pw_interrupt_freertos: Add pw_interrupt backend for FreeRTOS

This replaces the pw_interrupt_cortex_a module which does not work correctly. Change-Id: Ibc7a41e3684c87b30b4d0b6869ca666e070e2189 Reviewed-on: https://pigweed-review.googlesource.com/c/pigweed/pigweed/+/267292 Lint: Lint 🤖 <[email protected]> Reviewed-by: Dave Roth <[email protected]> Commit-Queue: Randy Zhang <[email protected]> Reviewed-by: Eric Ye <[email protected]> Presubmit-Verified: CQ Bot Account <[email protected]>
google · Feb 14, 2025 · 7ab1856 · 7ab1856
1 parent 0481c3f
commit 7ab1856
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Showing 16 changed files with 69 additions and 75 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -109,8 +109,8 @@ add_subdirectory(pw_hex_dump EXCLUDE_FROM_ALL)
 add_subdirectory(pw_hdlc EXCLUDE_FROM_ALL)
 add_subdirectory(pw_i2c EXCLUDE_FROM_ALL)
 add_subdirectory(pw_interrupt EXCLUDE_FROM_ALL)
-add_subdirectory(pw_interrupt_cortex_a EXCLUDE_FROM_ALL)
 add_subdirectory(pw_interrupt_cortex_m EXCLUDE_FROM_ALL)
+add_subdirectory(pw_interrupt_freertos EXCLUDE_FROM_ALL)
 add_subdirectory(pw_interrupt_zephyr EXCLUDE_FROM_ALL)
 add_subdirectory(pw_intrusive_ptr EXCLUDE_FROM_ALL)
 add_subdirectory(pw_json EXCLUDE_FROM_ALL)

diff --git a/PIGWEED_MODULES b/PIGWEED_MODULES
@@ -80,8 +80,8 @@ pw_i2c_mcuxpresso
 pw_i2c_rp2040
 pw_ide
 pw_interrupt
-pw_interrupt_cortex_a
 pw_interrupt_cortex_m
+pw_interrupt_freertos
 pw_interrupt_xtensa
 pw_interrupt_zephyr
 pw_intrusive_ptr

diff --git a/docs/BUILD.bazel b/docs/BUILD.bazel
@@ -473,8 +473,8 @@ sphinx_docs(
         "//pw_i2c_rp2040:docs",
         "//pw_ide:docs",
         "//pw_interrupt:docs",
-        "//pw_interrupt_cortex_a:docs",
         "//pw_interrupt_cortex_m:docs",
+        "//pw_interrupt_freertos:docs",
         "//pw_interrupt_xtensa:docs",
         "//pw_interrupt_zephyr:docs",
         "//pw_intrusive_ptr:docs",

diff --git a/docs/changelog.rst b/docs/changelog.rst
@@ -245,7 +245,7 @@ Highlights (Jan 10, 2025 to Jan 24, 2025):
   :ref:`layering check <module-pw_toolchain-bazel-layering-check>` in Bazel.
   Including headers that aren't in the ``hdrs`` of a ``cc_library``
   you directly depend on becomes a compile-time error.
-* **Cortex-A support**: :ref:`module-pw_interrupt_cortex_a` is a new
+* **Cortex-A support**: pw_interrupt_cortex_a is a new
   ``pw_interrupt`` backend for Arm Cortex-A processors. ``pw_toolchain``
   now supports Arm Cortex-A35.
 * **Atomic API**: The new :ref:`module-pw_atomic` module provides software
@@ -329,7 +329,7 @@ New features:
 
 .. e61919ca93f922bc67fc6bd2f005c00f858cdcbd
 
-* :ref:`module-pw_interrupt_cortex_a` is a new ``pw_interrupt`` backend
+* [Deprecated] pw_interrupt_cortex_a is a new ``pw_interrupt`` backend
   for Arm Cortex-A processors. Commit: `Add pw_interrupt backend for
   A-profile processors <https://pwrev.dev/261396>`__.
 

