1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218
//! The Threads module. //! //! **NOTE** This module documentation should be viewed as a continuation of //! [the `drone_core` documentation](drone_core::thr). //! //! # Vector Table //! //! ``` //! # #![feature(const_fn)] //! # #![feature(marker_trait_attr)] //! # drone_cortex_m::thr::int!(pub trait Rcc: 5); //! # drone_cortex_m::thr::int!(pub trait Adc1: 18); //! # fn main() {} //! use drone_cortex_m::{map::thr::*, thr}; //! //! thr::vtable! { //! // Path to the thread object. //! use Thr; //! //! /// The vector table. //! pub struct Vtable; //! //! // Arguments to the vector table constructor. Contains at least the //! // `reset` handler. //! /// Explicit vector table handlers. //! pub struct Handlers; //! //! /// Thread tokens. //! pub struct Thrs; //! //! /// The array of threads. //! static THREADS; //! //! // Exceptions start here. //! //! // Define a normal thread for the non-interrupt exception NMI. This will //! // define a thread token `Nmi`, add `nmi` field to the `Thrs` index, and //! // reserve an item in the `THREADS` array. //! /// Non maskable interrupt. //! pub NMI; //! /// All classes of fault. //! pub HARD_FAULT; //! // Define a function handler for the non-interrupt exception SV_CALL. This //! // will only add a field to the `Handlers` structure. //! /// System service call. //! fn SV_CALL; //! /// System tick timer. //! pub SYS_TICK; //! //! // Interrupts start here. //! //! // Define a normal thread for the interrupt #5 with the name RCC. The name //! // can be arbitrary. //! /// RCC global interrupt. //! pub 5: RCC; //! // Define an external thread for the interrupt #18 with the name ADC1. This //! // will add a field to the `Handlers` structure, define a thread token //! // `Adc1`, add `adc1` field to the `Thrs` index, and reserve an item in the //! // `THREADS` array. //! /// ADC1 global interrupt. //! pub extern 18: ADC1; //! } //! //! // See the `drone_core` documentation of `thr!` macro. //! thr! { //! use THREADS; //! pub struct Thr {} //! pub struct ThrLocal {} //! } //! //! // The reset handler should always be provided externally. //! unsafe extern "C" fn reset() -> ! { //! loop {} //! } //! //! // Define external handlers for the exceptions defined using `fn` or //! // `extern` keyword. //! unsafe extern "C" fn sv_call() {} //! unsafe extern "C" fn adc1() {} //! //! // Define and export the actual vector table with all handlers attached. //! #[no_mangle] //! pub static VTABLE: Vtable = Vtable::new(Handlers { //! reset, //! sv_call, //! adc1, //! }); //! ``` //! //! The list of all available non-interrupt exceptions: //! //! * `NMI` - Non maskable interrupt. //! * `HARD_FAULT` - All classes of fault. //! * `MEM_MANAGE` - Memory management. //! * `BUS_FAULT` - Pre-fetch fault, memory access fault. //! * `USAGE_FAULT` - Undefined instruction or illegal state. //! * `SV_CALL` - System service call via SWI instruction. //! * `DEBUG` - Monitor. //! * `PEND_SV` - Pendable request for system service. //! * `SYS_TICK` - System tick timer. //! //! # Interrupt Mappings //! //! All available interrupts should be mapped with this macro: //! //! ``` //! # #![feature(marker_trait_attr)] //! # fn main() {} //! use drone_cortex_m::thr::int; //! //! int! { //! /// RCC global interrupt. //! pub trait RCC: 5; //! } //! ``` pub mod prelude; pub mod vtable; mod exec; mod init; mod nvic; mod root; mod wake; #[doc(no_inline)] pub use drone_core::thr::*; /// Initializes the thread system and returns a set of thread tokens. /// /// # Examples /// /// ```no_run /// # #![feature(const_fn)] /// # drone_cortex_m::thr::vtable! { /// # use Thr; /// # struct Vtable; /// # struct Handlers; /// # struct Thrs; /// # static THREADS; /// # } /// # drone_cortex_m::thr! { /// # use THREADS; /// # struct Thr {} /// # struct ThrLocal {} /// # } /// # drone_cortex_m::cortex_m_reg_tokens!(struct Regs;); /// # fn main() { /// # let reg = unsafe { <Regs as drone_core::token::Token>::take() }; /// use drone_cortex_m::thr; /// /// let (thr, _) = thr::init!(reg, Thrs); /// # } /// ``` #[doc(inline)] pub use crate::thr_init as init; /// Defines a vector table. /// /// See [the module level documentation](self) for details. #[doc(inline)] pub use drone_cortex_m_macros::vtable; /// Defines an interrupt. /// /// See [the module level documentation](self) for details. #[doc(inline)] pub use drone_cortex_m_macros::int; pub use self::{ exec::{ExecOutput, ThrExec}, init::{init, ThrInitPeriph}, nvic::{NvicIabr, NvicIcer, NvicIcpr, NvicIser, NvicIspr, ThrNvic}, root::{FutureRootExt, StreamRootExt, StreamRootWait}, }; use crate::sv::Supervisor; use drone_core::{ thr::{thread_resume, ThrToken}, token::Token, }; /// An interrupt token. pub trait IntToken: ThrToken { /// NVIC bundle the interrupt belongs to. type Bundle: IntBundle; /// The number of the interrupt. const INT_NUM: usize; } /// NVIC registers bundle. pub trait IntBundle { /// The number of NVIC bundle. const BUNDLE_NUM: usize; } /// A set of thread tokens. /// /// # Safety /// /// Must contain only thread tokens. pub unsafe trait ThrTokens: Token {} /// A trait to assign a supervisor to threads. pub trait ThrSv: ThrToken { /// The supervisor. type Sv: Supervisor; } /// The thread handler function for a vector table. /// /// # Safety /// /// The function is not reentrant. pub unsafe extern "C" fn thr_handler<T: ThrToken>() { thread_resume::<T>(); }