Merge branch '✨-bind' into 🦆

Author: yvt

Cargo.lock

@@ -27,6 +27,8 @@ R3 is a proof-of-concept of a static RTOS that utilizes Rust's compile-time func
 
 - The kernel timing mechanism drives **software timers** and a **system-global clock** with microsecond precision. The system clock can be rewound or fast-forwarded for drift compensation. The timing algorithm has a logarithmic time complexity and is therefore scalable. The implementation is robust against a large interrupt processing delay.
 
+- **Bindings** are a statically-defined storage with runtime initialization and configuration-time borrow checking. They can be bound to tasks and other objects to provide safe mutable access.
+
 - The utility library includes safe container types such as **`Mutex`** and **`RecursiveMutex`**, which are built upon low-level synchronization primitives.
 
 [the priority ceiling protocol]: https://en.wikipedia.org/wiki/Priority_ceiling_protocol
@@ -47,6 +49,7 @@ The R3 original kernel is provided as a separate package [`r3_kernel`][].
 #![feature(asm)]
 #![feature(asm_sym)]
 #![feature(const_fn_trait_bound)]
+#![feature(const_refs_to_cell)]
 #![feature(const_mut_refs)]
 #![feature(const_fn_fn_ptr_basics)]
 #![feature(const_trait_impl)]
@@ -73,7 +76,7 @@ impl port::SysTickOptions for SystemTraits {
 
 // ----------------------------------------------------------------
 
-use r3::kernel::StaticTask;
+use r3::{bind::bind, kernel::StaticTask, prelude::*};
 
 struct Objects {
     task: StaticTask<System>,
@@ -85,16 +88,20 @@ const COTTAGE: Objects = r3_kernel::build!(SystemTraits, configure_app => Object
 const fn configure_app(b: &mut r3_kernel::Cfg<SystemTraits>) -> Objects {
     System::configure_systick(b);
 
+    // Runtime-initialized static storage
+    let count = bind((), || 1u32).finish(b);
+
     Objects {
+        // Create a task, giving the ownership of `count`
         task: StaticTask::define()
-            .start(task_body)
+            .start_with_bind((count.borrow_mut(),), task_body)
             .priority(2)
             .active(true)
             .finish(b),
     }
 }
 
