pbio/os: Generalize IRQ flags type.

Generalizes handling to work better for the virtual hub, which doesn't use uint32_t for the interrupt state.

Author: laurensvalk

bricks/_common_stm32/mphalport.c

@@ -24,17 +24,17 @@ void pb_stack_get_info(char **sstack, char **estack) {
     *estack = (char *)&_estack;
 }
 
-uint32_t pbio_os_hook_disable_irq(void) {
+pbio_os_irq_flags_t pbio_os_hook_disable_irq(void) {
     mp_uint_t flags = __get_PRIMASK();
     __disable_irq();
     return flags;
 }
 
-void pbio_os_hook_enable_irq(uint32_t flags) {
+void pbio_os_hook_enable_irq(pbio_os_irq_flags_t flags) {
     __set_PRIMASK(flags);
 }
 
-void pbio_os_hook_wait_for_interrupt(void) {
+void pbio_os_hook_wait_for_interrupt(pbio_os_irq_flags_t flags) {
     __WFI();
 }
 

bricks/ev3/mphalport.c

@@ -27,15 +27,15 @@ void pb_stack_get_info(char **sstack, char **estack) {
     *estack = (char *)&_estack;
 }
 
-uint32_t pbio_os_hook_disable_irq(void) {
+pbio_os_irq_flags_t pbio_os_hook_disable_irq(void) {
     return IntDisable();
 }
 
-void pbio_os_hook_enable_irq(uint32_t flags) {
+void pbio_os_hook_enable_irq(pbio_os_irq_flags_t flags) {
     IntEnable(flags);
 }
 
-void pbio_os_hook_wait_for_interrupt(void) {
+void pbio_os_hook_wait_for_interrupt(pbio_os_irq_flags_t flags) {
     __asm volatile (
         "mov	r0, #0\n"
         "mcr	p15, 0, r0, c7, c0, 4\n"        /* wait for interrupt */

bricks/nxt/mphalport.c

@@ -20,15 +20,15 @@
 #include "py/mpconfig.h"
 #include "py/stream.h"
 
-uint32_t pbio_os_hook_disable_irq(void) {
+pbio_os_irq_flags_t pbio_os_hook_disable_irq(void) {
     return nx_interrupts_disable();
 }
 
-void pbio_os_hook_enable_irq(uint32_t flags) {
+void pbio_os_hook_enable_irq(pbio_os_irq_flags_t flags) {
     nx_interrupts_enable(flags);
 }
 
-void pbio_os_hook_wait_for_interrupt(void) {
+void pbio_os_hook_wait_for_interrupt(pbio_os_irq_flags_t flags) {
     // disable the processor clock which puts it in Idle Mode.
     AT91C_BASE_PMC->PMC_SCDR = AT91C_PMC_PCK;
 }

bricks/virtualhub/mp_port.c

@@ -94,28 +94,29 @@ void pb_event_poll_hook(void) {
     pbio_os_run_while_idle();
 }
 
-// This is used instead of the uint32_t flags used in embedded builds.
-static sigset_t global_origmask;
-
-uint32_t pbio_os_hook_disable_irq(void) {
+pbio_os_irq_flags_t pbio_os_hook_disable_irq(void) {
     sigset_t sigmask;
     sigfillset(&sigmask);
-    pthread_sigmask(SIG_SETMASK, &sigmask, &global_origmask);
-    return 0;
+
+    sigset_t origmask;
+    pthread_sigmask(SIG_SETMASK, &sigmask, &origmask);
+    return origmask;
 }
 
-void pbio_os_hook_enable_irq(uint32_t flags) {
-    pthread_sigmask(SIG_SETMASK, &global_origmask, NULL);
+void pbio_os_hook_enable_irq(pbio_os_irq_flags_t flags) {
+    sigset_t origmask = (sigset_t)flags;
+    pthread_sigmask(SIG_SETMASK, &origmask, NULL);
 }
 
-void pbio_os_hook_wait_for_interrupt(void) {
+void pbio_os_hook_wait_for_interrupt(pbio_os_irq_flags_t flags) {
     struct timespec timeout = {
         .tv_sec = 0,
         .tv_nsec = 100000,
     };
     // "sleep" with "interrupts" enabled
+    sigset_t origmask = flags;
     MP_THREAD_GIL_EXIT();
-    pselect(0, NULL, NULL, NULL, &timeout, &global_origmask);
+    pselect(0, NULL, NULL, NULL, &timeout, &origmask);
     MP_THREAD_GIL_ENTER();
 }
 

lib/pbio/include/pbio/config.h

@@ -30,4 +30,11 @@
 
 #define PBIO_CONFIG_NUM_DRIVEBASES (PBIO_CONFIG_SERVO_NUM_DEV / 2)
 
