mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-12-25 03:19:34 +01:00
make borrows of non-cooperative resources safe
This commit is contained in:
Jorge Aparicio
parent
4cfbf57799
commit
fd858a1994
1 changed files with 180 additions and 41 deletions
221
src/lib.rs
221
src/lib.rs
|
|
@ -16,6 +16,7 @@ use cortex_m::register::{basepri, basepri_max};
|
|||
|
||||
use core::cell::UnsafeCell;
|
||||
use core::marker::PhantomData;
|
||||
use core::ptr;
|
||||
|
||||
// NOTE Only the 4 highest bits of the priority byte (BASEPRI / NVIC.IPR) are
|
||||
// considered when determining priorities.
|
||||
|
|
@ -23,26 +24,28 @@ const PRIORITY_BITS: u8 = 4;
|
|||
|
||||
// XXX Do we need memory / instruction / compiler barriers here?
|
||||
#[inline(always)]
|
||||
unsafe fn claim<T, R, F>(f: F, res: *const T, ceiling: u8) -> R
|
||||
unsafe fn lock<T, R, C, F>(f: F, res: *const T, ceiling: u8) -> R
|
||||
where
|
||||
F: FnOnce(&T) -> R,
|
||||
C: Ceiling,
|
||||
F: FnOnce(&T, C) -> R,
|
||||
{
|
||||
let old_basepri = basepri::read();
|
||||
basepri_max::write(ceiling);
|
||||
let ret = f(&*res);
|
||||
let ret = f(&*res, ptr::read(0 as *const _));
|
||||
basepri::write(old_basepri);
|
||||
ret
|
||||
}
|
||||
|
||||
// XXX Do we need memory / instruction / compiler barriers here?
|
||||
#[inline(always)]
|
||||
unsafe fn claim_mut<T, R, F>(f: F, res: *mut T, ceiling: u8) -> R
|
||||
unsafe fn lock_mut<T, R, C, F>(f: F, res: *mut T, ceiling: u8) -> R
|
||||
where
|
||||
F: FnOnce(&mut T) -> R,
|
||||
C: Ceiling,
|
||||
F: FnOnce(&mut T, C) -> R,
|
||||
{
|
||||
let old_basepri = basepri::read();
|
||||
basepri_max::write(ceiling);
|
||||
let ret = f(&mut *res);
|
||||
let ret = f(&mut *res, ptr::read(0 as *const _));
|
||||
basepri::write(old_basepri);
|
||||
ret
|
||||
}
|
||||
|
|
@ -80,47 +83,46 @@ where
|
|||
C: Ceiling,
|
||||
{
|
||||
/// Borrows the resource without locking
|
||||
// TODO document unsafety
|
||||
pub unsafe fn borrow<'ctxt, Ctxt>(
|
||||
&'static self,
|
||||
_ctxt: &'ctxt Ctxt,
|
||||
) -> &'ctxt P
|
||||
///
|
||||
/// NOTE The system ceiling must be higher than this resource ceiling
|
||||
pub fn borrow<'l, SC>(&'static self, _system_ceiling: &'l SC) -> &'l P
|
||||
where
|
||||
Ctxt: Context,
|
||||
SC: HigherThan<C>,
|
||||
{
|
||||
&*self.peripheral.get()
|
||||
unsafe { &*self.peripheral.get() }
|
||||
}
|
||||
|
||||
/// Mutably borrows the resource without locking
|
||||
// TODO document unsafety
|
||||
pub unsafe fn borrow_mut<'ctxt, Ctxt>(
|
||||
///
|
||||
/// NOTE The system ceiling must be higher than this resource ceiling
|
||||
pub fn borrow_mut<'l, SC>(
|
||||
&'static self,
|
||||
_ctxt: &'ctxt mut Ctxt,
|
||||
) -> &'ctxt mut P
|
||||
_system_ceiling: &'l mut SC,
|
||||
) -> &'l mut P
|
||||
where
|
||||
Ctxt: Context,
|
||||
SC: HigherThan<C>,
|
||||
{
|
||||
&mut *self.peripheral.get()
|
||||
unsafe { &mut *self.peripheral.get() }
|
||||
}
|
||||
|
||||
/// Locks the resource, preventing tasks with priority lower than `Ceiling`
|
||||
/// from preempting the current task
|
||||
pub fn lock<R, F, Ctxt>(&'static self, _ctxt: &Ctxt, f: F) -> R
|
||||
where
|
||||
F: FnOnce(&P) -> R,
|
||||
F: FnOnce(&P, C) -> R,
