repo_name stringlengths 1 62 | dataset stringclasses 1
value | lang stringclasses 11
values | pr_id int64 1 20.1k | owner stringlengths 2 34 | reviewer stringlengths 2 39 | diff_hunk stringlengths 15 262k | code_review_comment stringlengths 1 99.6k |
|---|---|---|---|---|---|---|---|
Mooncake.jl | github_2023 | others | 220 | compintell | willtebbutt | @@ -123,7 +123,7 @@ Crucially, observe that we distinguish between the state of the arguments before
For our example, the exact form of ``f`` is
```math
-f((x, y, z)) = ((x, y, x \odot y), (2 x \odot y, \sum_{d=1}^D x \odot y))
+f((x, y, z, s)) = ((x, y, x \odot y, \text{Ref}(2 x \odot y)), (2 x \odot y, \sum_{d=1}... | Nearly -- you can drop the `Ref` (we've not given `Ref` a mathematical interpreteration):
```julia
f((x, y, z, s)) = ((x, y, x \odot y, 2 x \odot y), (2 x \odot y, \sum_{d=1}^D x \odot y))
``` |
Mooncake.jl | github_2023 | others | 231 | compintell | willtebbutt | @@ -31,9 +31,11 @@ end
Gradient using algorithmic/automatic differentiation via Tapir.
"""
-function ADgradient(::Val{:Tapir}, ℓ; safety_on::Bool=false)
- primal_sig = Tuple{typeof(logdensity), typeof(ℓ), Vector{Float64}}
- rule = Tapir.build_rrule(Tapir.TapirInterpreter(), primal_sig; safety_on)
+function AD... | What kind of type instabilities are you seeing here? |
Mooncake.jl | github_2023 | others | 229 | compintell | yebai | @@ -368,7 +369,7 @@ function make_ad_stmts!(stmt::PiNode, line::ID, info::ADInfo)
# Assemble the above lines and construct reverse-pass.
return ad_stmt_info(
line,
- PiNode(stmt.val, fcodual_type(_type(stmt.typ))),
+ PiNode(__inc(stmt.val), fcodual_type(_type(stmt.typ))), | Very clear -- thanks! |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -436,16 +440,89 @@ end
tangent_field_zeros_exprs = ntuple(fieldcount(P)) do n
if tangent_field_type(P, n) <: PossiblyUninitTangent
V = PossiblyUninitTangent{tangent_type(fieldtype(P, n))}
- return :(isdefined(x, $n) ? $V(zero_tangent(getfield(x, $n))) : $V())
+ return... | Could you try adding a type assertion here? i.e.
```suggestion
return stackdict[x]::fdata_type(tangent_type(P))
```
ought to work nicely. |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -410,18 +413,19 @@ It is an error for the zero element of the tangent space of `x` to be represente
anything other than that which this function returns.
"""
zero_tangent(x)
-@inline zero_tangent(::Union{Int8, Int16, Int32, Int64, Int128}) = NoTangent()
-@inline zero_tangent(x::IEEEFloat) = zero(x)
-@inline funct... | This could be simplified to
```suggestion
return isbitstype(P) ? zero_tangent_internal(x) : zero_tangent_internal(x, IdDict())
``` |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -436,16 +440,89 @@ end
tangent_field_zeros_exprs = ntuple(fieldcount(P)) do n
if tangent_field_type(P, n) <: PossiblyUninitTangent
V = PossiblyUninitTangent{tangent_type(fieldtype(P, n))}
- return :(isdefined(x, $n) ? $V(zero_tangent(getfield(x, $n))) : $V())
+ return... | Should this maybe live inside the `tangent_type(P) <: MutableTangent` if statement? It'll be correct either way, but where it currently is, I imagine it'll damage the performance if `tangent_type(P) == NoTangent`, or is a `struct`. |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -436,16 +440,89 @@ end
tangent_field_zeros_exprs = ntuple(fieldcount(P)) do n
if tangent_field_type(P, n) <: PossiblyUninitTangent
V = PossiblyUninitTangent{tangent_type(fieldtype(P, n))}
- return :(isdefined(x, $n) ? $V(zero_tangent(getfield(x, $n))) : $V())
+ return... | Should regular immutable `struct`s be put into the `IdDict`? I don't _think_ that they can ever alias one another / contain circular references, but would be happy to be shown wrong on this point! |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -55,6 +55,13 @@ Base.:(==)(x::Tangent, y::Tangent) = x.fields == y.fields
