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Use critical_section crate

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This commit is contained in:
Dario Nieuwenhuis 2021-05-11 00:57:52 +02:00
parent f817f374b6
commit 7fa0e57172
17 changed files with 41 additions and 157 deletions
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2
embassy-extras/src/macros.rs
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@ -51,7 +51,7 @@ macro_rules! peripherals {
#[no_mangle]
static mut _EMBASSY_DEVICE_PERIPHERALS: bool = false;
cortex_m::interrupt::free(|_| {
critical_section::with(|_| {
if unsafe { _EMBASSY_DEVICE_PERIPHERALS } {
None
} else {

1
embassy-nrf/Cargo.toml
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@ -36,3 +36,4 @@ nrf52811-pac = { version = "0.9.1", optional = true, features = [ "rt" ]}
nrf52832-pac = { version = "0.9.0", optional = true, features = [ "rt" ]}
nrf52833-pac = { version = "0.9.0", optional = true, features = [ "rt" ]}
nrf52840-pac = { version = "0.9.0", optional = true, features = [ "rt" ]}
critical-section = "0.2.0"

30
embassy-nrf/src/interrupt.rs
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@ -8,7 +8,6 @@ use core::sync::atomic::{compiler_fence, Ordering};
use crate::pac::NVIC_PRIO_BITS;
// Re-exports
pub use cortex_m::interrupt::{CriticalSection, Mutex};
pub use embassy::interrupt::{declare, take, Interrupt};
#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
@ -47,35 +46,6 @@ impl From<Priority> for u8 {
}
}
#[inline]
pub fn free<F, R>(f: F) -> R
where
F: FnOnce(&CriticalSection) -> R,
{
unsafe {
// TODO: assert that we're in privileged level
// Needed because disabling irqs in non-privileged level is a noop, which would break safety.
let primask: u32;
asm!("mrs {}, PRIMASK", out(reg) primask);
asm!("cpsid i");
// Prevent compiler from reordering operations inside/outside the critical section.
compiler_fence(Ordering::SeqCst);
let r = f(&CriticalSection::new());
compiler_fence(Ordering::SeqCst);
if primask & 1 == 0 {
asm!("cpsie i");
}
r
}
}
#[cfg(feature = "52810")]
mod irqs {
use super::*;

17
embassy-nrf/src/rtc.rs
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@ -1,10 +1,11 @@
use core::cell::Cell;
use core::sync::atomic::{compiler_fence, AtomicU32, Ordering};
use critical_section::CriticalSection;
use embassy::interrupt::InterruptExt;
use embassy::time::Clock;
use embassy::util::CriticalSectionMutex as Mutex;
use crate::interrupt::{CriticalSection, Interrupt, Mutex};
use crate::interrupt::Interrupt;
use crate::pac;
use crate::{interrupt, peripherals};
@ -134,7 +135,7 @@ impl<T: Instance> RTC<T> {
for n in 0..ALARM_COUNT {
if r.events_compare[n].read().bits() == 1 {
r.events_compare[n].write(|w| w);
interrupt::free(|cs| {
critical_section::with(|cs| {
self.trigger_alarm(n, cs);
})
}
@ -142,7 +143,7 @@ impl<T: Instance> RTC<T> {
}
fn next_period(&self) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let r = self.rtc.regs();
let period = self.period.fetch_add(1, Ordering::Relaxed) + 1;
let t = (period as u64) << 23;
@ -160,7 +161,7 @@ impl<T: Instance> RTC<T> {
})
}
fn trigger_alarm(&self, n: usize, cs: &CriticalSection) {
fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
let r = self.rtc.regs();
r.intenclr.write(|w| unsafe { w.bits(compare_n(n)) });
@ -174,14 +175,14 @@ impl<T: Instance> RTC<T> {
}
fn set_alarm_callback(&self, n: usize, callback: fn(*mut ()), ctx: *mut ()) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n];
alarm.callback.set(Some((callback, ctx)));
})
}
fn set_alarm(&self, n: usize, timestamp: u64) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n];
alarm.timestamp.set(timestamp);
@ -289,5 +290,5 @@ pub trait Instance: sealed::Instance + 'static {
impl_instance!(RTC0, RTC0);
impl_instance!(RTC1, RTC1);
#[cfg(any(feature = "52832", feature = "52833", feature = "52840"))]
#[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
impl_instance!(RTC2, RTC2);