|
||||
Ctxt: Context,
|
||||
{
|
||||
unsafe { claim(f, self.peripheral.get(), C::ceiling()) }
|
||||
unsafe { lock(f, self.peripheral.get(), C::ceiling()) }
|
||||
}
|
||||
|
||||
/// Mutably locks the resource, preventing tasks with priority lower than
|
||||
/// `Ceiling` from preempting the current task
|
||||
pub fn lock_mut<R, F, Ctxt>(&'static self, _ctxt: &mut Ctxt, f: F) -> R
|
||||
where
|
||||
F: FnOnce(&mut P) -> R,
|
||||
F: FnOnce(&mut P, C) -> R,
|
||||
Ctxt: Context,
|
||||
{
|
||||
unsafe { claim_mut(f, self.peripheral.get(), C::ceiling()) }
|
||||
unsafe { lock_mut(f, self.peripheral.get(), C::ceiling()) }
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -179,42 +181,40 @@ where
|
|||
/// from preempting the current task
|
||||
pub fn lock<F, R, Ctxt>(&'static self, _ctxt: &Ctxt, f: F) -> R
|
||||
where
|
||||
F: FnOnce(&T) -> R,
|
||||
F: FnOnce(&T, C) -> R,
|
||||
Ctxt: Context,
|
||||
{
|
||||
unsafe { claim(f, self.data.get(), C::ceiling()) }
|
||||
unsafe { lock(f, self.data.get(), C::ceiling()) }
|
||||
}
|
||||
|
||||
/// Mutably locks the resource, preventing tasks with priority lower than
|
||||
/// `Ceiling` from preempting the current task
|
||||
pub fn lock_mut<F, R, Ctxt>(&'static self, _ctxt: &mut Ctxt, f: F) -> R
|
||||
where
|
||||
F: FnOnce(&mut T) -> R,
|
||||
F: FnOnce(&mut T, C) -> R,
|
||||
Ctxt: Context,
|
||||
{
|
||||
unsafe { claim_mut(f, self.data.get(), C::ceiling()) }
|
||||
unsafe { lock_mut(f, self.data.get(), C::ceiling()) }
|
||||
}
|
||||
|
||||
/// Borrows the resource, without locking
|
||||
pub unsafe fn borrow<'ctxt, Ctxt>(
|
||||
&'static self,
|
||||
_ctxt: &'ctxt Ctxt,
|
||||
) -> &'ctxt T
|
||||
/// Borrows the resource without locking
|
||||
///
|
||||
/// NOTE The system ceiling must be higher than this resource ceiling
|
||||
pub fn borrow<'l, SC>(&'static self, _system_ceiling: &'l SC) -> &'l T
|
||||
where
|
||||
Ctxt: Context,
|
||||
SC: HigherThan<C>,
|
||||
{
|
||||
&*self.data.get()
|
||||
unsafe { &*self.data.get() }
|
||||
}
|
||||
|
||||
/// Mutably borrows the resource, without locking
|
||||
pub unsafe fn borrow_mut<'ctxt, Ctxt>(
|
||||
&'static self,
|
||||
_ctxt: &'ctxt mut Ctxt,
|
||||
) -> &'ctxt mut T
|
||||
/// Mutably borrows the resource without locking
|
||||
///
|
||||
/// NOTE The system ceiling must be higher than this resource ceiling
|
||||
pub fn borrow_mut<'l, SC>(&'static self, _ctxt: &'l mut SC) -> &'l mut T
|
||||
where
|
||||
Ctxt: Context,
|
||||
SC: HigherThan<C>,
|
||||
{
|
||||
&mut *self.data.get()
|
||||
unsafe { &mut *self.data.get() }
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -348,93 +348,232 @@ pub unsafe trait Ceiling {
|
|||
}
|
||||
|
||||
/// Usable as a ceiling
|
||||
// XXX this should be a "closed" trait
|
||||
pub unsafe trait CeilingLike {}
|
||||
|
||||
/// This ceiling is lower than `C`
|
||||
// XXX this should be a "closed" trait
|
||||
pub unsafe trait HigherThan<C> {}
|
||||
|
||||
unsafe impl HigherThan<C1> for C2 {}
|
||||
unsafe impl HigherThan<C1> for C3 {}
|
||||
unsafe impl HigherThan<C1> for C4 {}
|
||||
unsafe impl HigherThan<C1> for C5 {}
|
||||
unsafe impl HigherThan<C1> for C6 {}
|
||||
