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Add setting of priority to interrupts

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This commit is contained in:
Emil Fresk 2023-04-02 20:32:10 +02:00
parent a2f153249f
commit aeec8bd41b
6 changed files with 120 additions and 57 deletions
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18
rtic-monotonics/Cargo.toml
View file

@ -48,14 +48,14 @@ systick-100hz = []
systick-10khz = []
# Timer peripheral on the RP2040
rp2040 = ["dep:rp2040-pac"]
rp2040 = ["dep:cortex-m", "dep:rp2040-pac"]
# nRF Timers and RTC
nrf52810 = ["dep:nrf52810-pac", "dep:critical-section"]
nrf52811 = ["dep:nrf52811-pac", "dep:critical-section"]
nrf52832 = ["dep:nrf52832-pac", "dep:critical-section"]
nrf52833 = ["dep:nrf52833-pac", "dep:critical-section"]
nrf52840 = ["dep:nrf52840-pac", "dep:critical-section"]
nrf5340-app = ["dep:nrf5340-app-pac", "dep:critical-section"]
nrf5340-net = ["dep:nrf5340-net-pac", "dep:critical-section"]
nrf9160 = ["dep:nrf9160-pac", "dep:critical-section"]
nrf52810 = ["dep:cortex-m", "dep:nrf52810-pac", "dep:critical-section"]
nrf52811 = ["dep:cortex-m", "dep:nrf52811-pac", "dep:critical-section"]
nrf52832 = ["dep:cortex-m", "dep:nrf52832-pac", "dep:critical-section"]
nrf52833 = ["dep:cortex-m", "dep:nrf52833-pac", "dep:critical-section"]
nrf52840 = ["dep:cortex-m", "dep:nrf52840-pac", "dep:critical-section"]
nrf5340-app = ["dep:cortex-m", "dep:nrf5340-app-pac", "dep:critical-section"]
nrf5340-net = ["dep:cortex-m", "dep:nrf5340-net-pac", "dep:critical-section"]
nrf9160 = ["dep:cortex-m", "dep:nrf9160-pac", "dep:critical-section"]

36
rtic-monotonics/src/lib.rs
View file

@ -26,6 +26,42 @@ pub mod rp2040;
))]
pub mod nrf;
#[allow(dead_code)]
pub(crate) const fn cortex_logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
((1 << nvic_prio_bits) - logical) << (8 - nvic_prio_bits)
}
#[cfg(any(
feature = "rp2040",
feature = "nrf52810",
feature = "nrf52811",
feature = "nrf52832",
feature = "nrf52833",
feature = "nrf52840",
feature = "nrf5340-app",
feature = "nrf5340-net",
feature = "nrf9160",
))]
pub(crate) unsafe fn set_monotonic_prio(
prio_bits: u8,
interrupt: impl cortex_m::interrupt::InterruptNumber,
) {
extern "C" {
static RTIC_ASYNC_MAX_LOGICAL_PRIO: u8;
}
let max_prio = RTIC_ASYNC_MAX_LOGICAL_PRIO.max(1).min(1 << prio_bits);
let hw_prio = crate::cortex_logical2hw(max_prio, prio_bits);
// We take ownership of the entire IRQ and all settings to it, we only change settings
// for the IRQ we control.
// This will also compile-error in case the NVIC changes in size.
let mut nvic: cortex_m::peripheral::NVIC = core::mem::transmute(());
nvic.set_priority(interrupt, hw_prio);
}
/// This marker is implemented on an interrupt token to enforce that the right tokens
/// are given to the correct monotonic implementation.
///

33
rtic-monotonics/src/nrf/rtc.rs
View file

@ -5,19 +5,22 @@
//! ```
//! use rtic_monotonics::nrf::rtc::*;
//!
//! # async fn usage() {
//! # let rtc = unsafe { core::mem::transmute(()) };
//! // Generate the required token
//! let token = rtic_monotonics::create_nrf_rtc0_monotonic_token!();
//! fn init() {
//! # // This is normally provided by the selected PAC
//! # let rtc = unsafe { core::mem::transmute(()) };
//! // Generate the required token
//! let token = rtic_monotonics::create_nrf_rtc0_monotonic_token!();
//!
//! // Start the monotonic
//! Rtc0::start(rtc, token);
//!
//! loop {
//! // Use the monotonic
//! Rtc0::delay(100.millis()).await;
//! // Start the monotonic
//! Rtc0::start(rtc, token);
//! }
//!
//! async fn usage() {
//! loop {
//! // Use the monotonic
//! Rtc0::delay(100.millis()).await;
//! }
//! }
//! # }
//! ```
#[cfg(feature = "nrf52810")]
@ -106,7 +109,13 @@ macro_rules! make_rtc {
$tq.initialize(Self {});
unsafe { pac::NVIC::unmask(Interrupt::$rtc) };
// SAFETY: We take full ownership of the peripheral and interrupt vector,
// plus we are not using any external shared resources so we won't impact
// basepri/source masking based critical sections.
unsafe {
crate::set_monotonic_prio(pac::NVIC_PRIO_BITS, Interrupt::$rtc);
pac::NVIC::unmask(Interrupt::$rtc);
}
}
/// Used to access the underlying timer queue

