mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
a49d074cbb
Prior to this commit, if only critical_section.h is included, there might be error about portNUM_PROCESSORS undeclared. As critical_section.h should be OS-agnostic, added FreeRTOS.h in it
384 lines
14 KiB
C
384 lines
14 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
/**
|
|
* This file provides an abstract OS API for entering and exiting critical sections.
|
|
* It furthermore provides macros to define and initialize an optional spinlock
|
|
* if the used chip is a multi-core chip. If a single-core chip is used, just disabling interrupts
|
|
* is sufficient to guarantee consecutive, non-interrupted execution of a critical section.
|
|
* Hence, the spinlock is unneccessary and will be automatically ommitted by the macros.
|
|
*/
|
|
#pragma once
|
|
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "spinlock.h"
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32S2
|
|
/**
|
|
* This macro also helps users switching between spinlock declarations/definitions for multi-/single core environments
|
|
* if the macros below aren't sufficient.
|
|
*/
|
|
#define OS_SPINLOCK 1
|
|
#else
|
|
#define OS_SPINLOCK 0
|
|
#endif
|
|
|
|
#if OS_SPINLOCK == 1
|
|
typedef spinlock_t esp_os_spinlock_t;
|
|
#endif
|
|
|
|
/**
|
|
* Define and initialize a static (internal linking) lock for entering critical sections.
|
|
*
|
|
* Use this when all the critical sections are local inside a file.
|
|
* The lock will only be defined if built for a multi-core system, otherwise it is unnecessary.
|
|
*
|
|
* @note When using this macro, the critical section macros esp_os_enter_critical* and esp_os_exit_critical*
|
|
* MUST be used, otherwise normal functions would be passed an undefined variable when build for single-core systems.
|
|
*
|
|
* @param lock_name Variable name of the lock. This will later be used to reference the declared lock.
|
|
* @param optional_qualifiers Qualifiers such as DRAM_ATTR and other attributes. Can be omitted if no qualifiers are
|
|
* required.
|
|
*
|
|
* Example usage:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC(my_lock); // will have internal linking (static)
|
|
* ...
|
|
* esp_os_enter_critical(&my_lock);
|
|
* ...
|
|
* esp_os_exit_critical(&my_lock);
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define DEFINE_CRIT_SECTION_LOCK_STATIC(lock_name, optional_qualifiers...) static optional_qualifiers esp_os_spinlock_t lock_name = SPINLOCK_INITIALIZER
|
|
#else
|
|
#define DEFINE_CRIT_SECTION_LOCK_STATIC(lock_name, optional_qualifiers...)
|
|
#endif
|
|
|
|
/**
|
|
* Define and initialize a non-static (external linking) lock for entering critical sections.
|
|
*
|
|
* Locks defined by this macro can be linked among object files but this rather exceptional.
|
|
* Prefer the static lock definition whenever possible.
|
|
* The lock will only be defined if built for a multi-core system, otherwise it is unnecessary.
|
|
*
|
|
* @note When using this macro, the critical section macros esp_os_enter_critical* and esp_os_exit_critical*
|
|
* MUST be used, otherwise normal functions would be passed an undefined variable when build for single-core systems.
|
|
*
|
|
* @param lock_name Variable name of the lock. This will later be used to reference the declared lock.
|
|
* @param optional_qualifiers Qualifiers such as DRAM_ATTR and other attributes. Can be omitted if no qualifiers are
|
|
* required.
|
|
*
|
|
* Example usage:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* DEFINE_CRIT_SECTION_LOCK(my_lock); // will have external linking (non-static)
|
|
* ...
|
|
* esp_os_enter_critical(&my_lock);
|
|
* ...
|
|
* esp_os_exit_critical(&my_lock);
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define DEFINE_CRIT_SECTION_LOCK(lock_name, optional_qualifiers...) optional_qualifiers esp_os_spinlock_t lock_name = SPINLOCK_INITIALIZER
|
|
#else
|
|
#define DEFINE_CRIT_SECTION_LOCK(lock_name, optional_qualifiers...)
|
|
#endif
|
|
|
|
/**
|
|
* @brief This macro initializes a critical section lock at runtime.
|
|
*
|
|
* This macro basically creates a member of the initialization list, including the trailing comma.
|
|
* If the lock is unnecessary because the architecture is single-core, this macro will not do anything.
|
|
* This is incompatible with a lock created by DEFINE_CRIT_SECTION_LOCK_STATIC from above.
|
|
*
|
|
* @param lock_name Pointer to the lock.
|
|
*
|
|
* @note When using this macro, the critical section macros esp_os_enter_critical* and esp_os_exit_critical*
|
|
* MUST be used, otherwise normal functions would be passed an undefined variable when build for single-core
|
|
* systems.
|
|
*
|
|
* Example usage:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* typedef struct protected_struct_t {
|
|
* int member1;
|
|
* DECLARE_CRIT_SECTION_LOCK_IN_STRUCT(my_lock)
|
|
* int another_member;
|
|
* };
|
|
* ...
