);
unsafe { &mut #_static }
}
fn claim<R, F>(&self, t: &mut Threshold, f: F) -> R
where
F: FnOnce(&Self::Data, &mut Threshold) -> R
{
unsafe {
#krate::claim(
&#_static,
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
fn claim_mut<R, F>(&mut self, t: &mut Threshold, f: F) -> R
where
F: FnOnce(&mut Self::Data, &mut Threshold) -> R
{
unsafe {
#krate::claim(
&mut #_static,
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
}
});
items.push(quote! {
pub use ::#rname as Resources;
if ceiling <= task.priority {
root.push(quote! {
#[allow(unsafe_code)]
impl core::ops::Deref for #tname::#rname {
type Target = #ty;
fn deref(&self) -> &Self::Target {
unsafe { &#_static }
}
}
#[allow(unsafe_code)]
impl core::ops::DerefMut for #tname::#rname {
fn deref_mut(&mut self) -> &mut Self::Target {
unsafe { &mut #_static }
}
}
})
}
fields.push(quote! {
pub #rname: #rname,
});
} else {
items.push(quote! {
#[allow(non_snake_case)]
pub struct Resources<#lifetime> {
#(#fields)*
}
exprs.push(quote! {
#rname: #rname { _0: PhantomData },
});
}
items.push(quote! {
#[allow(non_snake_case)]
pub struct Resources {
#(#fields)*
}
});
items.push(quote! {
#[allow(unsafe_code)]
impl<#lifetime> Resources<#lifetime> {
impl Resources {
pub unsafe fn new() -> Self {
Resources {
#(#exprs)*
@ -564,7 +574,7 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
let mut exprs = vec![];
let priority = task.priority;
if needs_threshold {
if has_resources {
tys.push(quote!(&mut #krate::Threshold));
exprs.push(quote! {
&mut if #priority == 1 << #device::NVIC_PRIO_BITS {
@ -576,18 +586,18 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
}
if has_resources {
tys.push(quote!(#name::Resources));
exprs.push(quote!(#name::Resources::new()));
tys.push(quote!(#tname::Resources));
exprs.push(quote!(#tname::Resources::new()));
}
let path = &task.path;
let _name = Ident::new(format!("_{}", name));
let export_name = Lit::Str(name.as_ref().to_owned(), StrStyle::Cooked);
let _tname = Ident::new(format!("_{}", tname));
let export_name = Lit::Str(tname.as_ref().to_owned(), StrStyle::Cooked);
root.push(quote! {
#[allow(non_snake_case)]
#[allow(unsafe_code)]
#[export_name = #export_name]
pub unsafe extern "C" fn #_name() {
pub unsafe extern "C" fn #_tname() {
let f: fn(#(#tys,)*) = #path;
f(#(#exprs,)*)
@ -597,7 +607,9 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
root.push(quote!{
#[allow(non_snake_case)]
#[allow(unsafe_code)]
mod #name {
mod #tname {
use core::marker::PhantomData;
#[allow(dead_code)]
#[deny(const_err)]
const CHECK_PRIORITY: (u8, u8) = (

2
src/lib.rs
View file

@ -84,7 +84,7 @@ extern crate untagged_option;
use core::u8;
pub use rtfm_core::{Resource, Static, Threshold};
pub use rtfm_core::{Resource, Threshold};
pub use cortex_m::asm::{bkpt, wfi};
pub use cortex_m_rtfm_macros::app;
#[doc(hidden)]

31
tests/cfail/init-resource-share-idle.rs Normal file
View file

@ -0,0 +1,31 @@
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::app;
app! { //~ proc macro panicked
device: stm32f103xx,
resources: {
static BUFFER: [u8; 16] = [0; 16];
},
init: {
resources: [BUFFER],
},
idle: {
// ERROR resources assigned to `init` can't be shared with `idle`
resources: [BUFFER],
},
}
fn init(_p: init::Peripherals, _r: init::Resources) {}
fn idle(_r: init::Resources) -> ! {
loop {}
}

36
tests/cfail/init-resource-share-task.rs Normal file
View file

@ -0,0 +1,36 @@
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::app;
app! { //~ proc macro panicked
device: stm32f103xx,
resources: {
static BUFFER: [u8; 16] = [0; 16];
},
init: {
resources: [BUFFER],
},
tasks: {
SYS_TICK: {
path: sys_tick,
// ERROR resources assigned to `init` can't be shared with tasks
resources: [BUFFER],
},
},
}
fn init(_p: init::Peripherals) {}
fn idle() -> ! {
loop {}
}
fn sys_tick() {}

20
tests/cfail/lock.rs
View file

@ -45,22 +45,24 @@ fn idle() -> ! {
}
fn exti0(mut t: &mut Threshold, mut r: EXTI0::Resources) {
// ERROR need to lock to access the resource because priority < ceiling
if *r.ON {
//~^ error type `EXTI0::ON` cannot be dereferenced
}
// OK need to lock to access the resource
if r.ON.claim(&mut t, |on, _| **on) {}
if r.ON.claim(&mut t, |on, _| *on) {}
// OK can claim a resource with maximum ceiling
r.MAX.claim_mut(&mut t, |max, _| **max += 1);
r.MAX.claim_mut(&mut t, |max, _| *max += 1);
}
fn exti1(mut t: &mut Threshold, r: EXTI1::Resources) {
// ERROR no need to lock. Has direct access because priority == ceiling
if (**r.ON).claim(&mut t, |on, _| **on) {
//~^ error no method named `claim` found for type
}
// OK to directly access the resource because priority == ceiling
if *r.ON {}
if **r.ON {
// OK
}
// though the resource can still be claimed -- the claim is a no-op
if r.ON.claim(&mut t, |on, _| *on) {}
}
fn exti2(_t: &mut Threshold, _r: EXTI2::Resources) {}

2
tests/cfail/token-transfer.rs
View file

@ -9,7 +9,7 @@ extern crate stm32f103xx;
use rtfm::{app, Threshold};
app! { //~ error bound `rtfm::Threshold: core::marker::Send` is not satisfied
app! { //~ error bound `*const (): core::marker::Send` is not satisfied
device: stm32f103xx,
resources: {