Mutex: Moved from HAL to Aerugo

Cargo.toml

@@ -61,7 +61,7 @@ assert_cmd = "2.0"
 [features]
 default = ["log"]
 use-aerugo-cortex-m = ["aerugo-cortex-m", "aerugo-samv71-hal"]
-use-aerugo-x86 = ["aerugo-x86", "aerugo-x86-hal"]
+use-aerugo-x86 = ["aerugo-x86", "aerugo-x86-hal", "critical-section/std"]
 test-aerugo-cortex-m = ["use-aerugo-x86"]
 rt = ["aerugo-samv71-hal?/rt"]
 log = ["aerugo-cortex-m?/log", "aerugo-x86?/log"]

arch/cortex-m/aerugo-cortex-m/Cargo.toml

@@ -10,7 +10,6 @@ license.workspace = true
 description = "Cortex-M specific implementation for Aerugo"
 
 [dependencies]
-cortex-m = "0.7.7"
 rtt-target = "0.4.0"
 
 [features]

arch/cortex-m/aerugo-cortex-m/src/lib.rs

@@ -8,8 +8,6 @@ Cortex-M specific implementation for Aerugo.
 
 #[cfg(feature = "log")]
 mod logger;
-mod mutex;
 
 #[cfg(feature = "log")]
 pub use self::logger::{init_log, log, logln};
-pub use self::mutex::Mutex;

arch/x86/aerugo-x86/src/lib.rs

@@ -7,8 +7,6 @@ x86 specific implementation for Aerugo.
 
 #[cfg(feature = "log")]
 mod logger;
-mod mutex;
 
 #[cfg(feature = "log")]
 pub use self::logger::{init_log, log, logln};
-pub use self::mutex::Mutex;

src/boolean_condition.rs

@@ -11,10 +11,10 @@ pub use self::boolean_condition_storage::BooleanConditionStorage;
 
 use crate::aerugo::{Aerugo, AERUGO};
 use crate::api::{InitError, SystemApi};
-use crate::arch::Mutex;
 use crate::data_provider::DataProvider;
 use crate::internal_list::InternalList;
 use crate::tasklet::TaskletPtr;
+use crate::Mutex;
 
 /// List of tasklets registered to a condition
 type TaskletList = InternalList<TaskletPtr, { Aerugo::TASKLET_COUNT }>;

src/event/event_set.rs

@@ -4,12 +4,12 @@ use heapless::spsc::Queue;
 
 use crate::aerugo::AERUGO;
 use crate::api::{RuntimeError, SystemApi};
-use crate::arch::Mutex;
 use crate::data_provider::DataProvider;
 use crate::event::EventId;
 use crate::event_manager::EventManager;
 use crate::tasklet::TaskletPtr;
 use crate::utils::max;
+use crate::Mutex;
 
 /// Type for event queue.
 type EventQueue = Queue<EventId, { max(EventManager::EVENT_COUNT, 2) }>;

src/executor.rs

@@ -9,8 +9,8 @@ use heapless::binary_heap::{BinaryHeap, Max};
 
 use crate::aerugo::{Aerugo, AERUGO};
 use crate::api::{RuntimeApi, RuntimeError, SystemApi};
-use crate::arch::Mutex;
 use crate::tasklet::{TaskletPtr, TaskletStatus};
+use crate::Mutex;
 
 /// Type for the tasklet execution queue
 type TaskletQueue<const N: usize> = BinaryHeap<TaskletPtr, Max, N>;

src/lib.rs

@@ -18,6 +18,7 @@ mod execution_monitoring;
 mod executor;
 mod internal_list;
 mod message_queue;
+mod mutex;
 mod stubs;
 mod tasklet;
 mod time_manager;
@@ -33,13 +34,16 @@ pub use self::event::{EventEnabler, EventId};
 pub use self::message_queue::{MessageQueueHandle, MessageQueueStorage};
 pub use self::tasklet::{TaskletConfig, TaskletStorage};
 pub use aerugo_hal::{time, Duration, Instant, SystemHardwareConfig};
+pub use mutex::Mutex;
 
 #[cfg(feature = "use-aerugo-cortex-m")]
+#[cfg(feature = "log")]
 pub(crate) use aerugo_cortex_m as arch;
 #[cfg(feature = "use-aerugo-cortex-m")]
 pub use aerugo_samv71_hal as hal;
 
 #[cfg(feature = "use-aerugo-x86")]
+#[cfg(feature = "log")]
 pub(crate) use aerugo_x86 as arch;
 #[cfg(feature = "use-aerugo-x86")]
 pub use aerugo_x86_hal as hal;

src/message_queue.rs

@@ -10,10 +10,10 @@ pub(crate) use self::message_queue_storage::QueueData;
 
 use crate::aerugo::{Aerugo, AERUGO};
 use crate::api::{InitError, RuntimeError, SystemApi};
-use crate::arch::Mutex;
 use crate::data_provider::DataProvider;
 use crate::internal_list::InternalList;
 use crate::tasklet::TaskletPtr;
+use crate::Mutex;
 
 /// List of tasklets registered to a queue
 type TaskletList = InternalList<TaskletPtr, { Aerugo::TASKLET_COUNT }>;

src/message_queue/message_queue_storage.rs

@@ -10,8 +10,8 @@ use core::cell::OnceCell;
 use heapless::Vec;
 
 use crate::api::InitError;
-use crate::arch::Mutex;
 use crate::message_queue::MessageQueueHandle;
+use crate::Mutex;
 
 /// Type of the queue buffer storage.
 pub(crate) type QueueBuffer = Vec<u8, { core::mem::size_of::<MessageQueue<(), 0>>() }>;

arch/cortex-m/aerugo-cortex-m/src/mutex.rs → src/mutex.rs

@@ -6,8 +6,6 @@
 
 use core::cell::UnsafeCell;
 
-use cortex_m::interrupt;
-
 /// Mutex based on the critical section.
 ///
 /// # Generic Parameters
@@ -46,7 +44,7 @@ impl<T: ?Sized> Mutex<T> {
     #[inline(always)]
     #[allow(dead_code)]
     pub fn lock<R>(&self, f: impl FnOnce(&mut T) -> R) -> R {
-        unsafe { interrupt::free(|_| f(self.as_mut_ref())) }
+        unsafe { critical_section::with(|_| f(self.as_mut_ref())) }
     }
 
     /// Returns a mutable reference to the stored value.

src/tasklet.rs

@@ -28,10 +28,10 @@ use core::cell::{OnceCell, UnsafeCell};
 
 use crate::aerugo::AERUGO;
 use crate::api::{InitError, RuntimeApi};
-use crate::arch::Mutex;
 use crate::boolean_condition::BooleanConditionSet;
 use crate::data_provider::DataProvider;
 use crate::Instant;
+use crate::Mutex;
 
 /// Type of function that is executed by the tasklet in its step.
 pub(crate) type StepFn<T, C> = fn(T, &mut C, &'static dyn RuntimeApi);