mutable struct MutableTangent{Tfields<:NamedTuple}
fields::Tfields
+ MutableTangent{Tfields}(fields::Tfields) where {Tfields} = new{Tfields}(fields) | This method doesn't appear to be used. Could we remove it? |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -55,6 +55,13 @@ Base.:(==)(x::Tangent, y::Tangent) = x.fields == y.fields
mutable struct MutableTangent{Tfields<:NamedTuple}
fields::Tfields
+ MutableTangent{Tfields}(fields::Tfields) where {Tfields} = new{Tfields}(fields)
+ function MutableTangent{Tfields}(fields::NamedTuple{names}) where {Tfields, na... | Would you consider using diagonal dispatch here, rather than error checking? Something like
```julia
MutableTangent{Tfields}(fields::Tfields) where {Tfields} = new{Tfields}(fields)
``` |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -436,16 +441,88 @@ end
tangent_field_zeros_exprs = ntuple(fieldcount(P)) do n
if tangent_field_type(P, n) <: PossiblyUninitTangent
V = PossiblyUninitTangent{tangent_type(fieldtype(P, n))}
- return :(isdefined(x, $n) ? $V(zero_tangent(getfield(x, $n))) : $V())
+ return... | Could `_map_if_assigned!` be used here, rather than writing out a for loop? |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -436,16 +441,88 @@ end
tangent_field_zeros_exprs = ntuple(fieldcount(P)) do n
if tangent_field_type(P, n) <: PossiblyUninitTangent
V = PossiblyUninitTangent{tangent_type(fieldtype(P, n))}
- return :(isdefined(x, $n) ? $V(zero_tangent(getfield(x, $n))) : $V())
+ return... | I think we can probably get away without doing this here. Since `Tuple`s and `NamedTuple`s are immutable, they don't have an address, so the same reasoning applies to them as does to `struct`s.
So I think you can avoid the check, and you don't ever need to put them in the `stackdict`, so the line just before the end... |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -436,16 +441,75 @@ end
tangent_field_zeros_exprs = ntuple(fieldcount(P)) do n
if tangent_field_type(P, n) <: PossiblyUninitTangent
V = PossiblyUninitTangent{tangent_type(fieldtype(P, n))}
- return :(isdefined(x, $n) ? $V(zero_tangent(getfield(x, $n))) : $V())
+ return... | Another thing: do we actually need these two separate paths here? If I'm not mistaken, the second case should cover everything that we need, and be just as performant. I might be wrong though... |
Mooncake.jl | github_2023 | others | 210 | compintell | willtebbutt | @@ -408,20 +411,24 @@ end
Returns the unique zero element of the tangent space of `x`.
It is an error for the zero element of the tangent space of `x` to be represented by
anything other than that which this function returns.
+
+Internally, `zero_tangent` calls `zero_tangent_internal`, which handles different types ... | ```suggestion
2. Otherwise, `zero_tangent_internal` takes another argument which is an `IdDict`, which
handles both circular references and aliasing correctly.
``` |
Mooncake.jl | github_2023 | others | 217 | compintell | yebai | @@ -122,6 +122,6 @@ jobs:
uses: peter-evans/create-or-update-comment@v4
with:
issue-number: ${{ github.event.pull_request.number }}
- body: "Performance Ratio:\nWarning: results are very approximate!\n```\n${{ steps.read-file.outputs.table }}\n```"
+ body: "Performance Rat... | Consider making it a clickable link? |
Mooncake.jl | github_2023 | others | 217 | compintell | yebai | @@ -43,6 +43,12 @@ plot_ratio_histogram!(df)
## Inter-framework Benchmarking
This comprises a small suite of functions that we AD using `Tapir.jl`, `Zygote.jl`, `ReverseDiff.jl`, and `Enzyme.jl`.
