runtime: make channels work in interrupts

src/examples/systick/systick.go

@@ -5,24 +5,27 @@ import (
 	"machine"
 )
 
+var timerCh = make(chan struct{}, 1)
+
 func main() {
 	machine.LED.Configure(machine.PinConfig{Mode: machine.PinOutput})
 
 	// timer fires 10 times per second
 	arm.SetupSystemTimer(machine.CPUFrequency() / 10)
 
 	for {
+		machine.LED.Low()
+		<-timerCh
+		machine.LED.High()
+		<-timerCh
 	}
 }
 
-var led_state bool
-
 //export SysTick_Handler
 func timer_isr() {
-	if led_state {
-		machine.LED.Low()
-	} else {
-		machine.LED.High()
+	select {
+	case timerCh <- struct{}{}:
+	default:
+		// The consumer is running behind.
 	}
-	led_state = !led_state
 }

src/internal/task/queue.go

@@ -1,5 +1,7 @@
 package task
 
+import "runtime/interrupt"
+
 const asserts = false
 
 // Queue is a FIFO container of tasks.
@@ -10,7 +12,9 @@ type Queue struct {
 
 // Push a task onto the queue.
 func (q *Queue) Push(t *Task) {
+	i := interrupt.Disable()
 	if asserts && t.Next != nil {
+		interrupt.Restore(i)
 		panic("runtime: pushing a task to a queue with a non-nil Next pointer")
 	}
 	if q.tail != nil {
@@ -21,31 +25,45 @@ func (q *Queue) Push(t *Task) {
 	if q.head == nil {
 		q.head = t
 	}
+	interrupt.Restore(i)
 }
 
 // Pop a task off of the queue.
 func (q *Queue) Pop() *Task {
+	i := interrupt.Disable()
 	t := q.head
 	if t == nil {
+		interrupt.Restore(i)
 		return nil
 	}
 	q.head = t.Next
 	if q.tail == t {
 		q.tail = nil
 	}
 	t.Next = nil
+	interrupt.Restore(i)
 	return t
 }
 
 // Append pops the contents of another queue and pushes them onto the end of this queue.
 func (q *Queue) Append(other *Queue) {
+	i := interrupt.Disable()
 	if q.head == nil {
 		q.head = other.head
 	} else {
 		q.tail.Next = other.head
 	}
 	q.tail = other.tail
 	other.head, other.tail = nil, nil
+	interrupt.Restore(i)
+}
+
+// Empty checks if the queue is empty.
+func (q *Queue) Empty() bool {
+	i := interrupt.Disable()
+	empty := q.head == nil
+	interrupt.Restore(i)
+	return empty
 }
 
 // Stack is a LIFO container of tasks.
@@ -57,19 +75,24 @@ type Stack struct {
 
 // Push a task onto the stack.
 func (s *Stack) Push(t *Task) {
+	i := interrupt.Disable()
 	if asserts && t.Next != nil {
+		interrupt.Restore(i)
 		panic("runtime: pushing a task to a stack with a non-nil Next pointer")
 	}
 	s.top, t.Next = t, s.top
+	interrupt.Restore(i)
 }
 
 // Pop a task off of the stack.
 func (s *Stack) Pop() *Task {
+	i := interrupt.Disable()
 	t := s.top
 	if t != nil {
 		s.top = t.Next
 		t.Next = nil
 	}
+	interrupt.Restore(i)
 	return t
 }
 
@@ -89,10 +112,13 @@ func (t *Task) tail() *Task {
 // Queue moves the contents of the stack into a queue.
 // Elements can be popped from the queue in the same order that they would be popped from the stack.
 func (s *Stack) Queue() Queue {
+	i := interrupt.Disable()
 	head := s.top
 	s.top = nil
-	return Queue{
+	q := Queue{
 		head: head,
 		tail: head.tail(),
 	}
+	interrupt.Restore(i)
+	return q
 }

src/runtime/arch_cortexm.go

@@ -102,3 +102,7 @@ func procPin() {
 func procUnpin() {
 	arm.EnableInterrupts(procPinnedMask)
 }
+
+func waitForEvents() {
+	arm.Asm("wfe")
+}