unsafe impl HigherThan<C1> for C7 {}
|
||||
unsafe impl HigherThan<C1> for C8 {}
|
||||
unsafe impl HigherThan<C1> for C9 {}
|
||||
unsafe impl HigherThan<C1> for C10 {}
|
||||
unsafe impl HigherThan<C1> for C11 {}
|
||||
unsafe impl HigherThan<C1> for C12 {}
|
||||
unsafe impl HigherThan<C1> for C13 {}
|
||||
unsafe impl HigherThan<C1> for C14 {}
|
||||
unsafe impl HigherThan<C1> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C2> for C3 {}
|
||||
unsafe impl HigherThan<C2> for C4 {}
|
||||
unsafe impl HigherThan<C2> for C5 {}
|
||||
unsafe impl HigherThan<C2> for C6 {}
|
||||
unsafe impl HigherThan<C2> for C7 {}
|
||||
unsafe impl HigherThan<C2> for C8 {}
|
||||
unsafe impl HigherThan<C2> for C9 {}
|
||||
unsafe impl HigherThan<C2> for C10 {}
|
||||
unsafe impl HigherThan<C2> for C11 {}
|
||||
unsafe impl HigherThan<C2> for C12 {}
|
||||
unsafe impl HigherThan<C2> for C13 {}
|
||||
unsafe impl HigherThan<C2> for C14 {}
|
||||
unsafe impl HigherThan<C2> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C3> for C4 {}
|
||||
unsafe impl HigherThan<C3> for C5 {}
|
||||
unsafe impl HigherThan<C3> for C6 {}
|
||||
unsafe impl HigherThan<C3> for C7 {}
|
||||
unsafe impl HigherThan<C3> for C8 {}
|
||||
unsafe impl HigherThan<C3> for C9 {}
|
||||
unsafe impl HigherThan<C3> for C10 {}
|
||||
unsafe impl HigherThan<C3> for C11 {}
|
||||
unsafe impl HigherThan<C3> for C12 {}
|
||||
unsafe impl HigherThan<C3> for C13 {}
|
||||
unsafe impl HigherThan<C3> for C14 {}
|
||||
unsafe impl HigherThan<C3> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C4> for C5 {}
|
||||
unsafe impl HigherThan<C4> for C6 {}
|
||||
unsafe impl HigherThan<C4> for C7 {}
|
||||
unsafe impl HigherThan<C4> for C8 {}
|
||||
unsafe impl HigherThan<C4> for C9 {}
|
||||
unsafe impl HigherThan<C4> for C10 {}
|
||||
unsafe impl HigherThan<C4> for C11 {}
|
||||
unsafe impl HigherThan<C4> for C12 {}
|
||||
unsafe impl HigherThan<C4> for C13 {}
|
||||
unsafe impl HigherThan<C4> for C14 {}
|
||||
unsafe impl HigherThan<C4> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C5> for C6 {}
|
||||
unsafe impl HigherThan<C5> for C7 {}
|
||||
unsafe impl HigherThan<C5> for C8 {}
|
||||
unsafe impl HigherThan<C5> for C9 {}
|
||||
unsafe impl HigherThan<C5> for C10 {}
|
||||
unsafe impl HigherThan<C5> for C11 {}
|
||||
unsafe impl HigherThan<C5> for C12 {}
|
||||
unsafe impl HigherThan<C5> for C13 {}
|
||||
unsafe impl HigherThan<C5> for C14 {}
|
||||
unsafe impl HigherThan<C5> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C6> for C7 {}
|
||||
unsafe impl HigherThan<C6> for C8 {}
|
||||
unsafe impl HigherThan<C6> for C9 {}
|
||||
unsafe impl HigherThan<C6> for C10 {}
|
||||
unsafe impl HigherThan<C6> for C11 {}
|
||||
unsafe impl HigherThan<C6> for C12 {}
|
||||
unsafe impl HigherThan<C6> for C13 {}
|
||||
unsafe impl HigherThan<C6> for C14 {}
|
||||
unsafe impl HigherThan<C6> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C7> for C8 {}
|
||||
unsafe impl HigherThan<C7> for C9 {}
|
||||
unsafe impl HigherThan<C7> for C10 {}
|
||||
unsafe impl HigherThan<C7> for C11 {}
|
||||
unsafe impl HigherThan<C7> for C12 {}
|
||||
unsafe impl HigherThan<C7> for C13 {}
|
||||
