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| -rw-r--r-- | .gitignore | 2 | ||||
| -rw-r--r-- | COPYING | 674 | ||||
| -rw-r--r-- | COPYING.LESSER | 165 | ||||
| -rw-r--r-- | Cargo.lock | 514 | ||||
| -rw-r--r-- | Cargo.toml | 17 | ||||
| -rw-r--r-- | README.md | 13 | ||||
| -rw-r--r-- | examples/dummy.rs | 46 | ||||
| -rwxr-xr-x | src/lib.rs | 209 | ||||
| -rw-r--r-- | tests/compile-fail/mutable.rs | 51 | ||||
| -rw-r--r-- | tests/tests.rs | 17 |
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diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..53eaa21 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +/target +**/*.rs.bk @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/> + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a program--to make sure it remains free +software for all its users. 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+categories = ["no-std", "embedded", "hardware-support", "asynchronous"] +keywords = ["interrupt", "peripheral"] +license = "LGPL-3.0-or-later" +authors = ["Brian Cully <bjc@kublai.com>"] +repository = "https://github.com/bjc/clint" +edition = "2018" + +[dev-dependencies] +cortex-m = "~0.6" +compiletest_rs = "~0.3" + +[dev-dependencies.cortex-m-rt] +version = "~0.6" diff --git a/README.md b/README.md new file mode 100644 index 0000000..36a8e9d --- /dev/null +++ b/README.md @@ -0,0 +1,13 @@ +# CLosure INTerrupt handlers + +This crate allows you to use closures for interrupt handlers in a +heapless, no-std environment. + +# Example Code + +See the `examples` directory for some simple examples. + +For a slightly more complex example [this +repository](https://github.com/bjc/nrf52-demo.git) uses clint to blink +some LEDs and measure temperature across a number of interrupts and +exceptions. diff --git a/examples/dummy.rs b/examples/dummy.rs new file mode 100644 index 0000000..7e7c237 --- /dev/null +++ b/examples/dummy.rs @@ -0,0 +1,46 @@ +use clint::Handler; + +// Wrapper used to call through to `example_handler` via `closure` in +// `main`. `Handler::new()` places a do-nothing handler in this at +// compile-time, in case the interrupt using this handler is fired +// before being `replace`d in `main`. +static mut HANDLER: Handler = Handler::new(); + +fn main() { + let mut x: u32 = 0; + + // Create a closure to take a mutable reference to `x` for use in + // `example_handler`. + let closure = move || example_handler(&mut x); + + // Swap out the do-nothing handler with our closure that calls + // through to `example_handler`. Ideally, the interrupt which uses + // this handler would be disabled while this happens, but as this + // is a demo, and there aren't any actual interrupts firing, this + // is left as an exercise to the reader. + unsafe { HANDLER.replace(&closure) }; + + // Simulate firing the interrupt. + dummy_interrupt(); + dummy_interrupt(); + + // Because `x` is `Copy`, we still have access to the symbol, + // although its value won't be changed by `closure`. + println!("x(o): {}", x); +} + +// Not a real interrupt handler, but called like one. i.e.: simple +// function with no arguments. +// +// Calls through `HANDLER` to do its actual work. +fn dummy_interrupt() { + unsafe { HANDLER.call() }; +} + +// The meat of the interrupt handler, which does work with whatever +// params were passed in via `closure` in `main`. +fn example_handler(x: &mut u32) { + // Update our dummy value, just to show it works. + *x += 2; + println!