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//! # Cortex-M Interrupt Move //! //! It's the next best thing to moving to interrupt context. //! //! ## Examples //! //! Check out the full examples in the [`app-examples`](./app-examples) folder. //! //! ## The goal //! //! The goal here is to replace usage of a mutex which may require an entire critical section, and instead model "Moving" of data to an interrupt context. //! //! This means that we don't need a critical section to access it, we just need to be in the interrupt we moved the data to. //! //! Here's how it works: //! //! ```rust, no_run //! #![no_main] //! //! // CMIM items //! use cmim::{ //! Move, //! Context, //! Exception, //! }; //! //! // Used to set the program entry point //! use cortex_m_rt::{entry, exception}; //! //! use embedded_hal::timer::Cancel; //! //! // Provides definitions for our development board //! use dwm1001::{ //! cortex_m::peripheral::syst::SystClkSource::Core, //! nrf52832_hal::{ //! nrf52832_pac::{interrupt, Interrupt, TIMER1, UARTE0}, //! prelude::*, //! Timer, Uarte, //! }, //! DWM1001, //! }; //! //! static TIMER_1_DATA: Move<Timer1Data, Interrupt> = Move::new_uninitialized(Context::Interrupt(Interrupt::TIMER1)); //! static SYSTICK_DATA: Move<SysTickData, Interrupt> = Move::new_uninitialized(Context::Exception(Exception::SysTick)); //! //! struct Timer1Data { //! uart: Uarte<UARTE0>, //! timer: Timer<TIMER1>, //! led: dwm1001::Led, //! toggle: bool, //! } //! //! struct SysTickData { //! led: dwm1001::Led, //! toggle: bool, //! } //! //! #[entry] //! fn main() -> ! { //! if let Some(mut board) = DWM1001::take() { //! let mut timer = board.TIMER0.constrain(); //! let mut _rng = board.RNG.constrain(); //! //! let mut itimer = board.TIMER1.constrain(); //! itimer.start(1_000_000u32); //! itimer.enable_interrupt(&mut board.NVIC); //! //! // Core clock is 64MHz, blink at 16Hz //! board.SYST.set_clock_source(Core); //! board.SYST.set_reload(4_000_000 - 1); //! board.SYST.enable_counter(); //! board.SYST.enable_interrupt(); //! //! TIMER_1_DATA //! .try_move(Timer1Data { //! uart: board.uart, //! timer: itimer, //! led: board.leds.D9, //! toggle: false, //! }) //! .ok(); //! //! SYSTICK_DATA //! .try_move(SysTickData { //! led: board.leds.D12, //! toggle: false, //! }) //! .ok(); //! //! let mut toggle = false; //! //! loop { //! // board.leds.D9 - Top LED GREEN //! // board.leds.D12 - Top LED RED //! // board.leds.D11 - Bottom LED RED //! // board.leds.D10 - Bottom LED BLUE //! if toggle { //! board.leds.D10.enable(); //! } else { //! board.leds.D10.disable(); //! } //! //! toggle = !toggle; //! //! timer.delay(250_000); //! } //! } //! //! loop { //! continue; //! } //! } //! //! #[exception] //! fn SysTick() { //! SYSTICK_DATA //! .try_lock(|data| { //! // Blink the LED //! if data.toggle { //! data.led.enable(); //! } else { //! data.led.disable(); //! } //! //! data.toggle = !data.toggle; //! }) //! .ok(); //! } //! //! #[interrupt] //! fn TIMER1() { //! TIMER_1_DATA //! .try_lock(|data| { //! // Start the timer again first for accuracy //! data.timer.cancel().unwrap(); //! data.timer.start(1_000_000u32); //! //! // Write message to UART. The NRF UART requires data //! // to be in RAM, not flash. //! const MSG_BYTES: &[u8] = "Blink!\r\n".as_bytes(); //! let mut buf = [0u8; MSG_BYTES.len()]; //! buf.copy_from_slice(MSG_BYTES); //! //! data.uart.write(&buf).unwrap(); //! //! // Blink the LED //! if data.toggle { //! data.led.enable(); //! } else { //! data.led.disable(); //! } //! //! data.toggle = !data.toggle; //! }) //! .ok(); //! } //! ``` //! //! //! # License //! //! Licensed under either of //! //! - Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or //! http://www.apache.org/licenses/LICENSE-2.0) //! //! - MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT) //! //! at your option. //! //! ## Contribution //! //! Unless you explicitly state otherwise, any contribution intentionally submitted //! for