runtime (scheduler): add revised arm scheduler with support for atsamd21

compiler/compiler.go

@@ -252,6 +252,13 @@ func Compile(pkgName string, machine llvm.TargetMachine, config *compileopts.Con
 
 	c.loadASTComments(lprogram)
 
+	// Forcibly preload special types.
+	runtimePkg := c.ir.Program.ImportedPackage("runtime")
+	c.getLLVMType(runtimePkg.Type("_interface").Type())
+	c.getLLVMType(runtimePkg.Type("_string").Type())
+	c.getLLVMType(runtimePkg.Type("hashmap").Type())
+	c.getLLVMType(runtimePkg.Type("channel").Type())
+
 	// Declare runtime types.
 	// TODO: lazily create runtime types in getLLVMRuntimeType when they are
 	// needed. Eventually this will be required anyway, when packages are

src/internal/task/interruptqueue.go

@@ -0,0 +1,66 @@
+package task
+
+import "runtime/volatile"
+
+// InterruptQueue is a specialized version of Queue, designed for working with interrupts.
+// It can be safely pushed to from an interrupt (assuming that a memory reference to the task remains elsewhere), and popped outside of an interrupt.
+// It cannot be pushed to outside of an interrupt or popped inside an interrupt.
+type InterruptQueue struct {
+	// This implementation uses a double-buffer of queues.
+	// bufSelect contains the index of the queue currently available for pop operations.
+	// The opposite queue is available for push operations.
+	bufSelect volatile.Register8
+	queues    [2]Queue
+}
+
+// Push a task onto the queue.
+// This can only be safely called from inside an interrupt.
+func (q *InterruptQueue) Push(t *Task) {
+	// Avoid nesting interrupts inside here.
+	var nest nonest
+	nest.Lock()
+	defer nest.Unlock()
+
+	// Push to inactive queue.
+	q.queues[1-q.bufSelect.Get()].Push(t)
+}
+
+// Check if the queue is empty.
+// This will return false if any tasks were pushed strictly before this call.
+// If any pushes occur during the call, the queue may or may not be marked as empty.
+// This cannot be safely called inside an interrupt.
+func (q *InterruptQueue) Empty() bool {
+	// Check currently active queue.
+	active := q.bufSelect.Get() & 1
+	if !q.queues[active].Empty() {
+		return false
+	}
+
+	// Swap to other queue.
+	active ^= 1
+	q.bufSelect.Set(active)
+
+	// Check other queue.
+	return q.queues[active].Empty()
+}
+
+// Pop removes a single task from the queue.
+// This will return nil if the queue is empty (with the same semantics as Empty).
+// This cannot be safely called inside an interrupt.
+func (q *InterruptQueue) Pop() *Task {
+	// Select non-empty queue if one exists.
+	if q.Empty() {
+		return nil
+	}
+
+	// Pop from active queue.
+	return q.queues[q.bufSelect.Get()&1].Pop()
+}
+
+// AppendTo pops all tasks from this queue and pushes them to another queue.
+// This operation has the same semantics as repeated calls to pop.
+func (q *InterruptQueue) AppendTo(other *Queue) {
+	for !q.Empty() {
+		q.queues[q.bufSelect.Get()&1].AppendTo(other)
+	}
+}

src/internal/task/nonest_arm.go

@@ -0,0 +1,20 @@
+// +build arm,baremetal,!avr
+
+package task
+
+import "device/arm"
+
+// nonest is a sync.Locker that blocks nested interrupts while held.
+type nonest struct {
+	state uintptr
+}
+
+//go:inline
+func (n *nonest) Lock() {
+	n.state = arm.DisableInterrupts()
+}
+
+//go:inline
+func (n *nonest) Unlock() {
+	arm.EnableInterrupts(n.state)
+}

src/internal/task/nonest_none.go

@@ -0,0 +1,10 @@
+// +build !arm !baremetal avr
+
+package task
+
+// nonest is a sync.Locker that blocks nested interrupts while held.
+// On non-ARM platforms, this is a no-op.
+type nonest struct{}
+
+func (n nonest) Lock()   {}
+func (n nonest) Unlock() {}

src/internal/task/queue.go

@@ -37,6 +37,11 @@ func (q *Queue) Pop() *Task {
 	return t
 }
 
+// Empty checks if there are any tasks in the queue.
+func (q *Queue) Empty() bool {
+	return q.head == nil
+}
+
 // Append pops the contents of another queue and pushes them onto the end of this queue.
 func (q *Queue) Append(other *Queue) {
 	if q.head == nil {
@@ -48,6 +53,11 @@ func (q *Queue) Append(other *Queue) {
 	other.head, other.tail = nil, nil
 }
 