src/runtime/arch_tinygoriscv.go

@@ -90,3 +90,11 @@ func procPin() {
 func procUnpin() {
 	riscv.EnableInterrupts(procPinnedMask)
 }
+
+func waitForEvents() {
+	mask := riscv.DisableInterrupts()
+	if !runqueue.Empty() {
+		riscv.Asm("wfi")
+	}
+	riscv.EnableInterrupts(mask)
+}

src/runtime/baremetal.go

@@ -38,3 +38,5 @@ func libc_malloc(size uintptr) unsafe.Pointer {
 func libc_free(ptr unsafe.Pointer) {
 	free(ptr)
 }
+
+const baremetal = true

src/runtime/chan.go

@@ -25,6 +25,7 @@ package runtime
 
 import (
 	"internal/task"
+	"runtime/interrupt"
 	"unsafe"
 )
 
@@ -308,13 +309,17 @@ func (ch *channel) trySend(value unsafe.Pointer) bool {
 		return false
 	}
 
+	i := interrupt.Disable()
+
 	switch ch.state {
 	case chanStateEmpty, chanStateBuf:
 		// try to dump the value directly into the buffer
 		if ch.push(value) {
 			ch.state = chanStateBuf
+			interrupt.Restore(i)
 			return true
 		}
+		interrupt.Restore(i)
 		return false
 	case chanStateRecv:
 		// unblock reciever
@@ -328,16 +333,21 @@ func (ch *channel) trySend(value unsafe.Pointer) bool {
 			ch.state = chanStateEmpty
 		}
 
+		interrupt.Restore(i)
 		return true
 	case chanStateSend:
 		// something else is already waiting to send
+		interrupt.Restore(i)
 		return false
 	case chanStateClosed:
+		interrupt.Restore(i)
 		runtimePanic("send on closed channel")
 	default:
+		interrupt.Restore(i)
 		runtimePanic("invalid channel state")
 	}
 
+	interrupt.Restore(i)
 	return false
 }
 
@@ -351,6 +361,8 @@ func (ch *channel) tryRecv(value unsafe.Pointer) (bool, bool) {
 		return false, false
 	}
 
+	i := interrupt.Disable()
+
 	switch ch.state {
 	case chanStateBuf, chanStateSend:
 		// try to pop the value directly from the buffer
@@ -373,6 +385,7 @@ func (ch *channel) tryRecv(value unsafe.Pointer) (bool, bool) {
 				ch.state = chanStateEmpty
 			}
 
+			interrupt.Restore(i)
 			return true, true
 		} else if ch.blocked != nil {
 			// unblock next sender if applicable
@@ -386,19 +399,24 @@ func (ch *channel) tryRecv(value unsafe.Pointer) (bool, bool) {
 				ch.state = chanStateEmpty
 			}
 
+			interrupt.Restore(i)
 			return true, true
 		}
+		interrupt.Restore(i)
 		return false, false
 	case chanStateRecv, chanStateEmpty:
 		// something else is already waiting to recieve
+		interrupt.Restore(i)
 		return false, false
 	case chanStateClosed:
 		if ch.pop(value) {
+			interrupt.Restore(i)
 			return true, true
 		}
 
 		// channel closed - nothing to recieve
 		memzero(value, ch.elementSize)
+		interrupt.Restore(i)
 		return true, false
 	default:
 		runtimePanic("invalid channel state")
@@ -447,14 +465,18 @@ type chanSelectState struct {
 // This operation will block unless a value is immediately available.
 // May panic if the channel is closed.
 func chanSend(ch *channel, value unsafe.Pointer, blockedlist *channelBlockedList) {
+	i := interrupt.Disable()
+
 	if ch.trySend(value) {
 		// value immediately sent
 		chanDebug(ch)
+		interrupt.Restore(i)
 		return
 	}
 
 	if ch == nil {
 		// A nil channel blocks forever. Do not schedule this goroutine again.
+		interrupt.Restore(i)
 		deadlock()
 	}
 
@@ -468,6 +490,7 @@ func chanSend(ch *channel, value unsafe.Pointer, blockedlist *channelBlockedList
 	}
 	ch.blocked = blockedlist
 	chanDebug(ch)
+	interrupt.Restore(i)
 	task.Pause()
 	sender.Ptr = nil
 }
@@ -477,14 +500,18 @@ func chanSend(ch *channel, value unsafe.Pointer, blockedlist *channelBlockedList
 // The recieved value is copied into the value pointer.
 // Returns the comma-ok value.
 func chanRecv(ch *channel, value unsafe.Pointer, blockedlist *channelBlockedList) bool {
+	i := interrupt.Disable()
+
 	if rx, ok := ch.tryRecv(value); rx {
 		// value immediately available
 		chanDebug(ch)
+		interrupt.Restore(i)
 		return ok
 	}
 
 	if ch == nil {
 		// A nil channel blocks forever. Do not schedule this goroutine again.
+		interrupt.Restore(i)
 		deadlock()
 	}
 