diff --git a/docs/module_metadata.json b/docs/module_metadata.json
@@ -488,13 +488,13 @@
   "pw_interrupt": {
     "status": "unstable"
   },
-  "pw_interrupt_cortex_a": {
-    "status": "experimental",
-    "languages": []
-  },
   "pw_interrupt_cortex_m": {
     "status": "unstable"
   },
+  "pw_interrupt_freertos": {
+    "status": "experimental",
+    "languages": []
+  },
   "pw_interrupt_xtensa": {
     "status": "unstable"
   },

diff --git a/pw_build/generated_pigweed_modules_lists.gni b/pw_build/generated_pigweed_modules_lists.gni
@@ -116,10 +116,10 @@ declare_args() {
   dir_pw_i2c_rp2040 = get_path_info("../pw_i2c_rp2040", "abspath")
   dir_pw_ide = get_path_info("../pw_ide", "abspath")
   dir_pw_interrupt = get_path_info("../pw_interrupt", "abspath")
-  dir_pw_interrupt_cortex_a =
-      get_path_info("../pw_interrupt_cortex_a", "abspath")
   dir_pw_interrupt_cortex_m =
       get_path_info("../pw_interrupt_cortex_m", "abspath")
+  dir_pw_interrupt_freertos =
+      get_path_info("../pw_interrupt_freertos", "abspath")
   dir_pw_interrupt_xtensa = get_path_info("../pw_interrupt_xtensa", "abspath")
   dir_pw_interrupt_zephyr = get_path_info("../pw_interrupt_zephyr", "abspath")
   dir_pw_intrusive_ptr = get_path_info("../pw_intrusive_ptr", "abspath")
@@ -317,8 +317,8 @@ declare_args() {
     dir_pw_i2c_rp2040,
     dir_pw_ide,
     dir_pw_interrupt,
-    dir_pw_interrupt_cortex_a,
     dir_pw_interrupt_cortex_m,
+    dir_pw_interrupt_freertos,
     dir_pw_interrupt_xtensa,
     dir_pw_interrupt_zephyr,
     dir_pw_intrusive_ptr,
@@ -505,8 +505,8 @@ declare_args() {
     "$dir_pw_i2c_rp2040:tests",
     "$dir_pw_ide:tests",
     "$dir_pw_interrupt:tests",
-    "$dir_pw_interrupt_cortex_a:tests",
     "$dir_pw_interrupt_cortex_m:tests",
+    "$dir_pw_interrupt_freertos:tests",
     "$dir_pw_interrupt_xtensa:tests",
     "$dir_pw_interrupt_zephyr:tests",
     "$dir_pw_intrusive_ptr:tests",
@@ -693,8 +693,8 @@ declare_args() {
     "$dir_pw_i2c_rp2040:docs",
     "$dir_pw_ide:docs",
     "$dir_pw_interrupt:docs",
-    "$dir_pw_interrupt_cortex_a:docs",
     "$dir_pw_interrupt_cortex_m:docs",
+    "$dir_pw_interrupt_freertos:docs",
     "$dir_pw_interrupt_xtensa:docs",
     "$dir_pw_interrupt_zephyr:docs",
     "$dir_pw_intrusive_ptr:docs",

diff --git a/pw_interrupt/backends.rst b/pw_interrupt/backends.rst
@@ -8,7 +8,7 @@ Backends
 .. toctree::
    :maxdepth: 1
 
-   Cortex-A <../pw_interrupt_cortex_a/docs>
    Cortex-M <../pw_interrupt_cortex_m/docs>
+   FreeRTOS <../pw_interrupt_freertos/docs>
    Xtensa <../pw_interrupt_xtensa/docs>
    Zephyr <../pw_interrupt_zephyr/docs>
diff --git a/pw_interrupt_cortex_a/docs.rst b/pw_interrupt_cortex_a/docs.rst
diff --git a/pw_interrupt_cortex_a/public/pw_interrupt_cortex_a/context_inline.h b/pw_interrupt_cortex_a/public/pw_interrupt_cortex_a/context_inline.h
diff --git a/pw_interrupt_cortex_a/BUILD.bazel → pw_interrupt_freertos/BUILD.bazel b/pw_interrupt_cortex_a/BUILD.bazel → pw_interrupt_freertos/BUILD.bazel
@@ -41,18 +41,21 @@ cc_library(
 cc_library(
     name = "context_implementation",
     hdrs = [
-        "public/pw_interrupt_cortex_a/context_inline.h",
+        "public/pw_interrupt_freertos/context_inline.h",
     ],
     strip_include_prefix = "public",
     tags = ["noclangtidy"],
     visibility = ["//visibility:private"],
+    deps = [
+        "@freertos",
+    ],
 )
 