+// AppendTo pops the contents of this queue and pushes them onto another queue.
+func (q *Queue) AppendTo(other *Queue) {
+	other.Append(q)
+}
+
 // Stack is a LIFO container of tasks.
 // The zero value is an empty stack.
 // This is slightly cheaper than a queue, so it can be preferable when strict ordering is not necessary.

src/runtime/runtime_atsamd21.go

@@ -3,11 +3,10 @@
 package runtime
 
 import (
-	"device/arm"
 	"device/sam"
+	"internal/task"
 	"machine"
 	"runtime/interrupt"
-	"runtime/volatile"
 	"unsafe"
 )
 
@@ -217,10 +216,7 @@ func initRTC() {
 	waitForSync()
 
 	intr := interrupt.New(sam.IRQ_RTC, func(intr interrupt.Interrupt) {
-		// disable IRQ for CMP0 compare
-		sam.RTC_MODE0.INTFLAG.Set(sam.RTC_MODE0_INTENSET_CMP0)
-
-		timerWakeup.Set(1)
+		rtc.handleInterrupt()
 	})
 	intr.SetPriority(0xc0)
 	intr.Enable()
@@ -239,42 +235,22 @@ var (
 	timerLastCounter uint64
 )
 
-var timerWakeup volatile.Register8
-
-const asyncScheduler = false
+type rtcTimer struct{}
 
-// sleepTicks should sleep for d number of microseconds.
-func sleepTicks(d timeUnit) {
-	for d != 0 {
-		ticks() // update timestamp
-		ticks := uint32(d)
-		timerSleep(ticks)
-		d -= timeUnit(ticks)
+func (t rtcTimer) setTimer(wakeup timeUnit) {
+	now := ticks()
+	if now >= wakeup {
+		wakeup = now
 	}
-}
-
-// ticks returns number of microseconds since start.
-func ticks() timeUnit {
-	// request read of count
-	sam.RTC_MODE0.READREQ.Set(sam.RTC_MODE0_READREQ_RREQ)
-	waitForSync()
 
-	rtcCounter := (uint64(sam.RTC_MODE0.COUNT.Get()) * 305) / 10 // each counter tick == 30.5us
-	offset := (rtcCounter - timerLastCounter)                    // change since last measurement
-	timerLastCounter = rtcCounter
-	timestamp += timeUnit(offset) // TODO: not precise
-	return timestamp
-}
+	delay := wakeup - now
 
-// ticks are in microseconds
-func timerSleep(ticks uint32) {
-	timerWakeup.Set(0)
-	if ticks < 214 {
+	if delay < 214 {
 		// due to around 183us delay waiting for the register value to sync, the minimum sleep value
 		// for the SAMD21 is 214us.
 		// For related info, see:
 		// https://community.atmel.com/comment/2507091#comment-2507091
-		ticks = 214
+		delay = 214
 	}
 
 	// request read of count
@@ -283,15 +259,46 @@ func timerSleep(ticks uint32) {
 
 	// set compare value
 	cnt := sam.RTC_MODE0.COUNT.Get()
-	sam.RTC_MODE0.COMP0.Set(uint32(cnt) + (ticks * 10 / 305)) // each counter tick == 30.5us
+	sam.RTC_MODE0.COMP0.Set(uint32(cnt) + (uint32(delay) * 10 / 305)) // each counter tick == 30.5us
 	waitForSync()
 
 	// enable IRQ for CMP0 compare
 	sam.RTC_MODE0.INTENSET.SetBits(sam.RTC_MODE0_INTENSET_CMP0)
+}
 
-	for timerWakeup.Get() == 0 {
-		arm.Asm("wfi")
-	}
+func (t rtcTimer) disableTimer() {
+	// disable IRQ for CMP0 compare
+	sam.RTC_MODE0.INTFLAG.Set(sam.RTC_MODE0_INTENSET_CMP0)
+}
+
+var rtc = timerController{
+	t: rtcTimer{},
+}
+
+// Add this task to the sleep queue, assuming its state is set to sleeping.
+func addSleepTask(t *task.Task, duration int64) {
+	rtc.enqueue(t, ticks()+timeUnit(duration/tickMicros))
+}
+
+// devicePoll polls for device-specific events.
+// For atsamd21, the only device-specific events are RTC timers.
+func devicePoll() bool {
+	return rtc.poll()
+}
+
+const asyncScheduler = false
+
+// ticks returns number of microseconds since start.
+func ticks() timeUnit {
+	// request read of count
+	sam.RTC_MODE0.READREQ.Set(sam.RTC_MODE0_READREQ_RREQ)
+	waitForSync()
+
+	rtcCounter := (uint64(sam.RTC_MODE0.COUNT.Get()) * 305) / 10 // each counter tick == 30.5us
+	offset := (rtcCounter - timerLastCounter)                    // change since last measurement
+	timerLastCounter = rtcCounter
+	timestamp += timeUnit(offset) // TODO: not precise
+	return timestamp
 }
 
 func initUSBClock() {