+#ifndef PBIO_CONFIG_OS_IRQ_FLAGS_TYPE
+#include <stdint.h>
+#define PBIO_CONFIG_OS_IRQ_FLAGS_TYPE uint32_t
+#endif
+
+typedef PBIO_CONFIG_OS_IRQ_FLAGS_TYPE pbio_os_irq_flags_t;
+
 #endif // _PBIO_CONFIG_H_

lib/pbio/include/pbio/os.h

@@ -58,6 +58,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <pbio/config.h>
 #include <pbio/error.h>
 
 /**
@@ -252,7 +253,7 @@ struct _pbio_os_process_t {
 
 /**
  * Yields the protothread until the specified timer expires.
- * 
+ *
  * @param [in]  state     Protothread state.
  * @param [in]  timer     The timer to check.
  * @param [in]  duration  The duration to wait for in milliseconds.
@@ -285,7 +286,7 @@ void pbio_os_process_init(pbio_os_process_t *process, pbio_os_process_func_t fun
  *
  * @return  The previous interrupt state.
  */
-uint32_t pbio_os_hook_disable_irq(void);
+pbio_os_irq_flags_t pbio_os_hook_disable_irq(void);
 
 /**
  * Enables interrupts.
@@ -294,13 +295,13 @@ uint32_t pbio_os_hook_disable_irq(void);
  *
  * @param [in]  flags  The previous interrupt state.
  */
-void pbio_os_hook_enable_irq(uint32_t flags);
+void pbio_os_hook_enable_irq(pbio_os_irq_flags_t flags);
 
 /**
  * Waits for an interrupt.
  *
  * Must be implemented by the platform.
  */
-void pbio_os_hook_wait_for_interrupt(void);
+void pbio_os_hook_wait_for_interrupt(pbio_os_irq_flags_t flags);
 
 #endif // _PBIO_OS_H_

lib/pbio/platform/virtual_hub/pbioconfig.h

@@ -27,3 +27,6 @@
 #define PBIO_CONFIG_TACHO                   (1)
 
 #define PBIO_CONFIG_ENABLE_SYS              (1)
+
+#include <signal.h>
+#define PBIO_CONFIG_OS_IRQ_FLAGS_TYPE       sigset_t

lib/pbio/src/os.c

@@ -160,7 +160,7 @@ void pbio_os_run_while_idle(void) {
     // poll_request_is_pending flag. If not, we can call wait_for_interrupt(),
     // which still wakes up the CPU on interrupt even though interrupts are
     // otherwise disabled.
-    uint32_t irq_flags = pbio_os_hook_disable_irq();
+    pbio_os_irq_flags_t irq_flags = pbio_os_hook_disable_irq();
 
     // DELETEME: Legacy hook for pbio event loop that plays the same role as
     // the pending flag. Here it ensures we don't enter sleep if there are
@@ -171,7 +171,7 @@ void pbio_os_run_while_idle(void) {
     }
 
     if (!poll_request_is_pending) {
-        pbio_os_hook_wait_for_interrupt();
+        pbio_os_hook_wait_for_interrupt(irq_flags);
     }
     pbio_os_hook_enable_irq(irq_flags);
 

lib/pbio/test/test-pbio.c

@@ -143,14 +143,14 @@ struct testcase_setup_t pbio_test_setup = {
     .cleanup_fn = cleanup,
 };
 
-uint32_t pbio_os_hook_disable_irq(void) {
+pbio_os_irq_flags_t pbio_os_hook_disable_irq(void) {
     return 0;
 }
 
-void pbio_os_hook_enable_irq(uint32_t flags) {
+void pbio_os_hook_enable_irq(pbio_os_irq_flags_t flags) {
 }
 
-void pbio_os_hook_wait_for_interrupt(void) {
+void pbio_os_hook_wait_for_interrupt(pbio_os_irq_flags_t flags) {
 }
 
 extern struct testcase_t pbdrv_bluetooth_tests[];