1
embassy-rp/Cargo.toml
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@ -20,6 +20,7 @@ defmt = { version = "0.2.0", optional = true }
log = { version = "0.4.11", optional = true }
cortex-m-rt = "0.6.13"
cortex-m = "0.7.1"
critical-section = "0.2.0"
rp2040-pac2 = { git = "https://github.com/Dirbaio/rp2040-pac", rev="254f4677937801155ca3cb17c7bb9d38eb62683e", features = ["rt"] }
embedded-hal = { version = "0.2.4", features = [ "unproven" ] }

30
embassy-rp/src/interrupt.rs
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@ -8,7 +8,6 @@ use core::sync::atomic::{compiler_fence, Ordering};
use crate::pac::NVIC_PRIO_BITS;
// Re-exports
pub use cortex_m::interrupt::{CriticalSection, Mutex};
pub use embassy::interrupt::{declare, take, Interrupt};
#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
@ -47,35 +46,6 @@ impl From<Priority> for u8 {
}
}
#[inline]
pub fn free<F, R>(f: F) -> R
where
F: FnOnce(&CriticalSection) -> R,
{
unsafe {
// TODO: assert that we're in privileged level
// Needed because disabling irqs in non-privileged level is a noop, which would break safety.
let primask: u32;
asm!("mrs {}, PRIMASK", out(reg) primask);
asm!("cpsid i");
// Prevent compiler from reordering operations inside/outside the critical section.
compiler_fence(Ordering::SeqCst);
let r = f(&CriticalSection::new());
compiler_fence(Ordering::SeqCst);
if primask & 1 == 0 {
asm!("cpsie i");
}
r
}
}
mod irqs {
use super::*;

1
embassy-stm32/Cargo.toml
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@ -39,6 +39,7 @@ embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["s
embassy-extras = {version = "0.1.0", path = "../embassy-extras" }
atomic-polyfill = "0.1.1"
critical-section = "0.2.0"
defmt = { version = "0.2.0", optional = true }
log = { version = "0.4.11", optional = true }
cortex-m-rt = "0.6.13"

6
embassy-stm32/src/exti.rs
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@ -44,7 +44,7 @@ pub struct ExtiPin<T: Instance> {
impl<T: Instance> ExtiPin<T> {
pub fn new(mut pin: T, interrupt: T::Interrupt, syscfg: &mut SysCfg) -> Self {
cortex_m::interrupt::free(|_| {
critical_section::with(|_| {
pin.make_source(syscfg);
});
@ -99,7 +99,7 @@ impl<T: Instance + digital::InputPin + 'static> ExtiPin<T> {
async move {
let fut = InterruptFuture::new(&mut self.interrupt);
let pin = &mut self.pin;
cortex_m::interrupt::free(|_| {
critical_section::with(|_| {
pin.trigger_edge(if state {
EdgeOption::Rising
} else {
@ -126,7 +126,7 @@ impl<T: Instance + 'static> ExtiPin<T> {
async move {
let fut = InterruptFuture::new(&mut self.interrupt);
let pin = &mut self.pin;
cortex_m::interrupt::free(|_| {
critical_section::with(|_| {
pin.trigger_edge(state);
});

15
embassy-stm32/src/f4/rtc.rs
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@ -3,12 +3,13 @@ use crate::hal::rcc::Clocks;
use core::cell::Cell;
use core::convert::TryInto;
use core::sync::atomic::{compiler_fence, AtomicU32, Ordering};
use critical_section::CriticalSection;
use embassy::interrupt::InterruptExt;
use embassy::time::{Clock, TICKS_PER_SECOND};
use embassy::util::CriticalSectionMutex as Mutex;
use crate::interrupt;
use crate::interrupt::{CriticalSection, Interrupt, Mutex};
use crate::interrupt::Interrupt;
// RTC timekeeping works with something we call "periods", which are time intervals
// of 2^15 ticks. The RTC counter value is 16 bits, so one "overflow cycle" is 2 periods.
@ -119,13 +120,13 @@ impl<T: Instance> RTC<T> {
for n in 1..=ALARM_COUNT {
if self.rtc.compare_interrupt_status(n) {
self.rtc.compare_clear_flag(n);
interrupt::free(|cs| self.trigger_alarm(n, cs));
critical_section::with(|cs| self.trigger_alarm(n, cs));
}
}
}
fn next_period(&self) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let period = self.period.fetch_add(1, Ordering::Relaxed) + 1;
let t = (period as u64) << 15;
@ -142,7 +143,7 @@ impl<T: Instance> RTC<T> {
})
}
fn trigger_alarm(&self, n: usize, cs: &CriticalSection) {
fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
self.rtc.set_compare_interrupt(n, false);
let alarm = &self.alarms.borrow(cs)[n - 1];
@ -155,14 +156,14 @@ impl<T: Instance> RTC<T> {
}
fn set_alarm_callback(&self, n: usize, callback: fn(*mut ()), ctx: *mut ()) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n - 1];
alarm.callback.set(Some((callback, ctx)));
})
}
fn set_alarm(&self, n: usize, timestamp: u64) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n - 1];
alarm.timestamp.set(timestamp);

