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-rw-r--r--src/core/ao.h2
-rw-r--r--src/core/ao_ignite.c10
-rw-r--r--src/core/ao_mutex.c8
-rw-r--r--src/core/ao_packet.h2
-rw-r--r--src/core/ao_panic.c3
-rw-r--r--src/core/ao_stdio.c26
-rw-r--r--src/drivers/ao_btm.c24
-rw-r--r--src/drivers/ao_packet.c8
-rw-r--r--src/drivers/ao_packet_master.c2
-rw-r--r--src/stm/ao_arch.h26
-rw-r--r--src/stm/ao_timer.c8
-rw-r--r--src/stm/ao_usb_stm.c38
12 files changed, 99 insertions, 58 deletions
diff --git a/src/core/ao.h b/src/core/ao.h
index e559e876..2b375cfd 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -101,7 +101,7 @@ ao_delay(uint16_t ticks);
/* Set the ADC interval */
void
-ao_timer_set_adc_interval(uint8_t interval) __critical;
+ao_timer_set_adc_interval(uint8_t interval);
/* Timer interrupt */
void
diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
index c7829fc3..693b7c7a 100644
--- a/src/core/ao_ignite.c
+++ b/src/core/ao_ignite.c
@@ -21,10 +21,12 @@
__xdata struct ao_ignition ao_ignition[2];
void
-ao_ignite(enum ao_igniter igniter) __critical
+ao_ignite(enum ao_igniter igniter)
{
+ cli();
ao_ignition[igniter].request = 1;
ao_wakeup(&ao_ignition);
+ sei();
}
#ifndef AO_SENSE_DROGUE
@@ -39,12 +41,12 @@ ao_igniter_status(enum ao_igniter igniter)
__pdata int16_t value;
__pdata uint8_t request, firing, fired;
- __critical {
+ ao_arch_critical(
ao_data_get(&packet);
request = ao_ignition[igniter].request;
fired = ao_ignition[igniter].fired;
firing = ao_ignition[igniter].firing;
- }
+ );
if (firing || (request && !fired))
return ao_igniter_active;
@@ -79,7 +81,7 @@ ao_igniter_status(enum ao_igniter igniter)
#endif
void
-ao_igniter_fire(enum ao_igniter igniter) __critical
+ao_igniter_fire(enum ao_igniter igniter)
{
ao_ignition[igniter].firing = 1;
switch(ao_config.ignite_mode) {
diff --git a/src/core/ao_mutex.c b/src/core/ao_mutex.c
index c82a7d57..952ff462 100644
--- a/src/core/ao_mutex.c
+++ b/src/core/ao_mutex.c
@@ -22,11 +22,11 @@ ao_mutex_get(__xdata uint8_t *mutex) __reentrant
{
if (*mutex == ao_cur_task->task_id)
ao_panic(AO_PANIC_MUTEX);
- __critical {
+ ao_arch_critical(
while (*mutex)
ao_sleep(mutex);
*mutex = ao_cur_task->task_id;
- }
+ );
}
void
@@ -34,8 +34,8 @@ ao_mutex_put(__xdata uint8_t *mutex) __reentrant
{
if (*mutex != ao_cur_task->task_id)
ao_panic(AO_PANIC_MUTEX);
- __critical {
+ ao_arch_critical(
*mutex = 0;
ao_wakeup(mutex);
- }
+ );
}
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 9058c347..0eafd3b2 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -63,7 +63,7 @@ void
ao_packet_putchar(char c) __reentrant;
char
-ao_packet_pollchar(void) __critical;
+ao_packet_pollchar(void);
#if PACKET_HAS_MASTER
/* ao_packet_master.c */
diff --git a/src/core/ao_panic.c b/src/core/ao_panic.c
index 3c0b471e..c29cd8fe 100644
--- a/src/core/ao_panic.c
+++ b/src/core/ao_panic.c
@@ -53,7 +53,8 @@ ao_panic(uint8_t reason)
ao_cur_task = NULL;
printf ("panic %d\n", reason);
#endif
- __critical for (;;) {
+ ao_arch_block_interrupts();
+ for (;;) {
ao_panic_delay(20);
for (n = 0; n < 5; n++) {
ao_led_on(AO_LED_PANIC);
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 656b23c9..8cf66a23 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -96,21 +96,23 @@ flush(void)
__xdata uint8_t ao_stdin_ready;
char
-getchar(void) __reentrant __critical
+getchar(void) __reentrant
{
char c;
- int8_t stdio = ao_cur_stdio;
+ ao_arch_critical(
+ int8_t stdio = ao_cur_stdio;
- for (;;) {
- c = ao_stdios[stdio].pollchar();
- if (c != AO_READ_AGAIN)
- break;
- if (++stdio == ao_num_stdios)
- stdio = 0;
- if (stdio == ao_cur_stdio)
- ao_sleep(&ao_stdin_ready);
- }
- ao_cur_stdio = stdio;
+ for (;;) {
+ c = ao_stdios[stdio].pollchar();
+ if (c != AO_READ_AGAIN)
+ break;
+ if (++stdio == ao_num_stdios)
+ stdio = 0;
+ if (stdio == ao_cur_stdio)
+ ao_sleep(&ao_stdin_ready);
+ }
+ ao_cur_stdio = stdio;
+ );
return c;
}
diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c
index f193ac8e..f3816047 100644
--- a/src/drivers/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -312,18 +312,20 @@ __xdata struct ao_task ao_btm_task;
#endif
void
-ao_btm_check_link() __critical
+ao_btm_check_link()
{
- /* Check the pin and configure the interrupt detector to wait for the
- * pin to flip the other way
- */
- if (BT_LINK_PIN) {
- ao_btm_connected = 0;
- PICTL |= BT_PICTL_ICON;
- } else {
- ao_btm_connected = 1;
- PICTL &= ~BT_PICTL_ICON;
- }
+ ao_arch_critical(
+ /* Check the pin and configure the interrupt detector to wait for the
+ * pin to flip the other way
+ */
+ if (BT_LINK_PIN) {
+ ao_btm_connected = 0;
+ PICTL |= BT_PICTL_ICON;
+ } else {
+ ao_btm_connected = 1;
+ PICTL &= ~BT_PICTL_ICON;
+ }
+ );
}
void
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 2bada949..3c1e7a18 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -155,6 +155,9 @@ ao_packet_flush(void)
void
ao_packet_putchar(char c) __reentrant
{
+ /* No need to block interrupts, all variables here
+ * are only manipulated in task context
+ */
while (ao_packet_tx_used == AO_PACKET_MAX && ao_packet_enable) {
#if PACKET_HAS_MASTER
ao_packet_flush();
@@ -167,8 +170,11 @@ ao_packet_putchar(char c) __reentrant
}
char
-ao_packet_pollchar(void) __critical
+ao_packet_pollchar(void)
{
+ /* No need to block interrupts, all variables here
+ * are only manipulated in task context
+ */
if (!ao_packet_enable)
return AO_READ_AGAIN;
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index e97a6648..481232df 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -18,7 +18,7 @@
#include "ao.h"
static char
-ao_packet_getchar(void) __critical
+ao_packet_getchar(void)
{
char c;
while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index f2de719c..0c3cfc91 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -43,7 +43,6 @@
#define __xdata
#define __code const
#define __reentrant
-#define __critical
#define __interrupt(n)
#define __at(n)
@@ -83,8 +82,29 @@ extern const uint32_t ao_radio_cal;
#define ao_arch_task_members\
uint32_t *sp; /* saved stack pointer */
-#define cli() asm("cpsid i")
-#define sei() asm("cpsie i")
+#define ao_arch_block_interrupts() asm("cpsid i")
+#define ao_arch_release_interrupts() asm("cpsie i")
+
+#define cli() ao_arch_block_interrupts()
+#define sei() ao_arch_release_interrupts()
+
+static uint32_t
+ao_arch_irqsave(void) {
+ uint32_t primask;
+ asm("mrs %0,primask" : "=&r" (primask));
+ ao_arch_block_interrupts();
+ return primask;
+}
+
+static void
+ao_arch_irqrestore(uint32_t primask) {
+ asm("msr primask,%0" : : "r" (primask));
+}
+
+static void
+ao_arch_memory_barrier() {
+ asm volatile("" ::: "memory");
+}
#define ao_arch_init_stack(task, start) do { \
uint32_t *sp = (uint32_t *) (task->stack + AO_STACK_SIZE); \
