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Avoid memory (de)allocation in GPIO ISR handler (#2623)

Browse source 
Replace std::map, which can `new` and `delete` elements of the tree,
with a statically allocated array and housekeeping.

Fixes #2622
This commit is contained in:
Earle F. Philhower, III 2024-11-19 12:26:47 -08:00 committed by GitHub
parent e25d382732
commit 322a1af6da
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GPG key ID: B5690EEEBB952194
1 changed files with 25 additions and 47 deletions
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72
cores/rp2040/wiring_private.cpp
View file

@ -22,7 +22,6 @@
#include <CoreMutex.h>
#include <hardware/gpio.h>
#include <hardware/sync.h>
#include <map>
#include "_freertos.h"
@ -59,58 +58,34 @@ extern "C" void noInterrupts() {
}
}
auto_init_mutex(_irqMutex);
static uint64_t _gpioIrqEnabled = 0; // Sized to work with RP2350B, 48 GPIOs
static uint64_t _gpioIrqUseParam;
void *_gpioIrqCB[__GPIOCNT];
void *_gpioIrqCBParam[__GPIOCNT];
// Only 1 GPIO IRQ callback for all pins, so we need to look at the pin it's for and
// dispatch to the real callback manually
auto_init_mutex(_irqMutex);
class CBInfo {
public:
CBInfo(voidFuncPtr cb) : _cb(cb), _useParam(false), _param(nullptr) { };
CBInfo(voidFuncPtrParam cbParam, void *param) : _cbParam(cbParam), _useParam(true), _param(param) { };
void callback() {
if (_useParam && _cbParam) {
_cbParam(_param);
} else if (_cb) {
_cb();
}
}
private:
union {
voidFuncPtr _cb;
voidFuncPtrParam _cbParam;
};
bool _useParam;
void *_param;
};
static std::map<pin_size_t, CBInfo> _map;
void _gpioInterruptDispatcher(uint gpio, uint32_t events) {
(void) events;
// Only need to lock around the std::map check, not the whole IRQ callback
CBInfo *cb;
{
CoreMutex m(&_irqMutex);
if (m) {
auto irq = _map.find(gpio);
if (irq == _map.end()) {
return;
}
cb = &irq->second;
uint64_t mask = 1LL << gpio;
if (_gpioIrqEnabled & mask) {
if (_gpioIrqUseParam & mask) {
voidFuncPtr cb = (voidFuncPtr)_gpioIrqCB[gpio];
cb();
} else {
return;
voidFuncPtrParam cb = (voidFuncPtrParam)_gpioIrqCB[gpio];
cb(_gpioIrqCBParam[gpio]);
}
}
cb->callback();
}
// To be called when appropriately protected w/IRQ and mutex protects
static void _detachInterruptInternal(pin_size_t pin) {
auto irq = _map.find(pin);
if (irq != _map.end()) {
uint64_t mask = 1LL << pin;
if (_gpioIrqEnabled & mask) {
gpio_set_irq_enabled(pin, 0x0f /* all */, false);
_map.erase(pin);
_gpioIrqEnabled &= ~mask;
}
}
@ -119,7 +94,7 @@ extern "C" void attachInterrupt(pin_size_t pin, voidFuncPtr callback, PinStatus
if (!m) {
return;
}
uint64_t mask = 1LL << pin;
uint32_t events;
switch (mode) {
case LOW: events = 1; break;
@ -131,8 +106,9 @@ extern "C" void attachInterrupt(pin_size_t pin, voidFuncPtr callback, PinStatus
}
noInterrupts();
_detachInterruptInternal(pin);
CBInfo cb(callback);
_map.insert({pin, cb});
_gpioIrqEnabled |= mask;
_gpioIrqUseParam &= ~mask; // No parameter
_gpioIrqCB[pin] = (void *)callback;
gpio_set_irq_enabled_with_callback(pin, events, true, _gpioInterruptDispatcher);
interrupts();
}
@ -142,7 +118,7 @@ void attachInterruptParam(pin_size_t pin, voidFuncPtrParam callback, PinStatus m
if (!m) {
return;
}
uint64_t mask = 1LL << pin;
uint32_t events;
switch (mode) {
case LOW: events = 1; break;
@ -154,8 +130,10 @@ void attachInterruptParam(pin_size_t pin, voidFuncPtrParam callback, PinStatus m
}
noInterrupts();
_detachInterruptInternal(pin);
CBInfo cb(callback, param);
_map.insert({pin, cb});
_gpioIrqEnabled |= mask;
_gpioIrqUseParam &= ~mask; // No parameter
_gpioIrqCB[pin] = (void *)callback;
_gpioIrqCBParam[pin] = param;
gpio_set_irq_enabled_with_callback(pin, events, true, _gpioInterruptDispatcher);
interrupts();
}