+The primary purpose of this suite of benchmarks is to ensure that we're regularly comparing the performance of a range ... | Consider adding some comments on why Zygote is fast (~~due to more rules~~; you already added it below), and relevant discussions on other AD we had previously? |
Mooncake.jl | github_2023 | others | 217 | compintell | yebai | @@ -43,6 +43,12 @@ plot_ratio_histogram!(df)
## Inter-framework Benchmarking
This comprises a small suite of functions that we AD using `Tapir.jl`, `Zygote.jl`, `ReverseDiff.jl`, and `Enzyme.jl`.
+The primary purpose of this suite of benchmarks is to ensure that we're regularly comparing the performance of a range ... | Not sure this is generally true; the sum example seems to have a big variance, but other numbers are relatively stable across machines. |
Mooncake.jl | github_2023 | others | 217 | compintell | yebai | @@ -122,6 +122,6 @@ jobs:
uses: peter-evans/create-or-update-comment@v4
with:
issue-number: ${{ github.event.pull_request.number }}
- body: "Performance Ratio:\nRatio of time to compute gradient and time to compute function.\nWarning: results are very approximate! See bench/README.... | ```suggestion
body: "Performance Ratio:\nRatio of time to compute gradient and time to compute function.\nWarning: results are very approximate! See [here](https://github.com/compintell/Tapir.jl/tree/main/bench#inter-framework-benchmarking) for more context.\n```\n${{ steps.read-file.outputs.table }}\n```"
... |
Mooncake.jl | github_2023 | others | 201 | compintell | sunxd3 | @@ -1,7 +1,7 @@
_to_rdata(::ChainRulesCore.NoTangent) = NoRData()
_to_rdata(dx::Float64) = dx
-"""
+@doc""" | What difference does this make? |
Mooncake.jl | github_2023 | others | 175 | compintell | mhauru | @@ -0,0 +1,451 @@
+# Algorithmic Differentiation
+
+This section introduces the mathematics behind AD.
+Even if you have worked with AD before, we recommend reading in order to acclimatise yourself to the perspective that Tapir.jl takes on the subject.
+
+# Derivatives
+
+
+A foundation on which all of AD is built the ... | It took me a while to parse this correctly. I think two things threw me off a bit:
1) It wasn't obvious to me that I can consider dx to be an element of `\mathcal{X}`, considering it's infinitesimal and gradients I think are elements of the dual space.
2) There are multiple layers of functions here, where `D` takes t... |
Mooncake.jl | github_2023 | others | 175 | compintell | mhauru | @@ -0,0 +1,451 @@
+# Algorithmic Differentiation
+
+This section introduces the mathematics behind AD.
+Even if you have worked with AD before, we recommend reading in order to acclimatise yourself to the perspective that Tapir.jl takes on the subject.
+
+# Derivatives
+
+
+A foundation on which all of AD is built the ... | ```suggestion
5. if ``n = N+1`` then return ``\dot{x}_{N+1}``, otherwise go to 2.
``` |
Mooncake.jl | github_2023 | others | 175 | compintell | mhauru | @@ -0,0 +1,451 @@
+# Algorithmic Differentiation
+
+This section introduces the mathematics behind AD.
+Even if you have worked with AD before, we recommend reading in order to acclimatise yourself to the perspective that Tapir.jl takes on the subject.
+
+# Derivatives
+
+
+A foundation on which all of AD is built the ... | I find the middle step here confusing. Would it be clearer to use the definition of the inner product of tuples to spell this out as a sum over inner products?
Also, there's been a switch here from `\dot{x}` to `\text{d} x`. |
Mooncake.jl | github_2023 | others | 175 | compintell | yebai | @@ -0,0 +1,35 @@
+# Safe Mode | Maybe rename this to `debugg_mode.md` to avoid renaming it again soon? |
Mooncake.jl | github_2023 | others | 123 | compintell | yebai | @@ -41,6 +41,7 @@ include("front_matter.jl")
end
include("chain_rules_macro.jl")
elseif test_group == "integration_testing/misc"
+ include(joinpath("integration_test", "logdensityproblemsad_interop.jl")) | ```suggestion
include(joinpath("integration_testing", "logdensityproblemsad_interop.jl"))
``` |
Mooncake.jl | github_2023 | others | 104 | compintell | yebai | @@ -67,17 +67,14 @@ Additionally, the strategy of immediately incrementing (co)tangents resolves lon
### Written entirely in Julia
-`Phi.jl` is written entirely in Julia.
+`Tapir.jl` is written entirely in Julia.
This sits in contrast to `Enzyme.jl`, which targets LLVM and is primarily written in C++.
These two ... | Maybe add a sentence that explains the reasoning for naming it `Tapir`? |
Mooncake.jl | github_2023 | others | 83 | compintell | yebai | @@ -60,7 +78,30 @@ jobs:
include-all-prereleases: true
- uses: julia-actions/cache@v1
- uses: julia-actions/julia-buildpkg@v1
+ - run: mkdir bench_results
- run: julia --project=bench --eval 'include("bench/run_benchmarks.jl"); main()'
env:
- PERF_GROUP: ${{ matrix... | That's a clever trick -- I hope it can work! |
Mooncake.jl | github_2023 | others | 33 | compintell | willtebbutt | @@ -6,12 +6,20 @@
# Project Goals
-The goal of the `Taped.jl` project is to produce a reverse-mode AD package, written entirely in Julia, which improves over both ReverseDiff.jl and Zygote.jl in several ways:
+The goal of the `Taped.jl` project is to produce a reverse-mode AD package, written entirely in Julia, wh... | I'm not in favour of this re-phrasing.
The reason that I only went with mutation is that mutation is missing in _both_ ReverseDiff and Zygote. This is not true of the other points -- the dynamic control flow point is only relevant to ReverseDiff, as is the compatibility with more array types point (Zygote is fine wi... |
aerugo | github_2023 | others | 89 | n7space | Glamhoth | @@ -0,0 +1,204 @@
+//! Floating Point Unit HAL driver implementation.
+
+use cortex_m::asm::{dsb, isb};
+use cortex_m::register::fpscr::{read as read_fpscr, write as write_fpscr};
+use samv71q21_pac::{FPU, SCB};
+
+use self::registers::{
+ FPU_FPCAR_ADDRESS_MASK, FPU_FPCAR_ADDRESS_OFFSET, FPU_FPCCR_ASPEN_MASK, FPU_F... | Missing something? |
aerugo | github_2023 | others | 86 | n7space | Glamhoth | @@ -45,19 +66,46 @@ use aerugo::{
},
},
interrupt,
- user_peripherals::{PIOD, PMC, UART4},
+ user_peripherals::{PIOD, PMC, SPI0, UART4},
},
logln,
time::RateExtU32,
Aerugo, EventId, EventStorage, InitApi, MessageQueueHandle, MessageQueueStorage,
Syst... | Put it in one `use` as done above with `aerugo` |
aerugo | github_2023 | others | 86 | n7space | Glamhoth | @@ -119,64 +166,196 @@ static EVENT_START_STORAGE: EventStorage = EventStorage::new();
static EVENT_STOP_STORAGE: EventStorage = EventStorage::new();
static EVENT_STATS_STORAGE: EventStorage = EventStorage::new();
+/// IMU will never be accessed from an interrupt, so it's safe to access from tasklets.
+/// This is ... | This should be in tasklet context |
aerugo | github_2023 | others | 86 | n7space | Glamhoth | @@ -119,64 +166,196 @@ static EVENT_START_STORAGE: EventStorage = EventStorage::new();
static EVENT_STOP_STORAGE: EventStorage = EventStorage::new();
static EVENT_STATS_STORAGE: EventStorage = EventStorage::new();
+/// IMU will never be accessed from an interrupt, so it's safe to access from tasklets.
+/// This is ... | This was split on purpose, imo more readable, I am not a fan of calling functions as arguments to other functions |
aerugo | github_2023 | others | 86 | n7space | Glamhoth | @@ -119,64 +166,196 @@ static EVENT_START_STORAGE: EventStorage = EventStorage::new();
static EVENT_STOP_STORAGE: EventStorage = EventStorage::new();
static EVENT_STATS_STORAGE: EventStorage = EventStorage::new();
+/// IMU will never be accessed from an interrupt, so it's safe to access from tasklets.