inclusion in the work by you, as defined in the Apache-2.0 license, shall be //! dual licensed as above, without any additional terms or conditions. #![no_std] use core::{ cell::UnsafeCell, cmp::PartialEq, mem::MaybeUninit, result::Result, sync::atomic::{AtomicU8, Ordering}, }; use bare_metal::Nr; use cortex_m::interrupt::free; use cortex_m::peripheral::{scb::VectActive, SCB}; pub use cortex_m::peripheral::scb::Exception; /// Context is the place where data will be moved to. This can be either /// interrupt context, or exception context pub enum Context<I> { /// An Exception, such as SysTick. Re-exported from the `cortex-m` crate Exception(Exception), /// A device specific interrupt, as defined by a `-pac` crate Interrupt(I), } impl<I: Nr> PartialEq<VectActive> for Context<I> { fn eq(&self, other: &VectActive) -> bool { match (self, other) { (Context::Exception(e_s), VectActive::Exception(e_o)) => e_s == e_o, (Context::Interrupt(i_s), VectActive::Interrupt{ irqn }) => i_s.nr() == *irqn, _ => false, } } } /// Move is a structure that is intended to be stored as a static variable, /// and represents a metaphorical "move" to an interrupt context. Data is moved /// to the interrupt context by calling `try_move` from thread (non-interrupt) /// context, and the data can be retrived within a selected interrupt using the /// `try_lock` method. pub struct Move<T, I> { /// `data` contains the user data, which may or may not be initialized data: UnsafeCell<MaybeUninit<T>>, // `state` is a runtime tracking of our current state. state: AtomicU8, context: Context<I>, } unsafe impl<T, I> Sync for Move<T, I> where T: Send + Sized, I: Nr, { } impl<T, I> Move<T, I> { /// The data is uninitialized const UNINIT: u8 = 0; /// The data is initialized and not currently locked const INIT_AND_IDLE: u8 = 1; /// The data is initialized, but currently locked by an interrupt const LOCKED: u8 = 2; /// Create a new `Move` structure without initializing the data contained by it. /// This is best used when the data cannot be initialized until runtime, such as /// a HAL peripheral, or the producer or consumer of a queue. /// /// Before using this in interrupt context, you must initialize it with the /// `try_move` function, or it will return errors upon access. /// /// You must provide the context that is allowed to later access this data /// as the `ctxt` argument pub const fn new_uninitialized(ctxt: Context<I>) -> Self { Move { data: UnsafeCell::new(MaybeUninit::uninit()), state: AtomicU8::new(Self::UNINIT), context: ctxt, } } /// Create a new `Move` structure, and initialize the data contained within it. /// This is best used when the data contained within is `const`, and doesn't require /// runtime initialization. /// /// This does not require further interaction before use in interrupt context. /// /// You must provide the context that is allowed to later access this data /// as the `ctxt` argument pub const fn new(data: T, ctxt: Context<I>) -> Self { Move { data: UnsafeCell::new(MaybeUninit::new(data)), state: AtomicU8::new(Self::UNINIT), context: ctxt, } } } impl<T, I> Move<T, I> where T: Send + Sized, I: Nr, { /// Attempt to initialize the data of the `Move` structure. /// This *MUST* be called from non-interrupt context, and a critical /// section will be in place while setting the data. /// /// Returns: /// /// * Ok(Some(T)): If we are in thread mode and the data was previously initialized /// * Ok(None): If we are in thread mode and the data was not previously initialized /// * Err(T): If we are not in thread mode (e.g. an interrupt is active), return the /// data that was going to be moved pub fn try_move(&self, data: T) -> Result<Option<T>, T> { free(|_cs| { // Check if we are in non-interrupt context match SCB::vect_active() { // TODO: Would it be reasonable to initialize this from a DIFFERENT // interrupt context? Basically anything but the destination interrupt? VectActive::ThreadMode => {} _ => { return Err(data); } } // Since we are