unsafe impl HigherThan<C7> for C14 {}
|
||||
unsafe impl HigherThan<C7> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C8> for C9 {}
|
||||
unsafe impl HigherThan<C8> for C10 {}
|
||||
unsafe impl HigherThan<C8> for C11 {}
|
||||
unsafe impl HigherThan<C8> for C12 {}
|
||||
unsafe impl HigherThan<C8> for C13 {}
|
||||
unsafe impl HigherThan<C8> for C14 {}
|
||||
unsafe impl HigherThan<C8> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C9> for C10 {}
|
||||
unsafe impl HigherThan<C9> for C11 {}
|
||||
unsafe impl HigherThan<C9> for C12 {}
|
||||
unsafe impl HigherThan<C9> for C13 {}
|
||||
unsafe impl HigherThan<C9> for C14 {}
|
||||
unsafe impl HigherThan<C9> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C10> for C11 {}
|
||||
unsafe impl HigherThan<C10> for C12 {}
|
||||
unsafe impl HigherThan<C10> for C13 {}
|
||||
unsafe impl HigherThan<C10> for C14 {}
|
||||
unsafe impl HigherThan<C10> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C11> for C12 {}
|
||||
unsafe impl HigherThan<C11> for C13 {}
|
||||
unsafe impl HigherThan<C11> for C14 {}
|
||||
unsafe impl HigherThan<C11> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C12> for C13 {}
|
||||
unsafe impl HigherThan<C12> for C14 {}
|
||||
unsafe impl HigherThan<C12> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C13> for C14 {}
|
||||
unsafe impl HigherThan<C13> for C15 {}
|
||||
|
||||
unsafe impl HigherThan<C14> for C15 {}
|
||||
|
||||
unsafe impl Ceiling for C1 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 1) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C2 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 2) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C3 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 3) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C4 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 4) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C5 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 5) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C6 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 6) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C7 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 7) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C8 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 8) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C9 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 9) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C10 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 10) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C11 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 11) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C12 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 12) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C13 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 13) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C14 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 14) << 4
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl Ceiling for C15 {
|
||||
#[inline(always)]
|
||||
fn ceiling() -> u8 {
|
||||
((1 << 4) - 15) << 4
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue