[rp2040] mutlicore lock

Author: andryblack

src/modm/platform/core/cortex/atomic_lock_impl.hpp.in

@@ -16,12 +16,18 @@
 
 #include "../device.hpp"
 #include <modm/architecture/utils.hpp>
+%% if multicore
+#include "multicore.hpp"
+%% endif
 
 /// @cond
 namespace modm::atomic
 {
 
 class Lock
+%% if multicore
+	: public modm::platform::multicore::CoreLock
+%% endif
 {
 public:
 	modm_always_inline

src/modm/platform/core/cortex/module.lb

@@ -294,6 +294,7 @@ def build(env):
         "with_memory_traits": env.has_module(":architecture:memory"),
         "with_assert": env.has_module(":architecture:assert"),
         "with_fpu": env.get("float-abi", "soft") != "soft",
+        "multicore": env.has_module(":platform:multicore"),
     })
     env.outbasepath = "modm/src/modm/platform/core"
 

src/modm/platform/core/rp/module.lb

@@ -24,6 +24,7 @@ def prepare(module, options):
 
     module.depends(":platform:cortex-m")
     module.depends(":platform:clockgen")
+    module.depends(":platform:multicore")
     module.add_option(
         EnumerationOption(
             name="boot2",
@@ -62,8 +63,6 @@ def build(env):
     env.template("../cortex/delay_ns.hpp.in", "delay_ns.hpp")
     env.template("../cortex/delay_impl.hpp.in", "delay_impl.hpp")
     env.copy('resets.hpp')
-    env.copy('multicore.hpp')
-    env.copy('multicore.cpp')
 
     flash_variant = env.get("boot2")
     env.copy(repopath("ext/rp/pico-sdk/src/boot2_" + flash_variant + '.cpp'),'src/boot2.cpp')

src/modm/platform/core/rp/multicore.hpp

@@ -80,18 +80,24 @@ namespace modm::platform::multicore {
 		static void init() {
 			unlock();
 		}
-		static void lock() {
+		static modm_always_inline void lock() {
 			auto l = getInstance();
 			while (*l == 0);
 			std::atomic_thread_fence(std::memory_order_acquire);
 		}
-		static void unlock() {
+		static modm_always_inline void unlock() {
 			auto l = getInstance();
 			std::atomic_thread_fence(std::memory_order_release);
 			*l = 0;
 		}
 	};
 
+	/* for use in modm::atomic::Lock */
+	struct CoreLock {
+		CoreLock() { SpinLockUnsafe<0>::lock(); }
+		~CoreLock() { SpinLockUnsafe<1>::unlock(); }
+	};
+
 	/**
 	 *
 	 * This class will disable interrupts prior to acquiring the spinlock
@@ -100,20 +106,21 @@ namespace modm::platform::multicore {
 	class SpinLockBlocking : public SpinLockUnsafe<instance>{
 		using Base = SpinLockUnsafe<instance>;
 	public:
-		static uint32_t lock() {
+		static modm_always_inline uint32_t lock() {
 			uint32_t is = __get_PRIMASK();
 			__disable_irq();
 			Base::lock();
 			return is;
 		}
-		static void unlock(uint32_t is) {
+		static modm_always_inline void unlock(uint32_t is) {
 			Base::unlock();
 			__set_PRIMASK(is);
 		}
 	};
 
 	using SystemSpinLock = SpinLockBlocking<0>;
 
+
 	/**
 	 *
 	 * RAI lock acquiring and releasing
@@ -124,8 +131,8 @@ namespace modm::platform::multicore {
 		SpinLockGuard(const SpinLockGuard& ) = delete;
 		SpinLockGuard(SpinLockGuard&&) = delete;
 	public:
-		SpinLockGuard() { SpinLock::lock(); }
-		~SpinLockGuard() { SpinLock::unlock(); }
+		modm_always_inline SpinLockGuard() { SpinLock::lock(); }
+		modm_always_inline ~SpinLockGuard() { SpinLock::unlock(); }
 	};
 
 	template <uint8_t instance>
@@ -136,15 +143,15 @@ namespace modm::platform::multicore {
 		SpinLockGuard(const SpinLockGuard& ) = delete;
 		SpinLockGuard(SpinLockGuard&&) = delete;
 	public:
-		SpinLockGuard() : is(SpinLock::lock()) {}
-		~SpinLockGuard() { SpinLock::unlock(is); }
+		modm_always_inline SpinLockGuard() : is(SpinLock::lock()) {}
+		modm_always_inline ~SpinLockGuard() { SpinLock::unlock(is); }
 	};
 
 	using SystemSpinLockGuard = SpinLockGuard<SystemSpinLock>;
 
 	class Mutex {
 	private:
-		std::atomic<bool> locked = false;
+		volatile bool locked = false;
 		Mutex(const Mutex& ) = delete;
 		Mutex(Mutex&&) = delete;
 	public:
@@ -171,7 +178,7 @@ namespace modm::platform::multicore {
 	};
 
 	struct Core {
-		static uint32_t getNum() {
+		static modm_always_inline uint32_t getNum() {
 			return sio_hw->cpuid;
 		}
 	};

src/modm/platform/core/rp/multicore.lb

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2022, Andrey Kunitsyn
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+import math
+
+def init(module):
+    module.name = ":platform:multicore"
+    module.description = "Multiple cores inplementation"
+
+def prepare(module, options):
+    if options[":target"].identifier.platform != "rp":
+        return False
+    return True
+
+
+def build(env):
+    env.outbasepath = "modm/src/modm/platform/core"
+    env.copy('multicore.hpp')
+    env.copy('multicore.cpp')