30
embassy-stm32/src/interrupt.rs
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@ -8,7 +8,6 @@ use core::sync::atomic::{compiler_fence, Ordering};
use crate::pac::NVIC_PRIO_BITS;
// Re-exports
pub use cortex_m::interrupt::{CriticalSection, Mutex};
pub use embassy::interrupt::{declare, take, Interrupt};
#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
@ -63,35 +62,6 @@ impl From<Priority> for u8 {
}
}
#[inline]
pub fn free<F, R>(f: F) -> R
where
F: FnOnce(&CriticalSection) -> R,
{
unsafe {
// TODO: assert that we're in privileged level
// Needed because disabling irqs in non-privileged level is a noop, which would break safety.
let primask: u32;
asm!("mrs {}, PRIMASK", out(reg) primask);
asm!("cpsid i");
// Prevent compiler from reordering operations inside/outside the critical section.
compiler_fence(Ordering::SeqCst);
let r = f(&CriticalSection::new());
compiler_fence(Ordering::SeqCst);
if primask & 1 == 0 {
asm!("cpsie i");
}
r
}
}
#[cfg(feature = "stm32f401")]
mod irqs {
use super::*;

15
embassy-stm32/src/l0/rtc.rs
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@ -2,12 +2,13 @@ use crate::hal::rcc::Clocks;
use atomic_polyfill::{compiler_fence, AtomicU32, Ordering};
use core::cell::Cell;
use core::convert::TryInto;
use critical_section::CriticalSection;
use embassy::interrupt::InterruptExt;
use embassy::time::{Clock, TICKS_PER_SECOND};
use embassy::util::CriticalSectionMutex as Mutex;
use crate::interrupt;
use crate::interrupt::{CriticalSection, Interrupt, Mutex};
use crate::interrupt::Interrupt;
// RTC timekeeping works with something we call "periods", which are time intervals
// of 2^15 ticks. The RTC counter value is 16 bits, so one "overflow cycle" is 2 periods.
@ -117,13 +118,13 @@ impl<T: Instance> RTC<T> {
for n in 1..=ALARM_COUNT {
if self.rtc.compare_interrupt_status(n) {
self.rtc.compare_clear_flag(n);
interrupt::free(|cs| self.trigger_alarm(n, cs));
critical_section::with(|cs| self.trigger_alarm(n, cs));
}
}
}
fn next_period(&self) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let period = self.period.fetch_add(1, Ordering::Relaxed) + 1;
let t = (period as u64) << 15;
@ -140,7 +141,7 @@ impl<T: Instance> RTC<T> {
})
}
fn trigger_alarm(&self, n: usize, cs: &CriticalSection) {
fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
self.rtc.set_compare_interrupt(n, false);
let alarm = &self.alarms.borrow(cs)[n - 1];
@ -153,14 +154,14 @@ impl<T: Instance> RTC<T> {
}
fn set_alarm_callback(&self, n: usize, callback: fn(*mut ()), ctx: *mut ()) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n - 1];
alarm.callback.set(Some((callback, ctx)));
})
}
fn set_alarm(&self, n: usize, timestamp: u64) {
interrupt::free(|cs| {
critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n - 1];
alarm.timestamp.set(timestamp);

1
embassy/Cargo.toml
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@ -25,6 +25,7 @@ pin-project = { version = "1.0.2", default-features = false }
embassy-macros = { version = "0.1.0", path = "../embassy-macros"}
embassy-traits = { version = "0.1.0", path = "../embassy-traits"}
atomic-polyfill = { version = "0.1.1" }
critical-section = "0.2.0"
# Workaround https://github.com/japaric/cast.rs/pull/27
cast = { version = "=0.2.3", default-features = false }

