Use bare_metal::CriticalSection for GPIO configuration

CHANGELOG.md

@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ### Changed
 
 - Updated the `cast` dependency from 0.2 to 0.3
+- Use `bare_metal::CriticalSection` for GPIO configuration (breaking change)
 
 ### Added
 

examples/adc_values.rs

@@ -7,7 +7,8 @@ use stm32f0xx_hal as hal;
 
 use crate::hal::{pac, prelude::*};
 
-use cortex_m::{interrupt::Mutex, peripheral::syst::SystClkSource::Core};
+use bare_metal::Mutex;
+use cortex_m::peripheral::syst::SystClkSource::Core;
 use cortex_m_rt::{entry, exception};
 
 use core::{cell::RefCell, fmt::Write};
@@ -25,7 +26,12 @@ fn main() -> ! {
  hal::pac::Peripherals::take(),
  cortex_m::peripheral::Peripherals::take(),
  ) {
- cortex_m::interrupt::free(move |cs| {
+ cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  let mut flash = p.FLASH;
  let mut rcc = p.RCC.configure().sysclk(8.mhz()).freeze(&mut flash);
 
@@ -60,7 +66,7 @@ fn main() -> ! {
  tx.write_str("\n\rThis ADC example will read various values using the ADC and print them out to the serial terminal\r\n").ok();
 
  // Move all components under Mutex supervision
- *SHARED.borrow(cs).borrow_mut() = Some(Shared { adc, tx });
+ *SHARED.borrow(*cs).borrow_mut() = Some(Shared { adc, tx });
  });
  }
 
@@ -74,7 +80,12 @@ fn SysTick() {
  use core::ops::DerefMut;
 
  // Enter critical section
- cortex_m::interrupt::free(|cs| {
+ cortex_m::interrupt::free(|_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { bare_metal::CriticalSection::new() };
+
  // Get access to the Mutex protected shared data
  if let Some(ref mut shared) = SHARED.borrow(cs).borrow_mut().deref_mut() {
  // Read temperature data from internal sensor using ADC

examples/blinky.rs

@@ -17,7 +17,13 @@ fn main() -> ! {
  let gpioa = p.GPIOA.split(&mut rcc);
 
  // (Re-)configure PA1 as output
- let mut led = cortex_m::interrupt::free(|cs| gpioa.pa1.into_push_pull_output(cs));
+ let mut led = cortex_m::interrupt::free(|_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+ gpioa.pa1.into_push_pull_output(cs)
+ });
 
  loop {
  // Turn PA1 on a million times in a row

examples/blinky_adc.rs

@@ -17,7 +17,12 @@ fn main() -> ! {
 
  let gpioa = p.GPIOA.split(&mut rcc);
 
- let (mut led, mut an_in) = cortex_m::interrupt::free(move |cs| {
+ let (mut led, mut an_in) = cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  (
  // (Re-)configure PA1 as output
  gpioa.pa1.into_push_pull_output(cs),

examples/blinky_delay.rs

@@ -18,7 +18,13 @@ fn main() -> ! {
  let gpioa = p.GPIOA.split(&mut rcc);
 
  // (Re-)configure PA1 as output
- let mut led = cortex_m::interrupt::free(move |cs| gpioa.pa1.into_push_pull_output(cs));
+ let mut led = cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+ gpioa.pa1.into_push_pull_output(cs)
+ });
 
  // Get delay provider
  let mut delay = Delay::new(cp.SYST, &rcc);

examples/blinky_multiple.rs

@@ -18,7 +18,12 @@ fn main() -> ! {
  let gpioa = p.GPIOA.split(&mut rcc);
  let gpiob = p.GPIOB.split(&mut rcc);
 
- let (led1, led2) = cortex_m::interrupt::free(move |cs| {
+ let (led1, led2) = cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  (
  // (Re-)configure PA1 as output
  gpioa.pa1.into_push_pull_output(cs),

examples/blinky_timer.rs

@@ -17,7 +17,13 @@ fn main() -> ! {
  let gpioa = p.GPIOA.split(&mut rcc);
 
  // (Re-)configure PA1 as output
- let mut led = cortex_m::interrupt::free(move |cs| gpioa.pa1.into_push_pull_output(cs));
+ let mut led = cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+ gpioa.pa1.into_push_pull_output(cs)
+ });
 
  // Set up a timer expiring after 1s
  let mut timer = Timer::tim1(p.TIM1, Hertz(1), &mut rcc);

examples/blinky_timer_irq.rs

@@ -15,8 +15,9 @@ use crate::hal::{
 
 use cortex_m_rt::entry;
 
+use bare_metal::Mutex;
 use core::cell::RefCell;
-use cortex_m::{interrupt::Mutex, peripheral::Peripherals as c_m_Peripherals};
+use cortex_m::peripheral::Peripherals as c_m_Peripherals;
 