+/// This is ... | Same as with UART |
aerugo | github_2023 | others | 86 | n7space | Glamhoth | @@ -119,64 +166,196 @@ static EVENT_START_STORAGE: EventStorage = EventStorage::new();
static EVENT_STOP_STORAGE: EventStorage = EventStorage::new();
static EVENT_STATS_STORAGE: EventStorage = EventStorage::new();
+/// IMU will never be accessed from an interrupt, so it's safe to access from tasklets.
+/// This is ... | Should we continue if not alive? |
aerugo | github_2023 | others | 86 | n7space | Glamhoth | @@ -17,7 +17,7 @@ mod tasklet_status;
mod tasklet_storage;
mod tasklet_vtable;
-pub(crate) use self::tasklet_id::TaskletId;
+pub use self::tasklet_id::TaskletId; | move down |
aerugo | github_2023 | others | 85 | n7space | Glamhoth | @@ -0,0 +1,44 @@
+/// Macro creating an bitfield enum with methods for converting it from/to register value.
+macro_rules! register_enum { | Shouldn't this be `registry_enum`? This sound like you register enum somewhere |
aerugo | github_2023 | others | 81 | n7space | SteelPh0enix | @@ -0,0 +1,423 @@
+#![no_std]
+#![no_main]
+
+extern crate cortex_m;
+extern crate cortex_m_rt as rt;
+extern crate panic_rtt_target;
+
+pub mod command;
+pub mod events;
+pub mod task_get_execution_stats;
+pub mod task_set_accelerometer_scale;
+pub mod task_set_data_output_rate;
+pub mod task_set_gyroscope_scale;
+pub... | ```suggestion
/// program may panic.
``` |
aerugo | github_2023 | others | 81 | n7space | SteelPh0enix | @@ -0,0 +1,45 @@
+use aerugo::{logln, RuntimeApi};
+
+#[derive(Copy, Clone, Debug)]
+pub enum OutputDataRate {
+ Invalid, | that doesn't make sense, as "invalid" value is not a valid value :)
Potentially invalid value should be represented as Result, not actual enum value. |
aerugo | github_2023 | others | 81 | n7space | SteelPh0enix | @@ -0,0 +1,35 @@
+use aerugo::{logln, RuntimeApi};
+
+#[derive(Copy, Clone, Debug)]
+pub enum GyroscopeScale {
+ Invalid, | don't, see earlier comment |
aerugo | github_2023 | others | 81 | n7space | SteelPh0enix | @@ -0,0 +1,45 @@
+use aerugo::{logln, RuntimeApi};
+
+#[derive(Copy, Clone, Debug)]
+pub enum OutputDataRate {
+ Invalid,
+ Odr12,
+ Odr26,
+ Odr52,
+ Odr104,
+ Odr208,
+ Odr416,
+ Odr833,
+ Odr1666,
+ Odr3332,
+ Odr6664,
+}
+
+impl From<u8> for OutputDataRate { | use TryFrom instead, see earlier comment |
aerugo | github_2023 | others | 81 | n7space | SteelPh0enix | @@ -0,0 +1,35 @@
+use aerugo::{logln, RuntimeApi};
+
+#[derive(Copy, Clone, Debug)]
+pub enum GyroscopeScale {
+ Invalid,
+ Gs120,
+ Gs250,
+ Gs500,
+ Gs1000,
+ Gs2000,
+}
+
+impl From<u8> for GyroscopeScale { | use TryFrom instead, see earlier comment |
aerugo | github_2023 | others | 78 | n7space | Glamhoth | @@ -0,0 +1,510 @@
+//! Implementation of XDMAC's channel.
+
+use core::marker::PhantomData;
+
+use samv71q21_pac::{
+ xdmac::{xdmac_chid::XDMAC_CHID as ChannelRegisters, RegisterBlock},
+ XDMAC,
+};
+
+pub use super::channel_status::ChannelStatusReader;
+pub use super::events::ChannelEvents;
+use super::transfer:... | Move to the top maybe? |
aerugo | github_2023 | others | 78 | n7space | Glamhoth | @@ -0,0 +1,66 @@
+//! This module contains status reader implementation, a structure that allows you to read XDMAC's
+//! status register.