-fn task_body() {
+fn task_body(count: &mut u32) {
     // ...
 }
 ```

README.md

@@ -1,5 +1,6 @@
 #![feature(const_fn_trait_bound)]
 #![feature(const_fn_fn_ptr_basics)]
+#![feature(const_refs_to_cell)]
 #![feature(const_mut_refs)]
 #![feature(const_trait_impl)]
 #![deny(unsafe_op_in_unsafe_fn)]

examples/basic/src/main.rs

@@ -1,5 +1,6 @@
 #![feature(const_fn_trait_bound)]
 #![feature(const_fn_fn_ptr_basics)]
+#![feature(const_refs_to_cell)]
 #![feature(const_mut_refs)]
 #![feature(const_trait_impl)]
 #![feature(asm_sym)]

examples/basic_gr_peach/src/main.rs

@@ -1,6 +1,7 @@
 #![feature(asm_sym)]
 #![feature(const_fn_trait_bound)]
 #![feature(const_fn_fn_ptr_basics)]
+#![feature(const_refs_to_cell)]
 #![feature(const_mut_refs)]
 #![feature(const_trait_impl)]
 #![deny(unsafe_op_in_unsafe_fn)]

examples/basic_nucleo_f401re/src/main.rs

@@ -1,14 +1,17 @@
 #![feature(asm_sym)]
 #![feature(const_fn_trait_bound)]
 #![feature(const_fn_fn_ptr_basics)]
+#![feature(const_refs_to_cell)]
 #![feature(const_mut_refs)]
 #![feature(const_trait_impl)]
 #![deny(unsafe_op_in_unsafe_fn)]
 #![no_std]
 #![no_main]
 #![cfg(target_os = "none")]
 use r3::{
-    kernel::{prelude::*, StartupHook, StaticTask},
+    bind::bind,
+    kernel::{prelude::*, StaticTask},
+    prelude::*,
     sync::StaticMutex,
 };
 use r3_port_arm_m as port;
@@ -72,10 +75,10 @@ const COTTAGE: Objects = r3_kernel::build!(SystemTraits, configure_app => Object
 const fn configure_app(b: &mut r3_kernel::Cfg<SystemTraits>) -> Objects {
     b.num_task_priority_levels(4);
 
-    StartupHook::define()
-        .start(|| {
+    let (rp2040_resets, rp2040_usbctrl_regs, rp2040_sio, rp2040_pads_bank0, rp2040_io_bank0) =
+        bind((), || {
             // Configure peripherals
-            let p = unsafe { rp2040::Peripherals::steal() };
+            let p = rp2040::Peripherals::take().unwrap();
             support_rp2040::clock::init_clock(
                 &p.CLOCKS,
                 &p.XOSC,
@@ -105,11 +108,19 @@ const fn configure_app(b: &mut r3_kernel::Cfg<SystemTraits>) -> Objects {
 
                 support_rp2040::stdout::set_stdout(uart0.into_nb_writer());
             }
+
+            (p.RESETS, p.USBCTRL_REGS, p.SIO, p.PADS_BANK0, p.IO_BANK0)
         })
-        .finish(b);
+        .unpure()
+        .finish(b)
+        .unzip();
 
     if USE_USB_UART {
-        support_rp2040::usbstdio::configure::<_, SystemTraits>(b);
+        support_rp2040::usbstdio::configure::<_, SystemTraits>(
+            b,
+            rp2040_resets,
+            rp2040_usbctrl_regs,
+        );
     }
 
     SystemTraits::configure_systick(b);
@@ -119,7 +130,17 @@ const fn configure_app(b: &mut r3_kernel::Cfg<SystemTraits>) -> Objects {
         .priority(2)
         .active(true)
         .finish(b);
-    let task2 = StaticTask::define().start(task2_body).priority(3).finish(b);
+    let task2 = StaticTask::define()
+        .start_with_bind(
+            (
+                rp2040_sio.borrow_mut(),
+                rp2040_pads_bank0.borrow_mut(),
+                rp2040_io_bank0.borrow_mut(),
+            ),
+            task2_body,
+        )
+        .priority(3)
+        .finish(b);
 
     let mutex1 = StaticMutex::define().finish(b);
 
@@ -136,30 +157,44 @@ fn task1_body() {
     COTTAGE.task2.activate().unwrap();
 }
 
-fn task2_body() {
-    let p = unsafe { rp2040::Peripherals::steal() };
-
+fn task2_body(
+    rp2040_sio: &mut rp2040::SIO,
+    rp2040_pads_bank0: &mut rp2040::PADS_BANK0,
+    rp2040_io_bank0: &mut rp2040::IO_BANK0,
+) {
     // <https://github.com/jannic/rp-microcontroller-rs/blob/master/boards/rp-pico/examples/blink/main.rs>
     // TODO: Documentate what this code does
     let pin = 25;
 
-    p.SIO.gpio_oe_clr.write(|w| unsafe { w.bits(1 << pin) });
-    p.SIO.gpio_out_clr.write(|w| unsafe { w.bits(1 << pin) });
+    rp2040_sio
+        .gpio_oe_clr
+        .write(|w| unsafe { w.bits(1 << pin) });
+    rp2040_sio
+        .gpio_out_clr
+        .write(|w| unsafe { w.bits(1 << pin) });
 
-    p.PADS_BANK0
+    rp2040_pads_bank0
         .gpio25
         .write(|w| w.ie().bit(true).od().bit(false));
 
-    p.IO_BANK0.gpio25_ctrl.write(|w| w.funcsel().sio_25());
+    rp2040_io_bank0.gpio25_ctrl.write(|w| w.funcsel().sio_25());
 
-    p.SIO.gpio_oe_set.write(|w| unsafe { w.bits(1 << pin) });
-    p.SIO.gpio_out_set.write(|w| unsafe { w.bits(1 << pin) });
+    rp2040_sio
+        .gpio_oe_set
+        .write(|w| unsafe { w.bits(1 << pin) });
+    rp2040_sio
+        .gpio_out_set
+        .write(|w| unsafe { w.bits(1 << pin) });
 
     loop {
         // Blink the LED
-        p.SIO.gpio_out_set.write(|w| unsafe { w.bits(1 << pin) });
+        rp2040_sio
+            .gpio_out_set
+            .write(|w| unsafe { w.bits(1 << pin) });
         System::sleep(r3::time::Duration::from_millis(100)).unwrap();
-        p.SIO.gpio_out_clr.write(|w| unsafe { w.bits(1 << pin) });
+        rp2040_sio
+            .gpio_out_clr
+            .write(|w| unsafe { w.bits(1 << pin) });
 
         support_rp2040::sprintln!("time = {:?}", System::time().unwrap());
         System::sleep(r3::time::Duration::from_millis(900)).unwrap();