@@ -498,6 +525,7 @@ func chanRecv(ch *channel, value unsafe.Pointer, blockedlist *channelBlockedList
 	}
 	ch.blocked = blockedlist
 	chanDebug(ch)
+	interrupt.Restore(i)
 	task.Pause()
 	ok := receiver.Data == 1
 	receiver.Ptr, receiver.Data = nil, 0
@@ -511,15 +539,18 @@ func chanClose(ch *channel) {
 		// Not allowed by the language spec.
 		runtimePanic("close of nil channel")
 	}
+	i := interrupt.Disable()
 	switch ch.state {
 	case chanStateClosed:
 		// Not allowed by the language spec.
+		interrupt.Restore(i)
 		runtimePanic("close of closed channel")
 	case chanStateSend:
 		// This panic should ideally on the sending side, not in this goroutine.
 		// But when a goroutine tries to send while the channel is being closed,
 		// that is clearly invalid: the send should have been completed already
 		// before the close.
+		interrupt.Restore(i)
 		runtimePanic("close channel during send")
 	case chanStateRecv:
 		// unblock all receivers with the zero value
@@ -531,6 +562,7 @@ func chanClose(ch *channel) {
 		// Easy case. No available sender or receiver.
 	}
 	ch.state = chanStateClosed
+	interrupt.Restore(i)
 	chanDebug(ch)
 }
 
@@ -541,8 +573,11 @@ func chanClose(ch *channel) {
 // TODO: do this in a round-robin fashion (as specified in the Go spec) instead
 // of picking the first one that can proceed.
 func chanSelect(recvbuf unsafe.Pointer, states []chanSelectState, ops []channelBlockedList) (uintptr, bool) {
+	istate := interrupt.Disable()
+
 	if selected, ok := tryChanSelect(recvbuf, states); selected != ^uintptr(0) {
 		// one channel was immediately ready
+		interrupt.Restore(istate)
 		return selected, ok
 	}
 
@@ -570,6 +605,7 @@ func chanSelect(recvbuf unsafe.Pointer, states []chanSelectState, ops []channelB
 			case chanStateRecv:
 				// already in correct state
 			default:
+				interrupt.Restore(istate)
 				runtimePanic("invalid channel state")
 			}
 		} else {
@@ -582,6 +618,7 @@ func chanSelect(recvbuf unsafe.Pointer, states []chanSelectState, ops []channelB
 			case chanStateBuf:
 				// already in correct state
 			default:
+				interrupt.Restore(istate)
 				runtimePanic("invalid channel state")
 			}
 		}
@@ -594,6 +631,7 @@ func chanSelect(recvbuf unsafe.Pointer, states []chanSelectState, ops []channelB
 	t.Data = 1
 
 	// wait for one case to fire
+	interrupt.Restore(istate)
 	task.Pause()
 
 	// figure out which one fired and return the ok value
@@ -602,22 +640,27 @@ func chanSelect(recvbuf unsafe.Pointer, states []chanSelectState, ops []channelB
 
 // tryChanSelect is like chanSelect, but it does a non-blocking select operation.
 func tryChanSelect(recvbuf unsafe.Pointer, states []chanSelectState) (uintptr, bool) {
+	istate := interrupt.Disable()
+
 	// See whether we can receive from one of the channels.
 	for i, state := range states {
 		if state.value == nil {
 			// A receive operation.
 			if rx, ok := state.ch.tryRecv(recvbuf); rx {
 				chanDebug(state.ch)
+				interrupt.Restore(istate)
 				return uintptr(i), ok
 			}
 		} else {
 			// A send operation: state.value is not nil.
 			if state.ch.trySend(state.value) {
 				chanDebug(state.ch)
+				interrupt.Restore(istate)
 				return uintptr(i), true
 			}
 		}
 	}
 
+	interrupt.Restore(istate)
 	return ^uintptr(0), false
 }