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https://github.com/rtic-rs/rtic.git
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pub interface to logical2hw and hw2logical
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pln
parent
a94de6bafc
commit
dad3a1f520
1 changed files with 57 additions and 93 deletions
150
src/lib.rs
150
src/lib.rs
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@ -47,8 +47,7 @@ pub struct Resource<T, CEILING> {
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impl<T, C> Resource<T, C> {
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/// Creates a new resource with ceiling `C`
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pub const fn new(data: T) -> Self
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where
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C: Ceiling,
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where C: Ceiling
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{
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Resource {
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_ceiling: PhantomData,
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@ -62,14 +61,12 @@ impl<T, CEILING> Resource<T, C<CEILING>> {
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/// section
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///
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/// This operation is zero cost and doesn't impose any additional blocking
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pub fn borrow<'cs, PRIORITY, SCEILING>(
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&'static self,
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_priority: &P<PRIORITY>,
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_system_ceiling: &'cs C<SCEILING>,
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) -> Ref<'cs, T>
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where
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SCEILING: GreaterThanOrEqual<CEILING>,
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CEILING: GreaterThanOrEqual<PRIORITY>,
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pub fn borrow<'cs, PRIORITY, SCEILING>(&'static self,
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_priority: &P<PRIORITY>,
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_system_ceiling: &'cs C<SCEILING>)
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-> Ref<'cs, T>
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where SCEILING: GreaterThanOrEqual<CEILING>,
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CEILING: GreaterThanOrEqual<PRIORITY>
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{
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unsafe { Ref::new(&*self.data.get()) }
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}
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@ -77,24 +74,18 @@ impl<T, CEILING> Resource<T, C<CEILING>> {
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/// Claims the resource at the task with highest priority
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///
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/// This operation is zero cost and doesn't impose any additional blocking
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pub fn claim<'task, PRIORITY>(
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&'static self,
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_priority: &'task P<PRIORITY>,
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) -> Ref<'task, T>
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where
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CEILING: Cmp<PRIORITY, Output = Equal>,
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pub fn claim<'task, PRIORITY>(&'static self, _priority: &'task P<PRIORITY>) -> Ref<'task, T>
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where CEILING: Cmp<PRIORITY, Output = Equal>
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{
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unsafe { Ref::new(&*self.data.get()) }
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}
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/// Like [Resource.claim](struct.Resource.html#method.claim) but returns a
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/// `&mut-` reference
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pub fn claim_mut<'task, PRIORITY>(
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&'static self,
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_priority: &'task mut P<PRIORITY>,
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) -> RefMut<'task, T>
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where
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CEILING: Cmp<PRIORITY, Output = Equal>,
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pub fn claim_mut<'task, PRIORITY>(&'static self,
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_priority: &'task mut P<PRIORITY>)
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-> RefMut<'task, T>
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where CEILING: Cmp<PRIORITY, Output = Equal>
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{
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unsafe { RefMut::new(&mut *self.data.get()) }
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}
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@ -109,22 +100,15 @@ impl<T, CEILING> Resource<T, C<CEILING>> {
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/// than `CEILING` can be borrowed at zero cost. See
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/// [Resource.borrow](struct.Resource.html#method.borrow).
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#[cfg(not(thumbv6m))]
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pub fn lock<R, PRIORITY, F>(
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&'static self,
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_priority: &P<PRIORITY>,
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f: F,
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) -> R
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where
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F: FnOnce(Ref<T>, C<CEILING>) -> R,
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CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less>
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+ Level,
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pub fn lock<R, PRIORITY, F>(&'static self, _priority: &P<PRIORITY>, f: F) -> R
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where F: FnOnce(Ref<T>, C<CEILING>) -> R,
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CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less> + Level
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{
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unsafe {
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let old_basepri = basepri::read();
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basepri_max::write(<CEILING>::hw());
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barrier!();
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let ret =
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f(Ref::new(&*self.data.get()), C { _marker: PhantomData });
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let ret = f(Ref::new(&*self.data.get()), C { _marker: PhantomData });
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barrier!();
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basepri::write(old_basepri);
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ret
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@ -138,15 +122,9 @@ impl<T, CEILING> Resource<T, C<CEILING>> {
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/// resource that has ceiling equal `CEILING`. This constraint is required
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/// to preserve Rust aliasing rules.