 sphinx_docs_library(
     name = "docs",
     srcs = [
         "docs.rst",
     ],
-    prefix = "pw_interrupt_cortex_a/",
+    prefix = "pw_interrupt_freertos/",
     target_compatible_with = incompatible_with_mcu(),
 )
diff --git a/pw_interrupt_cortex_a/BUILD.gn → pw_interrupt_freertos/BUILD.gn b/pw_interrupt_cortex_a/BUILD.gn → pw_interrupt_freertos/BUILD.gn
@@ -29,13 +29,16 @@ config("backend_config") {
 }
 
 pw_source_set("context") {
-  public_deps = [ "$dir_pw_interrupt:context.facade" ]
+  public_deps = [
+    "$dir_pw_interrupt:context.facade",
+    "$dir_pw_third_party/freertos",
+  ]
   public_configs = [
     ":public_include_path",
     ":backend_config",
   ]
   public = [
-    "public/pw_interrupt_cortex_a/context_inline.h",
+    "public/pw_interrupt_freertos/context_inline.h",
     "public_overrides/pw_interrupt_backend/context_inline.h",
   ]
 }

diff --git a/pw_interrupt_cortex_a/CMakeLists.txt → pw_interrupt_freertos/CMakeLists.txt b/pw_interrupt_cortex_a/CMakeLists.txt → pw_interrupt_freertos/CMakeLists.txt
@@ -14,11 +14,13 @@
 
 include($ENV{PW_ROOT}/pw_build/pigweed.cmake)
 
-pw_add_library(pw_interrupt_cortex_a.context INTERFACE
+pw_add_library(pw_interrupt_freertos.context INTERFACE
   HEADERS
-    public/pw_interrupt_cortex_a/context_inline.h
+    public/pw_interrupt_freertos/context_inline.h
     public_overrides/pw_interrupt_backend/context_inline.h
   PUBLIC_INCLUDES
     public
     public_overrides
+  PUBLIC_DEPS
+    pw_third_party.freertos
 )
diff --git a/pw_interrupt_cortex_a/OWNERS → pw_interrupt_freertos/OWNERS b/pw_interrupt_cortex_a/OWNERS → pw_interrupt_freertos/OWNERS
diff --git a/pw_interrupt_freertos/docs.rst b/pw_interrupt_freertos/docs.rst
@@ -0,0 +1,12 @@
+.. _module-pw_interrupt_freertos:
+
+---------------------
+pw_interrupt_freertos
+---------------------
+.. pigweed-module::
+   :name: pw_interrupt_freertos
+
+This module implements a backend for ``pw_interrupt``. It requires a port of
+FreeRTOS that defines the ``ullPortInterruptNesting``. Usually, ports for ARM
+A-profile processors will have this defined. For Cortex-M processors, use the
+``pw_interrupt_cortex_m`` backend.
diff --git a/pw_interrupt_freertos/public/pw_interrupt_freertos/context_inline.h b/pw_interrupt_freertos/public/pw_interrupt_freertos/context_inline.h
@@ -0,0 +1,27 @@
+// Copyright 2025 The Pigweed Authors
+//
+// Licensed under the Apache License, Version 2.0 (the "License"); you may not
+// use this file except in compliance with the License. You may obtain a copy of
+// the License at
+//
+//     https://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+// WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+// License for the specific language governing permissions and limitations under
+// the License.
+#pragma once
+
+#include <cstdint>
+
+#include "portmacro.h"
+
+namespace pw::interrupt {
+
+// This backend require the FreeRTOS port to define the xPortIsInsideInterrupt,
+// which is not available on every officially supported port. It may be
+// necessary to extend certain ports for this backend to work.
+inline bool InInterruptContext() { return !!xPortIsInsideInterrupt(); }
+
+}  // namespace pw::interrupt
diff --git a/...des/pw_interrupt_backend/context_inline.h → ...des/pw_interrupt_backend/context_inline.h b/...des/pw_interrupt_backend/context_inline.h → ...des/pw_interrupt_backend/context_inline.h
@@ -16,4 +16,4 @@
 // the PW_LOG macro as the tokenized logging macro.
 #pragma once
 
-#include "pw_interrupt_cortex_a/context_inline.h"
+#include "pw_interrupt_freertos/context_inline.h"