diff options
| -rw-r--r-- | ports/rp2/pendsv.c | 49 |
1 files changed, 46 insertions, 3 deletions
diff --git a/ports/rp2/pendsv.c b/ports/rp2/pendsv.c index 4ba1e8160..2c086f894 100644 --- a/ports/rp2/pendsv.c +++ b/ports/rp2/pendsv.c @@ -43,10 +43,14 @@ static pendsv_dispatch_t pendsv_dispatch_table[PENDSV_DISPATCH_NUM_SLOTS]; +static inline void pendsv_resume_run_dispatch(void); + void PendSV_Handler(void); -// Using the nowait variant here as softtimer updates PendSV from the loop of mp_wfe_or_timeout(), -// where we don't want the CPU event bit to be set. +#if MICROPY_PY_THREAD + +// Important to use a 'nowait' mutex here as softtimer updates PendSV from the +// loop of mp_wfe_or_timeout(), where we don't want the CPU event bit to be set. static mp_thread_recursive_mutex_t pendsv_mutex; void pendsv_init(void) { @@ -62,7 +66,40 @@ void pendsv_suspend(void) { void pendsv_resume(void) { mp_thread_recursive_mutex_unlock(&pendsv_mutex); + pendsv_resume_run_dispatch(); +} + +static inline int pendsv_suspend_count(void) { + return pendsv_mutex.mutex.enter_count; +} + +#else + +// Without threads we don't include any pico-sdk mutex in the build, +// but also we don't need to worry about cross-thread contention (or +// races with interrupts that update this counter). +static int pendsv_lock; + +void pendsv_init(void) { +} + +void pendsv_suspend(void) { + pendsv_lock++; +} + +void pendsv_resume(void) { + assert(pendsv_lock > 0); + pendsv_lock--; + pendsv_resume_run_dispatch(); +} +static inline int pendsv_suspend_count(void) { + return pendsv_lock; +} + +#endif + +static inline void pendsv_resume_run_dispatch(void) { // Run pendsv if needed. Find an entry with a dispatch and call pendsv dispatch // with it. If pendsv runs it will service all slots. int count = PENDSV_DISPATCH_NUM_SLOTS; @@ -76,7 +113,7 @@ void pendsv_resume(void) { void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f) { pendsv_dispatch_table[slot] = f; - if (pendsv_mutex.mutex.enter_count == 0) { + if (pendsv_suspend_count() == 0) { #if PICO_ARM // There is a race here where other core calls pendsv_suspend() before // ISR can execute, but dispatch will happen later when other core @@ -97,6 +134,7 @@ void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f) { // PendSV interrupt handler to perform background processing. void PendSV_Handler(void) { + #if MICROPY_PY_THREAD if (!mp_thread_recursive_mutex_lock(&pendsv_mutex, 0)) { // Failure here means core 1 holds pendsv_mutex. ISR will // run again after core 1 calls pendsv_resume(). @@ -104,6 +142,9 @@ void PendSV_Handler(void) { } // Core 0 should not already have locked pendsv_mutex assert(pendsv_mutex.mutex.enter_count == 1); + #else + assert(pendsv_suspend_count() == 0); + #endif #if MICROPY_PY_NETWORK_CYW43 CYW43_STAT_INC(PENDSV_RUN_COUNT); @@ -117,5 +158,7 @@ void PendSV_Handler(void) { } } + #if MICROPY_PY_THREAD mp_thread_recursive_mutex_unlock(&pendsv_mutex); + #endif } |