in a critical section, it is not necessary to perform // an atomic compare and swap, as we cannot be pre-empted match self.state.load(Ordering::SeqCst) { Self::UNINIT => { unsafe { // Reference to an uninitialized MaybeUninit let mu_ref = &mut *self.data.get(); // Get a pointer to the data, and use ptr::write to avoid // viewing or creating a reference to uninitialized data let dat_ptr = mu_ref.as_mut_ptr(); dat_ptr.write(data); } self.state.store(Self::INIT_AND_IDLE, Ordering::SeqCst); Ok(None) } Self::INIT_AND_IDLE => { let old = unsafe { // Reference to an initialized MaybeUninit let mu_ref = &mut *self.data.get(); // Get a pointer to the data, and use ptr::replace, // a mem::swap is probably okay since this is initialized, // but use ptr methods anyway let dat_ptr = mu_ref.as_mut_ptr(); dat_ptr.replace(data) }; Ok(Some(old)) } Self::LOCKED | _ => Err(data), } }) } /// Attempt to recover the data from the `Move` structure. /// This *MUST* be called from non-interrupt context, and a critical /// section will be in place while receiving the data. /// /// Returns: /// /// * Ok(Some(T)): If we are in thread mode and the data was previously initialized /// * Ok(None): If we are in thread mode and the data was not previously initialized /// * Err(()): If we are not in thread mode (e.g. an interrupt is active) pub fn try_free(&self) -> Result<Option<T>, ()> { free(|_cs| { // Check if we are in non-interrupt context match SCB::vect_active() { // TODO: Would it be reasonable to free this from a DIFFERENT // interrupt context? Basically anything but the destination interrupt? VectActive::ThreadMode => {} _ => { return Err(()); } } // Since we are in a critical section, it is not necessary to perform // an atomic compare and swap, as we cannot be pre-empted match self.state.load(Ordering::SeqCst) { Self::UNINIT => Ok(None), Self::INIT_AND_IDLE => { let old = unsafe { // Get a pointer to the initialized data let mu_ptr = self.data.get(); // Replace it with an uninitialized field. I winder if this is // just a no-op, or if we should explicitly zero the memory here mu_ptr.replace(MaybeUninit::uninit()).assume_init() }; self.state.store(Self::UNINIT, Ordering::SeqCst); Ok(Some(old)) } Self::LOCKED | _ => Err(()), } }) } /// So, this isn't a classical mutex. It will *only* provide access if: /// /// * The selected interrupt/exception is currently active /// * The mutex has not already been locked /// /// If these conditions are met, then you can access the variable from within /// a closure pub fn try_lock<R>(&self, f: impl FnOnce(&mut T) -> R) -> Result<R, ()> { if self.context != SCB::vect_active() { return Err(()); } // We know that the current interrupt is active, which means // that thread mode cannot resume until we exit this function. // We don't need to worry about compare and swap, because we // are now the only ones who can access this data match self.state.load(Ordering::SeqCst) { // The data is uninitialized. Don't provide access Self::UNINIT => Err(()), // The data is initialized, allow access within a closure // This prevents re-entrancy of re-calling lock within the // closure Self::INIT_AND_IDLE => { self.state.store(Self::LOCKED, Ordering::SeqCst); let dat_ref = unsafe { // Create a mutable reference to an initialized MaybeUninit let mu_ref = &mut *self.data.get(); // Create a mutable reference to the initialized data behind // the MaybeUninit. This is fine, because the scope of this // reference can only live to the end of this function, and // cannot be captured by the closure used below. // // Additionally we have a re-entrancy check above, to prevent // creating a duplicate &mut to the inner data let dat_ptr = mu_ref.as_mut_ptr(); &mut *dat_ptr }; // Call the user's closure, providing access to the data let ret = f(dat_ref); self.state.store(Self::INIT_AND_IDLE, Ordering::SeqCst); Ok(ret) } // The data is locked, or the status register is garbage. // Don't provide access Self::LOCKED | _ => Err(()), } } }