mirror of
https://github.com/esp-rs/esp-idf-hal.git
synced 2025-09-28 12:51:04 +00:00
Notion of MutexFamily (#63)
* Signal generalized; efficient notifiable-from-ISR single-threaded executor * Notion of MutexFamily * New release * Fix compilation error on riscv * Fix fmt * Address clippy warnings * Address clippy warnings * Address clippy warnings
This commit is contained in:
Ivan Markov
GitHub
parent
d446ec9a39
commit
0c55a52692
@ -1,6 +1,6 @@
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[package]
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name = "esp-idf-hal"
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version = "0.35.2"
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version = "0.36.0"
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authors = ["sapir <yasapir@gmail.com>", "Ivan Markov <ivan.markov@gmail.com>"]
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edition = "2018"
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resolver = "2"
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@ -28,7 +28,7 @@ nb = "0.1.2"
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mutex-trait = { version = "0.2", optional = true, default-features = false }
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embedded-hal = "=1.0.0-alpha.7"
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embedded-hal-0-2 = { package = "embedded-hal", version = "0.2.7", features = ["unproven"] }
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embedded-svc = { version = "0.19", optional = true, default-features = false }
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embedded-svc = { version = "0.20", optional = true, default-features = false }
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esp-idf-sys = { version = "0.31", optional = true, default-features = false, features = ["native"] }
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critical-section = { version = "0.2.5", optional = true, features = ["custom-impl"] }
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embassy = { version = "0", optional = true }
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201
src/interrupt.rs
201
src/interrupt.rs
@ -1,5 +1,7 @@
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use core::cell::{RefCell, RefMut};
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use core::ops::{Deref, DerefMut};
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use core::ptr;
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use core::sync::atomic::{AtomicPtr, Ordering};
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use esp_idf_sys::*;
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@ -10,24 +12,187 @@ pub fn active() -> bool {
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unsafe { xPortInIsrContext() != 0 }
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}
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#[inline(always)]
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#[link_section = ".iram1.interrupt_do_yield"]
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pub fn do_yield() {
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if active() {
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#[cfg(esp32c3)]
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unsafe {
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vPortYieldFromISR();
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}
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static ISR_YIELDER: AtomicPtr<unsafe fn()> = AtomicPtr::new(ptr::null_mut());
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#[cfg(not(esp32c3))]
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unsafe {
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vPortEvaluateYieldFromISR(0);
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}
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#[inline(always)]
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#[link_section = ".iram1.interrupt_get_isr_yielder"]
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unsafe fn get_isr_yielder() -> Option<unsafe fn()> {
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if active() {
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ISR_YIELDER.load(Ordering::SeqCst).as_ref().copied()
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} else {
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unsafe {
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vPortYield();
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None
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}
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}
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/// # Safety
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///
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/// This function should only be called from within an ISR handler, so as to set
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/// a custom ISR yield function (e.g. when using the ESP-IDF timer service).
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///
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/// Thus, if some function further down the ISR call chain invokes `do_yield`,
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/// the custom yield function set here will be called.
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///
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/// Users should not forget to call again `set_isr_yielder` at the end of the
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/// ISR handler so as to reastore the yield function which was valid before the
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/// ISR handler was invoked.
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#[inline(always)]
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#[link_section = ".iram1.interrupt_set_isr_yielder"]
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pub unsafe fn set_isr_yielder(yielder: Option<unsafe fn()>) -> Option<unsafe fn()> {
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if active() {
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let yielder = if let Some(yielder) = yielder {
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&yielder as *const _ as *mut _
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} else {
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ptr::null_mut()
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};
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ISR_YIELDER
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.swap(yielder, Ordering::SeqCst)
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.as_ref()
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.copied()
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} else {
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None
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}
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}
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pub mod task {
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use core::ptr;
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use core::time::Duration;
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use esp_idf_sys::*;
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use crate::delay::TickType;
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#[inline(always)]
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#[link_section = ".iram1.interrupt_task_do_yield"]
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pub fn do_yield() {
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if super::active() {
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#[cfg(esp32c3)]
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unsafe {
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if let Some(yielder) = super::get_isr_yielder() {
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yielder();
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} else {
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vPortYieldFromISR();
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}
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}
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#[cfg(not(esp32c3))]
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unsafe {
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if let Some(yielder) = super::get_isr_yielder() {
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yielder();
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} else {
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vPortEvaluateYieldFromISR(0);
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}
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}
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} else {
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unsafe {
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vPortYield();
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}
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}
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}
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#[inline(always)]
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#[link_section = ".iram1.interrupt_task_current"]
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pub fn current() -> Option<TaskHandle_t> {
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if super::active() {
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None
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} else {
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Some(unsafe { xTaskGetCurrentTaskHandle() })
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}
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}
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pub fn wait_any_notification() {
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loop {
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if let Some(notification) = wait_notification(None) {
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if notification != 0 {
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break;
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}
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}
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}
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}
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pub fn wait_notification(duration: Option<Duration>) -> Option<u32> {
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let mut notification = 0_u32;
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#[cfg(esp_idf_version = "4.3")]
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let notified = unsafe {
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xTaskNotifyWait(
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0,
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u32::MAX,
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&mut notification as *mut _,
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TickType::from(duration).0,
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)
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} != 0;
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#[cfg(not(esp_idf_version = "4.3"))]
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let notified = unsafe {
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xTaskGenericNotifyWait(
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0,
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0,
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u32::MAX,
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&mut notification as *mut _,
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TickType::from(duration).0,
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)
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} != 0;
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if notified {
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Some(notification)
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} else {
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None
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}
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}
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/// # Safety
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///
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/// When calling this function care should be taken to pass a valid
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/// FreeRTOS task handle. Moreover, the FreeRTOS task should be valid
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/// when this function is being called.