33
rtic-monotonics/src/nrf/timer.rs
View file

@ -5,19 +5,22 @@
//! ```
//! use rtic_monotonics::nrf::timer::*;
//!
//! # async fn usage() {
//! # let timer = unsafe { core::mem::transmute(()) };
//! // Generate the required token
//! let token = rtic_monotonics::create_nrf_timer0_monotonic_token!();
//! fn init() {
//! # // This is normally provided by the selected PAC
//! # let timer = unsafe { core::mem::transmute(()) };
//! // Generate the required token
//! let token = rtic_monotonics::create_nrf_timer0_monotonic_token!();
//!
//! // Start the monotonic
//! Timer0::start(timer, token);
//!
//! loop {
//! // Use the monotonic
//! Timer0::delay(100.millis()).await;
//! // Start the monotonic
//! Timer0::start(timer, token);
//! }
//!
//! async fn usage() {
//! loop {
//! // Use the monotonic
//! Timer0::delay(100.millis()).await;
//! }
//! }
//! # }
//! ```
use super::super::Monotonic;
@ -135,7 +138,13 @@ macro_rules! make_timer {
timer.events_compare[0].write(|w| w);
timer.events_compare[1].write(|w| w);
unsafe { pac::NVIC::unmask(Interrupt::$timer) };
// SAFETY: We take full ownership of the peripheral and interrupt vector,
// plus we are not using any external shared resources so we won't impact
// basepri/source masking based critical sections.
unsafe {
crate::set_monotonic_prio(pac::NVIC_PRIO_BITS, Interrupt::$timer);
pac::NVIC::unmask(Interrupt::$timer);
}
}
/// Used to access the underlying timer queue

32
rtic-monotonics/src/rp2040.rs
View file

@ -5,20 +5,23 @@
//! ```
//! use rtic_monotonics::rp2040::*;
//!
//! # async fn usage() {
//! # let timer = unsafe { core::mem::transmute(()) };
//! # let mut resets = unsafe { core::mem::transmute(()) };
//! // Generate the required token
//! let token = rtic_monotonics::create_rp2040_monotonic_token!();
//! fn init() {
//! # // This is normally provided by the selected PAC
//! # let timer = unsafe { core::mem::transmute(()) };
//! # let mut resets = unsafe { core::mem::transmute(()) };
//! // Generate the required token
//! let token = rtic_monotonics::create_rp2040_monotonic_token!();
//!
//! // Start the monotonic
//! Timer::start(timer, &mut resets, token);
//!
//! loop {
//! // Use the monotonic
//! Timer::delay(100.millis()).await;
//! // Start the monotonic
//! Timer::start(timer, &mut resets, token);
//! }
//!
//! async fn usage() {
//! loop {
//! // Use the monotonic
//! Timer::delay(100.millis()).await;
//! }
//! }
//! # }
//! ```
use super::Monotonic;
@ -43,7 +46,10 @@ impl Timer {
TIMER_QUEUE.initialize(Self {});
unsafe { NVIC::unmask(Interrupt::TIMER_IRQ_0) };
unsafe {
crate::set_monotonic_prio(rp2040_pac::NVIC_PRIO_BITS, Interrupt::TIMER_IRQ_0);
NVIC::unmask(Interrupt::TIMER_IRQ_0);
}
}
fn timer() -> &'static timer::RegisterBlock {

25
rtic-monotonics/src/systick.rs
View file

@ -6,19 +6,22 @@
//! ```
//! use rtic_monotonics::systick::*;
//!
//! # async fn usage() {
//! # let systick = unsafe { core::mem::transmute(()) };
//! // Generate the required token
//! let systick_token = rtic_monotonics::create_systick_token!();
//! fn init() {
//! # // This is normally provided by the selected PAC
//! # let systick = unsafe { core::mem::transmute(()) };
//! // Generate the required token
//! let systick_token = rtic_monotonics::create_systick_token!();
//!
//! // Start the monotonic
//! Systick::start(systick, 12_000_000, systick_token);
//!
//! loop {
//! // Use the monotonic
//! Systick::delay(100.millis()).await;
//! // Start the monotonic
//! Systick::start(systick, 12_000_000, systick_token);
//! }
//!
//! async fn usage() {
//! loop {
//! // Use the monotonic
//! Systick::delay(100.millis()).await;
//! }
//! }
//! # }
//! ```
use super::Monotonic;