|
|
* protected_struct_t my_protected;
|
|
* INIT_CRIT_SECTION_LOCK_IN_STRUCT(&(my_protected.my_lock));
|
|
* };
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define INIT_CRIT_SECTION_LOCK_RUNTIME(lock_name) spinlock_initialize(lock_name)
|
|
#else
|
|
#define INIT_CRIT_SECTION_LOCK_RUNTIME(lock_name)
|
|
#endif
|
|
|
|
/**
|
|
* @brief This macro declares a critical section lock as a member of a struct.
|
|
*
|
|
* The critical section lock member is only declared if built for multi-core systems, otherwise it is omitted.
|
|
*
|
|
* @note When using this macro, the critical section macros esp_os_enter_critical* and esp_os_exit_critical*
|
|
* MUST be used, otherwise normal functions would be passed an undefined variable when build for single-core
|
|
* systems.
|
|
* @note Do NOT add any semicolon after declaring the member with this macro.
|
|
* The trailing semicolon is included in the macro, otherwise -Wpedantic would complain about
|
|
* superfluous ";" if OS_SPINLOCK == 0.
|
|
*
|
|
* Example usage:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* typedef struct protected_struct_t {
|
|
* int member1;
|
|
* DECLARE_CRIT_SECTION_LOCK_IN_STRUCT(my_lock) // no semicolon!
|
|
* int another_member;
|
|
* };
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define DECLARE_CRIT_SECTION_LOCK_IN_STRUCT(lock_name) esp_os_spinlock_t lock_name;
|
|
#else
|
|
#define DECLARE_CRIT_SECTION_LOCK_IN_STRUCT(lock_name)
|
|
#endif
|
|
|
|
/**
|
|
* @brief This macro initializes a critical section lock as a member of a struct when using an list initialization.
|
|
* It has to be used together with \c DECLARE_CRIT_SECTION_LOCK_IN_STRUCT() to work.
|
|
*
|
|
* This macro basically creates a member of the initialization list, including the trailing comma.
|
|
* If the lock is unnecessary because the architecture is single-core, this macro will not do anything.
|
|
* This means that if \c lock_name is still a member of the struct, \c lock_name will be uninitialized.
|
|
* Hence, this macro has to be used together with \c DECLARE_CRIT_SECTION_LOCK_IN_STRUCT() to correctly to declare
|
|
* or omit the struct member \c lock_name.
|
|
*
|
|
* @param lock_name The field name of the lock inside the struct.
|
|
*
|
|
* @note When using this macro, the critical section macros esp_os_enter_critical* and esp_os_exit_critical*
|
|
* MUST be used, otherwise normal functions would be passed an undefined variable when build for single-core
|
|
* systems.
|
|
* @note Do NOT add any comma in the initializer list after using this macro.
|
|
*
|
|
* Example usage:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* typedef struct protected_struct_t {
|
|
* int member1;
|
|
* DECLARE_CRIT_SECTION_LOCK_IN_STRUCT(my_lock)
|
|
* int another_member;
|
|
* };
|
|
* ...
|
|
* protected_struct_t my_protected = {
|
|
* .member1 = 0,
|
|
* INIT_CRIT_SECTION_LOCK_IN_STRUCT(my_lock) // no comma!
|
|
* another_member = 47,
|
|
* };
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define INIT_CRIT_SECTION_LOCK_IN_STRUCT(lock_name) .lock_name = portMUX_INITIALIZER_UNLOCKED,
|
|
#else
|
|
#define INIT_CRIT_SECTION_LOCK_IN_STRUCT(lock_name)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Enter a critical section, i.e., a section that will not be interrupted by any other task or interrupt.
|
|
*
|
|
* On multi-core systems, this will disable interrupts and take the spinlock \c lock. On single core systems, a
|
|
* spinlock is unncessary, hence \c lock is ignored and interrupts are disabled only.
|
|
*
|
|
* @note This macro MUST be used together with any of the initialization macros, e.g.
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC. If not, there may be unused variables.
|
|
*
|
|
* @param lock Pointer to the critical section lock. Ignored if build for single core system.
|
|
*
|
|
* Example usage with static locks:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC(my_lock); // will have internal linking (static)
|
|
* ...
|
|
* esp_os_enter_critical(&my_lock);
|
|
* // code inside critical section
|
|
* esp_os_exit_critical(&my_lock);
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define esp_os_enter_critical(lock) portENTER_CRITICAL(lock)
|
|
#else
|
|
#define esp_os_enter_critical(lock) vPortEnterCritical()
|
|
#endif
|
|
|
|
/**
|
|
* @brief Exit a critical section.
|
|
*
|
|
* On multi-core systems, this will enable interrupts and release the spinlock \c lock. On single core systems, a
|
|
* spinlock is unncessary, hence \c lock is ignored and interrupts are enabled only.
|
|
*
|
|
* @note This macro MUST be used together with any of the initialization macros, e.g.