30
embassy/src/util/critical_section.rs
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@ -1,30 +0,0 @@
pub use cs::{critical_section, CriticalSection};
#[cfg(feature = "std")]
mod cs {
static INIT: std::sync::Once = std::sync::Once::new();
static mut BKL: Option<std::sync::Mutex<()>> = None;
pub type CriticalSection = std::sync::MutexGuard<'static, ()>;
pub fn critical_section<F, R>(f: F) -> R
where
F: FnOnce(&CriticalSection) -> R,
{
INIT.call_once(|| unsafe {
BKL.replace(std::sync::Mutex::new(()));
});
let guard = unsafe { BKL.as_ref().unwrap().lock().unwrap() };
f(&guard)
}
}
#[cfg(not(feature = "std"))]
mod cs {
pub use cortex_m::interrupt::CriticalSection;
pub fn critical_section<F, R>(f: F) -> R
where
F: FnOnce(&CriticalSection) -> R,
{
cortex_m::interrupt::free(f)
}
}

2
embassy/src/util/mod.rs
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@ -1,5 +1,4 @@
//! Async utilities
mod critical_section;
mod drop_bomb;
mod forever;
mod mutex;
@ -10,7 +9,6 @@ mod signal;
#[cfg_attr(feature = "executor-agnostic", path = "waker_agnostic.rs")]
mod waker;
pub use critical_section::*;
pub use drop_bomb::*;
pub use forever::*;
pub use mutex::*;

4
embassy/src/util/mutex.rs
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@ -1,5 +1,5 @@
use core::cell::UnsafeCell;
use cortex_m::interrupt::CriticalSection;
use critical_section::CriticalSection;
use crate::fmt::assert;
@ -30,7 +30,7 @@ impl<T> CriticalSectionMutex<T> {
impl<T> CriticalSectionMutex<T> {
/// Borrows the data for the duration of the critical section
pub fn borrow<'cs>(&'cs self, _cs: &'cs CriticalSection) -> &'cs T {
pub fn borrow<'cs>(&'cs self, _cs: CriticalSection<'cs>) -> &'cs T {
unsafe { &*self.inner.get() }
}
}

9
embassy/src/util/signal.rs
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@ -11,7 +11,6 @@ use ptr::NonNull;
use crate::executor;
use crate::fmt::panic;
use crate::interrupt::{Interrupt, InterruptExt};
use crate::util::critical_section::critical_section;
/// Synchronization primitive. Allows creating awaitable signals that may be passed between tasks.
///
@ -38,7 +37,7 @@ impl<T: Send> Signal<T> {
/// Mark this Signal as completed.
pub fn signal(&self, val: T) {
critical_section(|_| unsafe {
critical_section::with(|_| unsafe {
let state = &mut *self.state.get();
if let State::Waiting(waker) = mem::replace(state, State::Signaled(val)) {
waker.wake();
@ -47,14 +46,14 @@ impl<T: Send> Signal<T> {
}
pub fn reset(&self) {
critical_section(|_| unsafe {
critical_section::with(|_| unsafe {
let state = &mut *self.state.get();
*state = State::None
})
}
pub fn poll_wait(&self, cx: &mut Context<'_>) -> Poll<T> {
critical_section(|_| unsafe {
critical_section::with(|_| unsafe {
let state = &mut *self.state.get();
match state {
State::None => {
@ -78,7 +77,7 @@ impl<T: Send> Signal<T> {
/// non-blocking method to check whether this signal has been signaled.
pub fn signaled(&self) -> bool {
critical_section(|_| matches!(unsafe { &*self.state.get() }, State::Signaled(_)))
critical_section::with(|_| matches!(unsafe { &*self.state.get() }, State::Signaled(_)))
}
}

4
embassy/src/util/waker_agnostic.rs
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@ -62,7 +62,7 @@ impl AtomicWaker {
/// Register a waker. Overwrites the previous waker, if any.
pub fn register(&mut self, w: &Waker) {
cortex_m::interrupt::free(|cs| {
critical_section::with(|cs| {
let cell = self.waker.borrow(cs);
cell.set(match cell.replace(None) {
Some(w2) if (w2.will_wake(w)) => Some(w2),
@ -73,7 +73,7 @@ impl AtomicWaker {
/// Wake the registered waker, if any.
pub fn wake(&mut self) {
cortex_m::interrupt::free(|cs| {
critical_section::with(|cs| {
let cell = self.waker.borrow(cs);
if let Some(w) = cell.replace(None) {
w.wake_by_ref();