+//!
+//! This structure is a helper that's supposed to be given to XDMAC interrupt handler, or whatever
+//! piece of code you're using for checking the XDMAC status.
+
+use super:... | Move at the top? |
aerugo | github_2023 | others | 78 | n7space | Glamhoth | @@ -0,0 +1,503 @@
+//! Module with transfer-related items.
+
+use crate::utils::{BoundedU16, BoundedU32};
+use samv71q21_pac::xdmac::{
+ self,
+ xdmac_chid::cc::{
+ CSIZESELECT_A, DAMSELECT_A, DIFSELECT_A, DSYNCSELECT_A, DWIDTHSELECT_A, MBSIZESELECT_A,
+ SAMSELECT_A, SIFSELECT_A, SWREQSELECT_A, TYPE... | ```suggestion
/// Transfer's destination
destination: TransferLocation,
/// Amount of data units in the microblock.
///
/// Data unit size is configured in `data_width` field.
microblock_length: MicroblockLength,
/// Amount of microblocks in a transfer block.
block_length: BlockL... |
aerugo | github_2023 | others | 78 | n7space | Glamhoth | @@ -0,0 +1,503 @@
+//! Module with transfer-related items.
+
+use crate::utils::{BoundedU16, BoundedU32};
+use samv71q21_pac::xdmac::{
+ self,
+ xdmac_chid::cc::{
+ CSIZESELECT_A, DAMSELECT_A, DIFSELECT_A, DSYNCSELECT_A, DWIDTHSELECT_A, MBSIZESELECT_A,
+ SAMSELECT_A, SIFSELECT_A, SWREQSELECT_A, TYPE... | ```suggestion
pub address: *const (),
/// Bus interface that allows the access to the memory pointed by `address`.
/// For details, check [`xdmac`](crate::xdmac#matrix-connections) module documentation.
pub interface: SystemBus,
/// Addressing mode - can either be fixed (address does not change... |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -34,29 +37,39 @@ static AERUGO: Aerugo = Aerugo::new();
/// System scheduler.
///
-/// Singleton instance of the scheduler. Used directly only by the [Aerugo]
-/// structure, which exposes some functionality via it's API.
+/// Singleton instance of the scheduler. Used directly only by the [Aerugo] structure.
st... | ```suggestion
/// must not be interrupted.
```
"cannot" suggest that it's not possible to do so. "must not" suggest that the user mustn't even try to do it.
Unless I'm wrong of course :D |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -106,16 +121,49 @@ impl Aerugo {
/// its internal components and hardware.
fn run(&'static self) -> ! {
loop {
- EXECUTOR
+ let execution_data = EXECUTOR
.execute_next_tasklet()
.expect("Failure in tasklet execution");
+ if let S... | ```suggestion
/// must not be interrupted.
```
no critical section -> IRQ can happen |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -212,12 +260,16 @@ impl InitApi for Aerugo {
step_fn: StepFn<T, C>,
storage: &'static TaskletStorage<T, C, COND_COUNT>,
) {
- // SAFETY: This is safe, as long as this function is called only during system initialization.