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC. If not, there may be unused variables.
|
|
*
|
|
* @param lock Pointer to the critical section lock. Ignored if build for single core system.
|
|
*
|
|
* Example usage with static locks:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC(my_lock); // will have internal linking (static)
|
|
* ...
|
|
* esp_os_enter_critical(&my_lock);
|
|
* // code inside critical section
|
|
* esp_os_exit_critical(&my_lock);
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define esp_os_exit_critical(lock) portEXIT_CRITICAL(lock)
|
|
#else
|
|
#define esp_os_exit_critical(lock) vPortExitCritical()
|
|
#endif
|
|
|
|
/**
|
|
* @brief Enter a critical section while from ISR.
|
|
*
|
|
* On multi-core systems, this will disable interrupts and take the spinlock \c lock. On single core systems, a
|
|
* spinlock is unncessary, hence \c lock is ignored and interrupts are disabled only.
|
|
*
|
|
* @note This macro MUST be used together with any of the initialization macros, e.g.
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC. If not, there may be unused variables.
|
|
*
|
|
* @param lock Pointer to the critical section lock. Ignored if build for single core system.
|
|
*
|
|
* Example usage with static locks:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC(my_lock); // will have internal linking (static)
|
|
* ...
|
|
* esp_os_enter_critical(&my_lock);
|
|
* // code inside critical section
|
|
* esp_os_exit_critical(&my_lock);
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define esp_os_enter_critical_isr(lock) portENTER_CRITICAL_ISR(lock)
|
|
#else
|
|
#define esp_os_enter_critical_isr(lock) vPortEnterCritical()
|
|
#endif
|
|
|
|
/**
|
|
* @brief Exit a critical section after entering from ISR.
|
|
*
|
|
* On multi-core systems, this will enable interrupts and release the spinlock \c lock. On single core systems, a
|
|
* spinlock is unncessary, hence \c lock is ignored and interrupts are enabled only.
|
|
*
|
|
* @note This macro MUST be used together with any of the initialization macros, e.g.
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC. If not, there may be unused variables.
|
|
*
|
|
* @param lock Pointer to the critical section lock. Ignored if build for single core system.
|
|
*
|
|
* Example usage with static locks:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC(my_lock); // will have internal linking (static)
|
|
* ...
|
|
* esp_os_enter_critical(&my_lock);
|
|
* // code inside critical section
|
|
* esp_os_exit_critical(&my_lock);
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define esp_os_exit_critical_isr(lock) portEXIT_CRITICAL_ISR(lock)
|
|
#else
|
|
#define esp_os_exit_critical_isr(lock) vPortExitCritical()
|
|
#endif
|
|
|
|
/**
|
|
* @brief Enter a critical section from normal task or ISR. This macro will check if the current CPU is processing
|
|
* an ISR or not and enter the critical section accordingly.
|
|
*
|
|
* On multi-core systems, this will disable interrupts and take the spinlock \c lock. On single core systems, a
|
|
* spinlock is unncessary, hence \c lock is ignored and interrupts are disabled only.
|
|
*
|
|
* @note This macro MUST be used together with any of the initialization macros, e.g.
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC. If not, there may be unused variables.
|
|
*
|
|
* @param lock Pointer to the critical section lock. Ignored if build for single core system.
|
|
*
|
|
* Example usage with static locks:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC(my_lock); // will have internal linking (static)
|
|
* ...
|
|
* esp_os_enter_critical(&my_lock);
|
|
* // code inside critical section
|
|
* esp_os_exit_critical(&my_lock);
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define esp_os_enter_critical_safe(lock) portENTER_CRITICAL_SAFE(lock)
|
|
#else
|
|
#define esp_os_enter_critical_safe(lock) vPortEnterCritical()
|
|
#endif
|
|
|
|
/**
|
|
* @brief Exit a critical section after entering via esp_os_enter_critical_safe.
|
|
*
|
|
* On multi-core systems, this will enable interrupts and release the spinlock \c lock. On single core systems, a
|
|
* spinlock is unncessary, hence \c lock is ignored and interrupts are enabled only.
|
|
*
|
|
* @note This macro MUST be used together with any of the initialization macros, e.g.
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC. If not, there may be unused variables.
|
|
*
|
|
* @param lock Pointer to the critical section lock. Ignored if build for single core system.
|
|
*
|
|
* Example usage with static locks:
|
|
* @code{c}
|
|
* ...
|
|
* #include "os/critical_section.h"
|
|
* ...
|
|
* DEFINE_CRIT_SECTION_LOCK_STATIC(my_lock); // will have internal linking (static)
|
|
* ...
|
|
* esp_os_enter_critical(&my_lock);
|
|
* // code inside critical section
|
|
* esp_os_exit_critical(&my_lock);
|
|
* @endcode
|
|
*/
|
|
#if OS_SPINLOCK == 1
|
|
#define esp_os_exit_critical_safe(lock) portEXIT_CRITICAL_SAFE(lock)
|
|
#else
|
|
#define esp_os_exit_critical_safe(lock) vPortExitCritical()
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|