 // A type definition for the GPIO pin to be used for our LED
 type LEDPIN = gpioa::PA5<Output<PushPull>>;
@@ -35,14 +36,24 @@ fn TIM7() {
  static mut INT: Option<Timer<TIM7>> = None;
 
  let led = LED.get_or_insert_with(|| {
- cortex_m::interrupt::free(|cs| {
+ cortex_m::interrupt::free(|_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { bare_metal::CriticalSection::new() };
+
  // Move LED pin here, leaving a None in its place
  GLED.borrow(cs).replace(None).unwrap()
  })
  });
 
  let int = INT.get_or_insert_with(|| {
- cortex_m::interrupt::free(|cs| {
+ cortex_m::interrupt::free(|_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { bare_metal::CriticalSection::new() };
+
  // Move LED pin here, leaving a None in its place
  GINT.borrow(cs).replace(None).unwrap()
  })
@@ -55,7 +66,12 @@ fn TIM7() {
 #[entry]
 fn main() -> ! {
  if let (Some(mut p), Some(cp)) = (Peripherals::take(), c_m_Peripherals::take()) {
- cortex_m::interrupt::free(move |cs| {
+ cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  let mut rcc = p
  .RCC
  .configure()
@@ -71,7 +87,7 @@ fn main() -> ! {
  let led = gpioa.pa5.into_push_pull_output(cs);
 
  // Move the pin into our global storage
- *GLED.borrow(cs).borrow_mut() = Some(led);
+ *GLED.borrow(*cs).borrow_mut() = Some(led);
 
  // Set up a timer expiring after 1s
  let mut timer = Timer::tim7(p.TIM7, Hertz(1), &mut rcc);
@@ -80,7 +96,7 @@ fn main() -> ! {
  timer.listen(Event::TimeOut);
 
  // Move the timer into our global storage
- *GINT.borrow(cs).borrow_mut() = Some(timer);
+ *GINT.borrow(*cs).borrow_mut() = Some(timer);
 
  // Enable TIM7 IRQ, set prio 1 and clear any pending IRQs
  let mut nvic = cp.NVIC;

examples/dac.rs

@@ -24,7 +24,13 @@ fn main() -> ! {
  let mut rcc = dp.RCC.configure().sysclk(8.mhz()).freeze(&mut dp.FLASH);
  let gpioa = dp.GPIOA.split(&mut rcc);
 
- let pa4 = cortex_m::interrupt::free(move |cs| gpioa.pa4.into_analog(cs));
+ let pa4 = cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+ gpioa.pa4.into_analog(cs)
+ });
 
  let mut dac = dac(dp.DAC, pa4, &mut rcc);
 

examples/flash_systick.rs

@@ -7,7 +7,8 @@ use stm32f0xx_hal as hal;
 
 use crate::hal::{gpio::*, pac, prelude::*};
 
-use cortex_m::{interrupt::Mutex, peripheral::syst::SystClkSource::Core, Peripherals};
+use bare_metal::Mutex;
+use cortex_m::{peripheral::syst::SystClkSource::Core, Peripherals};
 use cortex_m_rt::{entry, exception};
 
 use core::cell::RefCell;
@@ -19,7 +20,12 @@ static GPIO: Mutex<RefCell<Option<gpioa::PA1<Output<PushPull>>>>> = Mutex::new(R
 #[entry]
 fn main() -> ! {
  if let (Some(mut p), Some(cp)) = (pac::Peripherals::take(), Peripherals::take()) {
- cortex_m::interrupt::free(move |cs| {
+ cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  let mut rcc = p.RCC.configure().sysclk(48.mhz()).freeze(&mut p.FLASH);
 
  let gpioa = p.GPIOA.split(&mut rcc);
@@ -28,7 +34,7 @@ fn main() -> ! {
  let led = gpioa.pa1.into_push_pull_output(cs);
 
  // Transfer GPIO into a shared structure
- *GPIO.borrow(cs).borrow_mut() = Some(led);
+ *GPIO.borrow(*cs).borrow_mut() = Some(led);
 
  let mut syst = cp.SYST;
 
@@ -62,7 +68,12 @@ fn SysTick() {
  static mut STATE: u8 = 1;
 
  // Enter critical section
- cortex_m::interrupt::free(|cs| {
+ cortex_m::interrupt::free(|_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { bare_metal::CriticalSection::new() };
+
  // Borrow access to our GPIO pin from the shared structure
  if let Some(ref mut led) = *GPIO.borrow(cs).borrow_mut().deref_mut() {
  // Check state variable, keep LED off most of the time and turn it on every 10th tick

examples/flash_systick_fancier.rs

@@ -7,7 +7,8 @@ use stm32f0xx_hal as hal;
 
 use crate::hal::{gpio::*, pac, prelude::*};
 