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#[cfg(not(thumbv6m))]
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pub fn lock_mut<R, PRIORITY, F>(
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&'static self,
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_priority: &mut P<PRIORITY>,
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f: F,
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) -> R
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where
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F: FnOnce(RefMut<T>) -> R,
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CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less>
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+ Level,
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pub fn lock_mut<R, PRIORITY, F>(&'static self, _priority: &mut P<PRIORITY>, f: F) -> R
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where F: FnOnce(RefMut<T>) -> R,
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CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less> + Level
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{
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unsafe {
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let old_basepri = basepri::read();
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@ -160,32 +138,25 @@ impl<T, CEILING> Resource<T, C<CEILING>> {
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}
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}
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unsafe impl<T, C> Sync for Resource<T, C>
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where
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C: Ceiling,
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{
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}
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unsafe impl<T, C> Sync for Resource<T, C> where C: Ceiling {}
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/// A hardware peripheral as a resource
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pub struct Peripheral<P, CEILING>
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where
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P: 'static,
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where P: 'static
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{
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peripheral: cortex_m::peripheral::Peripheral<P>,
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_ceiling: PhantomData<CEILING>,
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}
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impl<P, C> Peripheral<P, C>
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where
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C: Ceiling,
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where C: Ceiling
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{
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/// Assigns a ceiling `C` to the `peripheral`
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///
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/// # Safety
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///
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/// You MUST not create two resources that point to the same peripheral
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pub const unsafe fn new(peripheral: cortex_m::peripheral::Peripheral<P>,)
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-> Self {
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pub const unsafe fn new(peripheral: cortex_m::peripheral::Peripheral<P>) -> Self {
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Peripheral {
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_ceiling: PhantomData,
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peripheral: peripheral,
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@ -195,49 +166,37 @@ where
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impl<Periph, CEILING> Peripheral<Periph, C<CEILING>> {
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/// See [Resource.borrow](./struct.Resource.html#method.borrow)
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pub fn borrow<'cs, PRIORITY, SCEILING>(
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&'static self,
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_priority: &P<PRIORITY>,
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_system_ceiling: &'cs C<SCEILING>,
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) -> Ref<'cs, Periph>
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where
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SCEILING: GreaterThanOrEqual<CEILING>,
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CEILING: GreaterThanOrEqual<PRIORITY>,
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pub fn borrow<'cs, PRIORITY, SCEILING>(&'static self,
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_priority: &P<PRIORITY>,
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_system_ceiling: &'cs C<SCEILING>)
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-> Ref<'cs, Periph>
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where SCEILING: GreaterThanOrEqual<CEILING>,
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CEILING: GreaterThanOrEqual<PRIORITY>
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{
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unsafe { Ref::new(&*self.peripheral.get()) }
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}
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/// See [Resource.claim](./struct.Resource.html#method.claim)
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pub fn claim<'task, PRIORITY>(
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&'static self,
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_priority: &'task P<PRIORITY>,
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) -> Ref<'task, Periph>
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where
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CEILING: Cmp<PRIORITY, Output = Equal>,
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pub fn claim<'task, PRIORITY>(&'static self,
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_priority: &'task P<PRIORITY>)
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-> Ref<'task, Periph>
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where CEILING: Cmp<PRIORITY, Output = Equal>
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{
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unsafe { Ref::new(&*self.peripheral.get()) }
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}
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/// See [Resource.lock](./struct.Resource.html#method.lock)
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#[cfg(not(thumbv6m))]
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pub fn lock<R, PRIORITY, F>(
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&'static self,
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_priority: &P<PRIORITY>,
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f: F,
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) -> R
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where
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F: FnOnce(Ref<Periph>, C<CEILING>) -> R,
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CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less>
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+ Level,
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pub fn lock<R, PRIORITY, F>(&'static self, _priority: &P<PRIORITY>, f: F) -> R
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where F: FnOnce(Ref<Periph>, C<CEILING>) -> R,
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CEILING: Cmp<PRIORITY, Output = Greater> + Cmp<UMAX, Output = Less> + Level
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{
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unsafe {
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let old_basepri = basepri::read();
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basepri_max::write(<CEILING>::hw());
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barrier!();
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let ret = f(
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Ref::new(&*self.peripheral.get()),
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C { _marker: PhantomData },
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);
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let ret = f(Ref::new(&*self.peripheral.get()),
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C { _marker: PhantomData });
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barrier!();
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basepri::write(old_basepri);
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ret
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@ -245,18 +204,13 @@ impl<Periph, CEILING> Peripheral<Periph, C<CEILING>> {
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}
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}
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unsafe impl<T, C> Sync for Peripheral<T, C>
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where
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C: Ceiling,
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{
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}
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unsafe impl<T, C> Sync for Peripheral<T, C> where C: Ceiling {}
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/// A global critical section
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///
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/// No task can preempt this critical section
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pub fn critical<R, F>(f: F) -> R
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where
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F: FnOnce(CMAX) -> R,
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where F: FnOnce(CMAX) -> R
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{
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let primask = ::cortex_m::register::primask::read();
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::cortex_m::interrupt::disable();
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@ -274,9 +228,8 @@ where
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/// Requests the execution of a `task`
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pub fn request<T, P>(_task: fn(T, P))
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where
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T: Context + Nr,
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P: Priority,
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where T: Context + Nr,
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P: Priority
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{
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let nvic = unsafe { &*NVIC.get() };
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@ -310,8 +263,7 @@ pub struct P<T> {
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}
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impl<T> P<T>
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where
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T: Level,
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where T: Level
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{
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#[doc(hidden)]
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pub fn hw() -> u8 {
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@ -342,10 +294,22 @@ pub unsafe trait Level {
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/// DO NOT IMPLEMENT THIS TRAIT YOURSELF
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pub unsafe trait Priority {}
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fn logical2hw(logical: u8) -> u8 {
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/// Convert a logical priority to a shifted hardware prio
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/// as used by the NVIC and basepri registers
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/// Notice, wrapping causes a panic due to u8
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pub fn logical2hw(logical: u8) -> u8 {
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((1 << PRIORITY_BITS) - logical) << (8 - PRIORITY_BITS)
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}
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/// Convert a shifted hardware prio to a logical priority
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/// as used by the NVIC and basepri registers
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/// Notice, wrapping causes a panic due to u8
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pub fn hw2logical(hw: u8) -> u8 {
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(1 << PRIORITY_BITS) - (hw >> (8 - PRIORITY_BITS))
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}
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/// Priority 0, the lowest priority
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pub type P0 = P<::typenum::U0>;
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