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index f3011d3f..d82a803e 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -56,10 +56,12 @@ void stm_tim6_isr(void)
#if HAS_ADC
void
-ao_timer_set_adc_interval(uint8_t interval) __critical
+ao_timer_set_adc_interval(uint8_t interval)
{
- ao_data_interval = interval;
- ao_data_count = 0;
+ ao_arch_critical(
+ ao_data_interval = interval;
+ ao_data_count = 0;
+ );
}
#endif
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 4f37a7d9..8e7dacc5 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -799,25 +799,23 @@ ao_usb_in_send(void)
ao_usb_tx_count = 0;
}
-/* Wait for a free IN buffer */
+/* Wait for a free IN buffer. Interrupts are blocked */
static void
-ao_usb_in_wait(void)
+_ao_usb_in_wait(void)
{
for (;;) {
/* Check if the current buffer is writable */
if (ao_usb_tx_count < AO_USB_IN_SIZE)
break;
- cli();
/* Wait for an IN buffer to be ready */
while (ao_usb_in_pending)
ao_sleep(&ao_usb_in_pending);
- sei();
}
}
void
-ao_usb_flush(void) __critical
+ao_usb_flush(void)
{
if (!ao_usb_running)
return;
@@ -829,24 +827,25 @@ ao_usb_flush(void) __critical
* packet was full, in which case we now
* want to send an empty packet
*/
+ ao_arch_block_interrupts();
if (!ao_usb_in_flushed) {
ao_usb_in_flushed = 1;
- cli();
/* Wait for an IN buffer to be ready */
while (ao_usb_in_pending)
ao_sleep(&ao_usb_in_pending);
- sei();
ao_usb_in_send();
}
+ ao_arch_release_interrupts();
}
void
-ao_usb_putchar(char c) __critical __reentrant
+ao_usb_putchar(char c)
{
if (!ao_usb_running)
return;
- ao_usb_in_wait();
+ ao_arch_block_interrupts();
+ _ao_usb_in_wait();
ao_usb_in_flushed = 0;
ao_usb_tx_buffer[ao_usb_tx_count++] = (uint8_t) c;
@@ -854,10 +853,11 @@ ao_usb_putchar(char c) __critical __reentrant
/* Send the packet when full */
if (ao_usb_tx_count == AO_USB_IN_SIZE)
ao_usb_in_send();
+ ao_arch_release_interrupts();
}
static void
-ao_usb_out_recv(void)
+_ao_usb_out_recv(void)
{
ao_usb_out_avail = 0;
@@ -888,7 +888,7 @@ _ao_usb_pollchar(void)
/* Check to see if a packet has arrived */
if (!ao_usb_out_avail)
return AO_READ_AGAIN;
- ao_usb_out_recv();
+ _ao_usb_out_recv();
}
/* Pull a character out of the fifo */
@@ -900,27 +900,28 @@ char
ao_usb_pollchar(void)
{
char c;
- cli();
+ ao_arch_block_interrupts();
c = _ao_usb_pollchar();
- sei();
+ ao_arch_release_interrupts();
return c;
}
char
-ao_usb_getchar(void) __critical
+ao_usb_getchar(void)
{
char c;
- cli();
+ ao_arch_block_interrupts();
while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
ao_sleep(&ao_stdin_ready);
- sei();
+ ao_arch_release_interrupts();
return c;
}
void
ao_usb_disable(void)
{
+ ao_arch_block_interrupts();
stm_usb.cntr = (1 << STM_USB_CNTR_FRES);
stm_usb.istr = 0;
@@ -932,6 +933,7 @@ ao_usb_disable(void)
/* Disable the interface */
stm_rcc.apb1enr &+ ~(1 << STM_RCC_APB1ENR_USBEN);
+ ao_arch_release_interrupts();
}
void
@@ -954,6 +956,8 @@ ao_usb_enable(void)
* pulled low and doesn't work at all
*/
+ ao_arch_block_interrupts();
+
/* Route interrupts */
stm_nvic_set_priority(STM_ISR_USB_LP_POS, 3);
stm_nvic_set_enable(STM_ISR_USB_LP_POS);
@@ -985,6 +989,8 @@ ao_usb_enable(void)
(0 << STM_USB_CNTR_PDWN) |
(0 << STM_USB_CNTR_FRES));
+ ao_arch_release_interrupts();
+
for (t = 0; t < 1000; t++)
ao_arch_nop();
/* Enable USB pull-up */
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-29 07:51:46 +0000