("x: {}", x); +} diff --git a/src/lib.rs b/src/lib.rs new file mode 100755 index 0000000..39cbfb0 --- /dev/null +++ b/src/lib.rs @@ -0,0 +1,209 @@ +#![no_std] +#![feature(const_fn)] +#![feature(test)] + +//! Call closures from interrupt handlers. +//! +//! # Motivation +//! +//! Existing solutions for interrupt handlers typically revolve around +//! wrapping resources needed by the handler in an `Option`, wrapped +//! in a `RefCell` wrapped in an `Mutex`, incurring some run-time +//! overhead every time the resource is required in the interrupt +//! handler, in addition to a fair amount of boilerplate. This module +//! attempts to leverage Rust's borrow checker and move semantics to +//! allow interrupt handlers to directly use their resources with a +//! minimum of overhead. +//! +//! To accomplish this, we use a closure which is called by an +//! interrupt handler. Because the closure has access to its +//! environment, we can use `move`, references, and mutable references +//! to ensure that variables are available as necessary to the +//! interrupt handler, while leveraging the borrow checker to ensure +//! safety at compile time. The only overhead is what it takes to call +//! the closure itself. +//! +//! # Safety +//! +//! While this module endeavors to use Rust's safety guarantees to +//! allow for use of resources inside interrupt handlers, due to +//! expected use-cases, closure semantics, and how interrupt handlers +//! are invoked from hardware, certain operations cannot be done +//! safely at this level. +//! +//! Notably, for the handler to be useful when called from interrupt +//! context, it needs to be stored in a `static mut` variable. This +//! means that the closure you supply it must also be effectively +//! `static` or replaced with a longer-lived closure before it goes +//! out of scope. `Handler::default_handler()` is provided for this +//! purpose. +//! +//! Additionally, replacement of an interrupt handler's closure may +//! race with the calling of the interrupt handler's closure (i.e., +//! `Handler.replace()` may happen concurrently with +//! `Handler.call()`). You need to avoid this situation however is +//! appropriate for your code. The expected usage would be replacing +//! the handler`s closure once, while interrupts are disabled, thus +//! preventing the simultaneous replace/call problem. As this module +//! makes no assumptions about the environment in which it will be +//! used, this cannot be done for you. +//! +//! # Examples +//! +//! This example for an ARM Cortex-M system demonstrates safe usage by +//! only replacing the closure for `SYSTICK_HANDLER` inside a critical +//! section obtained by `cortex_m::interrupt::free()`, and shows how +//! it is called via the `SysTick()` function, which is called +//! directly from hardware. +//! +//! ``` no_run +//! use clint::Handler; +//! use cortex_m_rt::exception; +//! +//! static mut SYSTICK_HANDLER: Handler = Handler::new(); +//! +//! fn main() { +//! // NB: `closure` is in the lexical scope of `main`, and thus +//! // cannot go out of scope. +//! let closure = || { +//! // Your interrupt handling code. +//! }; +//! // Replace the handler for SysTick with closure while interrupts are +//! // disabled. +//! cortex_m::interrupt::free(|_| { +//! unsafe { SYSTICK_HANDLER.replace(&closure) }; +//! }); +//! +//! loop { +//! // Your main loop. +//! } +//! } +//! +//! #[exception] +//! fn SysTick() { +//! unsafe { SYSTICK_HANDLER.call() }; +//! } +//! ``` + +pub struct Handler { + // Handler that will be executed on `call`. + h: *const dyn FnMut(), +} + +impl Handler { + /// Returns a new Handler that initially does nothing when + /// called. Override it's behavior by using `replace`. + pub const fn new() -> Self { + Self { + h: &Self::default_handler, + } + } + + /// Replace the behavior of this handler with `f`. + /// + /// # Safety + /// + /// There is no exclusion on replacing the handler's behavior + /// while it is being executed. It is your responsibility to make + /// sure that it's not being executed when you call `replace`. + pub unsafe fn