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pub unsafe fn notify(task: TaskHandle_t, notification: u32) -> bool {
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let notified = if super::active() {
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let mut higher_prio_task_woken: BaseType_t = Default::default();
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#[cfg(esp_idf_version = "4.3")]
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let notified = xTaskGenericNotifyFromISR(
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task,
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notification,
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eNotifyAction_eSetBits,
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ptr::null_mut(),
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&mut higher_prio_task_woken as *mut _,
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);
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#[cfg(not(esp_idf_version = "4.3"))]
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let notified = xTaskGenericNotifyFromISR(
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task,
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0,
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notification,
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eNotifyAction_eSetBits,
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ptr::null_mut(),
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&mut higher_prio_task_woken as *mut _,
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);
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if higher_prio_task_woken != 0 {
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do_yield();
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}
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notified
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} else {
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#[cfg(esp_idf_version = "4.3")]
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let notified =
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xTaskGenericNotify(task, notification, eNotifyAction_eSetBits, ptr::null_mut());
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#[cfg(not(esp_idf_version = "4.3"))]
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let notified = xTaskGenericNotify(
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task,
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0,
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notification,
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eNotifyAction_eSetBits,
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ptr::null_mut(),
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);
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notified
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};
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notified != 0
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}
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}
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/// A critical section allows the user to disable interrupts
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@ -275,6 +440,14 @@ impl<'a, T> mutex_trait::Mutex for &'a Mutex<T> {
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}
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}
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#[cfg(feature = "embedded-svc")]
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pub struct MutexFamily;
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#[cfg(feature = "embedded-svc")]
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impl embedded_svc::mutex::MutexFamily for MutexFamily {
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type Mutex<T> = Mutex<T>;
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}
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#[cfg(feature = "embedded-svc")]
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impl<T> embedded_svc::mutex::Mutex for Mutex<T> {
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type Data = T;
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37
src/mutex.rs
37
src/mutex.rs
@ -117,10 +117,7 @@ impl Condvar {
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Self(UnsafeCell::new(cond))
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}
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pub fn wait<'a, T>(&self, guard: MutexGuard<'a, T>) -> MutexGuard<'a, T>
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where
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T: Send,
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{
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pub fn wait<'a, T>(&self, guard: MutexGuard<'a, T>) -> MutexGuard<'a, T> {
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let r = unsafe { pthread_cond_wait(self.0.get(), guard.0 .0.get()) };
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debug_assert_eq!(r, 0);
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@ -131,10 +128,7 @@ impl Condvar {
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&self,
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guard: MutexGuard<'a, T>,
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duration: Duration,
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) -> (MutexGuard<'a, T>, bool)
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where
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T: Send,
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{
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) -> (MutexGuard<'a, T>, bool) {
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let abstime = timespec {
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tv_sec: duration.as_secs() as _,
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tv_nsec: duration.subsec_nanos() as _,
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@ -175,12 +169,12 @@ impl Drop for Condvar {
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}
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#[cfg(feature = "embedded-svc")]
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impl embedded_svc::mutex::Condvar for Condvar {
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type Mutex<T>
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where
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T: Send,
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= Mutex<T>;
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impl embedded_svc::mutex::MutexFamily for Condvar {
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type Mutex<T> = Mutex<T>;
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}
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#[cfg(feature = "embedded-svc")]
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impl embedded_svc::mutex::Condvar for Condvar {
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#[inline(always)]
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fn new() -> Self {
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Condvar::new()
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@ -188,25 +182,22 @@ impl embedded_svc::mutex::Condvar for Condvar {
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fn wait<'a, T>(
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&self,
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guard: <<Self as embedded_svc::mutex::Condvar>::Mutex<T> as embedded_svc::mutex::Mutex>::Guard<'a>,
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) -> <<Self as embedded_svc::mutex::Condvar>::Mutex<T> as embedded_svc::mutex::Mutex>::Guard<'a>
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where
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T: Send,
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guard: <<Self as embedded_svc::mutex::MutexFamily>::Mutex<T> as embedded_svc::mutex::Mutex>::Guard<'a>,
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) -> <<Self as embedded_svc::mutex::MutexFamily>::Mutex<T> as embedded_svc::mutex::Mutex>::Guard<'a>
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{
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Condvar::wait(self, guard)
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}
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fn wait_timeout<'a, T>(
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&self,
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guard: <<Self as embedded_svc::mutex::Condvar>::Mutex<T> as embedded_svc::mutex::Mutex>::Guard<'a>,
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guard: <<Self as embedded_svc::mutex::MutexFamily>::Mutex<T> as embedded_svc::mutex::Mutex>::Guard<'a>,
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duration: Duration,
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) -> (
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<<Self as embedded_svc::mutex::Condvar>::Mutex<T> as embedded_svc::mutex::Mutex>::Guard<'a>,
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<<Self as embedded_svc::mutex::MutexFamily>::Mutex<T> as embedded_svc::mutex::Mutex>::Guard<
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'a,
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>,
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bool,
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)
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where
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T: Send,
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{
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) {
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Condvar::wait_timeout(self, guard, duration)
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}
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