-use cortex_m::{interrupt::Mutex, peripheral::syst::SystClkSource::Core, Peripherals};
+use bare_metal::Mutex;
+use cortex_m::{peripheral::syst::SystClkSource::Core, Peripherals};
 use cortex_m_rt::{entry, exception};
 
 use core::cell::RefCell;
@@ -22,7 +23,12 @@ static GPIO: Mutex<RefCell<Option<LEDPIN>>> = Mutex::new(RefCell::new(None));
 #[entry]
 fn main() -> ! {
  if let (Some(mut p), Some(cp)) = (pac::Peripherals::take(), Peripherals::take()) {
- cortex_m::interrupt::free(move |cs| {
+ cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  let mut rcc = p.RCC.configure().sysclk(48.mhz()).freeze(&mut p.FLASH);
 
  // Get access to individual pins in the GPIO port
@@ -32,7 +38,7 @@ fn main() -> ! {
  let led = gpioa.pb3.into_push_pull_output(cs);
 
  // Transfer GPIO into a shared structure
- swap(&mut Some(led), &mut GPIO.borrow(cs).borrow_mut());
+ swap(&mut Some(led), &mut GPIO.borrow(*cs).borrow_mut());
 
  let mut syst = cp.SYST;
 
@@ -88,7 +94,12 @@ fn SysTick() {
  // Otherwise move it out of the Mutex protected shared region into our exception handler
  else {
  // Enter critical section
- cortex_m::interrupt::free(|cs| {
+ cortex_m::interrupt::free(|_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { bare_metal::CriticalSection::new() };
+
  // Swap globally stored data with SysTick private data
  swap(LED, &mut GPIO.borrow(cs).borrow_mut());
  });

examples/i2c_find_address.rs

@@ -14,7 +14,12 @@ use cortex_m_rt::entry;
 #[entry]
 fn main() -> ! {
  if let Some(p) = pac::Peripherals::take() {
- cortex_m::interrupt::free(move |cs| {
+ cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  let mut flash = p.FLASH;
  let mut rcc = p.RCC.configure().freeze(&mut flash);
 

examples/led_hal_button_irq.rs

@@ -12,7 +12,8 @@ use crate::hal::{
  prelude::*,
 };
 
-use cortex_m::{interrupt::Mutex, peripheral::Peripherals as c_m_Peripherals};
+use bare_metal::Mutex;
+use cortex_m::peripheral::Peripherals as c_m_Peripherals;
 use cortex_m_rt::entry;
 
 use core::{cell::RefCell, ops::DerefMut};
@@ -29,7 +30,12 @@ static INT: Mutex<RefCell<Option<EXTI>>> = Mutex::new(RefCell::new(None));
 #[entry]
 fn main() -> ! {
  if let (Some(p), Some(cp)) = (Peripherals::take(), c_m_Peripherals::take()) {
- cortex_m::interrupt::free(move |cs| {
+ cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  // Enable clock for SYSCFG
  let rcc = p.RCC;
  rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
@@ -64,9 +70,9 @@ fn main() -> ! {
  exti.rtsr.modify(|_, w| w.tr1().set_bit());
 
  // Move control over LED and DELAY and EXTI into global mutexes
- *LED.borrow(cs).borrow_mut() = Some(led);
- *DELAY.borrow(cs).borrow_mut() = Some(delay);
- *INT.borrow(cs).borrow_mut() = Some(exti);
+ *LED.borrow(*cs).borrow_mut() = Some(led);
+ *DELAY.borrow(*cs).borrow_mut() = Some(delay);
+ *INT.borrow(*cs).borrow_mut() = Some(exti);
 
  // Enable EXTI IRQ, set prio 1 and clear any pending IRQs
  let mut nvic = cp.NVIC;
@@ -88,7 +94,12 @@ fn main() -> ! {
 #[interrupt]
 fn EXTI0_1() {
  // Enter critical section
- cortex_m::interrupt::free(|cs| {
+ cortex_m::interrupt::free(|_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { bare_metal::CriticalSection::new() };
+
  // Obtain all Mutex protected resources
  if let (&mut Some(ref mut led), &mut Some(ref mut delay), &mut Some(ref mut exti)) = (
  LED.borrow(cs).borrow_mut().deref_mut(),

examples/pwm.rs

@@ -1,4 +1,3 @@
-#![deny(unsafe_code)]
 #![no_main]
 #![no_std]
 
@@ -18,7 +17,12 @@ fn main() -> ! {
  let mut rcc = dp.RCC.configure().sysclk(8.mhz()).freeze(&mut dp.FLASH);
 
  let gpioa = dp.GPIOA.split(&mut rcc);
- let channels = cortex_m::interrupt::free(move |cs| {
+ let channels = cortex_m::interrupt::free(move |_| {
+ // SAFETY: We are in a critical section, but the `cortex_m` critical section
+ // token is not compatible with the `bare_metal` token. Future version of the
+ // `cortex_m` crate will not supply *any* token to this callback!
+ let cs = unsafe { &bare_metal::CriticalSection::new() };
+
  (
  gpioa.pa8.into_alternate_af2(cs),
  gpioa.pa9.into_alternate_af2(cs),