replace<F>(&mut self, f: &F) + where + F: FnMut() + 'static, + { + self.h = f; + } + + /// Execute this handler. + /// + /// # Safety + /// + /// This function assumes that a replace is not occurring when the + /// closure is being looked up. You need to ensure that `replace` + /// and `call` can not occur at the same time. + pub unsafe fn call(&self) { + let f: &mut dyn FnMut() = &mut *(self.h as *mut dyn FnMut()); + f(); + } + + /// Do nothing handler. Needed by `call` until `replace` is used + /// to set specific behavior. Can also be used to replace a + /// closure that is about to go out of scope. + pub fn default_handler() {} +} + +impl core::fmt::Debug for Handler { + fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result { + let (f0, f1) = unsafe { core::mem::transmute::<_, (usize, usize)>(self.h) }; + write!(f, "Handler{{ h: (0x{:x}, 0x{:x}) }}", f0, f1) + } +} + +#[cfg(test)] +mod test { + extern crate test; + use super::*; + use test::Bencher; + + #[test] + fn replace() { + static mut X: usize = 0; + + let mut handler = Handler::new(); + unsafe { + handler.replace(&|| X += 1); + assert_eq!(X, 0); + handler.call(); + handler.call(); + assert_eq!(X, 2); + } + } + + #[test] + fn replace_static() { + static mut HANDLER: Handler = Handler::new(); + static mut X: usize = 0; + + unsafe { + HANDLER.replace(&|| X += 1); + assert_eq!(X, 0); + HANDLER.call(); + HANDLER.call(); + assert_eq!(X, 2); + } + } + + #[test] + fn replace_with_default() { + let mut handler = Handler::new(); + unsafe { + handler.replace(&Handler::default_handler); + handler.call() + } + } + + const ITER_COUNT: usize = 10_000; + + #[bench] + fn bench_bare_fn(b: &mut Bencher) { + static mut X: usize = 0; + #[inline(never)] + fn inc() { + unsafe { X += 1 }; + } + + let n = test::black_box(ITER_COUNT); + b.iter(|| (0..n).for_each(|_| inc())); + assert!(unsafe { X } > 0); + } + + #[bench] + fn bench_handler(b: &mut Bencher) { + static mut X: usize = 0; + let mut handler = Handler::new(); + unsafe { handler.replace(&move || X += 1) }; + + let n = test::black_box(ITER_COUNT); + b.iter(|| (0..n).for_each(|_| unsafe { handler.call() })); + assert!(unsafe { X } > 0); + } +} diff --git a/tests/compile-fail/mutable.rs b/tests/compile-fail/mutable.rs new file mode 100644 index 0000000..e888503 --- /dev/null +++ b/tests/compile-fail/mutable.rs @@ -0,0 +1,51 @@ +extern crate clint; + +use clint::Handler; + +static mut HANDLER: Handler = Handler::new(); + +fn main() { + need_move(); + borrow_error(); + no_borrow_needed(); +} + +fn need_move() { + let x = vec![1, 2, 3]; + let c = || { + //~^ ERROR closure may outlive + println!("x(h-c): {:?}", x); + }; + unsafe { + HANDLER.replace(&c); + HANDLER.call(); + HANDLER.call(); + } + println!("x(h-o): {:?}", x); +} + +fn borrow_error() { + let x = vec![1, 2, 3]; + let c = move || { + println!("x(h-c): {:?}", x); + }; + unsafe { + HANDLER.replace(&c); + HANDLER.call(); + HANDLER.call(); + } + println!("x(h-o): {:?}", x); //~ ERROR borrow of moved value +} + +fn no_borrow_needed() { + let x = vec![1, 2, 3]; + let c = || { + println!("x(h-c): hi!"); + }; + unsafe { + HANDLER.replace(&c); + HANDLER.call(); + HANDLER.call(); + } + println!("x(h-o): {:?}", x); +} diff --git a/tests/tests.rs b/tests/tests.rs new file mode 100644 index 0000000..c295c5a --- /dev/null +++ b/tests/tests.rs @@ -0,0 +1,17 @@ +use std::path::PathBuf; + +fn run_mode(mode: &'static str) { + let mut config = compiletest_rs::Config::default(); + + config.mode = mode.parse().expect("invalid mode"); + config.src_base = PathBuf::from(format!("tests/{}", mode)); + config.target_rustcflags = Some("-L target/debug".to_string()); + config.clean_rmeta(); + + compiletest_rs::run_tests(&config); +} + +#[test] +fn compile_test() { + run_mode("compile-fail"); +} |