- unsafe {
- storage
+ // SAFETY: This is... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -321,12 +373,16 @@ impl InitApi for Aerugo {
context: C,
storage: &'static TaskletStorage<T, C, COND_COUNT>,
) {
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
- storage
+ // SAFETY: This is safe as lon... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -403,12 +459,13 @@ impl InitApi for Aerugo {
&'static self,
storage: &'static MessageQueueStorage<T, QUEUE_SIZE>,
) {
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
+ // SAFETY: This is safe as long as this functi... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -481,24 +538,25 @@ impl InitApi for Aerugo {
/// }
/// ```
fn create_event(&'static self, event_id: EventId, storage: &'static EventStorage) {
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
+ // SAFETY: This is safe as lo... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -481,24 +538,25 @@ impl InitApi for Aerugo {
/// }
/// ```
fn create_event(&'static self, event_id: EventId, storage: &'static EventStorage) {
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
+ // SAFETY: This is safe as lo... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -571,12 +629,13 @@ impl InitApi for Aerugo {
value: bool,
storage: &'static BooleanConditionStorage,
) {
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
+ // SAFETY: This is safe as long as this function is called ... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -645,16 +704,17 @@ impl InitApi for Aerugo {
let tasklet = tasklet_handle.tasklet();
let queue = queue_handle.queue();
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
+ // SAFETY: This is safe as long as this function... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -727,31 +787,33 @@ impl InitApi for Aerugo {
) {
let tasklet = tasklet_handle.tasklet();
+ // SAFETY: This is safe as long as this function is called only during system initialization.
let event_set = unsafe {
EVENT_MANAGER
.create_event_set(tasklet.ptr()... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -810,16 +872,17 @@ impl InitApi for Aerugo {
let tasklet = tasklet_handle.tasklet();
let condition = condition_handle.condition();
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
+ // SAFETY: This is safe as long as t... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -874,16 +937,17 @@ impl InitApi for Aerugo {
) {
let tasklet = tasklet_handle.tasklet();
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
+ // SAFETY: This is safe as long as this function is called only during system init... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 77 | n7space | SteelPh0enix | @@ -945,16 +1009,29 @@ impl InitApi for Aerugo {
) {
let tasklet = tasklet_handle.tasklet();
- // SAFETY: This is safe as long as this function is called only during system initialization.
- unsafe {
+ // SAFETY: This is safe as long as this function is called only during system ini... | ```suggestion
```
that sounds weird, it can't be interrupted because it's in critical section - so it's always safe in that context. |
aerugo | github_2023 | others | 71 | n7space | Glamhoth | @@ -1,20 +1,30 @@
//! Module containing meta-traits and their implementations for HAL UART driver
-pub(super) use crate::pac::uart0::RegisterBlock;
+use crate::pac::uart0::RegisterBlock;
pub use crate::pac::{UART0, UART1, UART2, UART3, UART4};
/// Trait for PAC UART instances.
///
/// This trait erases the type ... | To change back as discussed |
aerugo | github_2023 | others | 71 | n7space | Glamhoth | @@ -0,0 +1,114 @@
+//! UART Reader implementation.
+//!
+//! Reader can be used to receive data via UART.
+
+use core::marker::PhantomData;
+
+use crate::utils::wait_until;
+
+use super::Error;
+use super::Status;
+use super::UARTMetadata;
+
+/// This structure can be used to receive data via UART.
+///
+/// Reader ins... | Shouldn't this maybe return `Option<u8>`? It looks like it's impossible to distinguish between `there is a byte, and the value is 0` and `there is no byte` |
aerugo | github_2023 | others | 71 | n7space | Glamhoth | @@ -0,0 +1,114 @@
+//! UART Reader implementation.
+//!
+//! Reader can be used to receive data via UART.
+
+use core::marker::PhantomData;
+
+use crate::utils::wait_until;
+
+use super::Error;
+use super::Status;
+use super::UARTMetadata;
+
+/// This structure can be used to receive data via UART.
+///
+/// Reader ins... | ```suggestion
/// Resets UART status by clearing status flags.
///
/// **This function should usually be called immediately after reading the status.**
``` |
aerugo | github_2023 | others | 71 | n7space | Glamhoth | @@ -0,0 +1,162 @@
+//! UART Writer implementation.
+//!
+//! Writer can be used to transmit data via UART.
+
+use core::marker::PhantomData;
+
+use crate::utils::wait_until;
+
+use super::Error;
+use super::Status;
+use super::UARTMetadata;
+
+/// This structure can be used to transmit data via UART.
+///
+/// Writer i... | ```suggestion
/// Transmits a single byte.
///
/// Waits for UART TX register to be empty.
``` |
aerugo | github_2023 | others | 69 | n7space | Glamhoth | @@ -0,0 +1,425 @@
+//! Module with structures and enumerations representing UART configuration.
+
+use samv71q21_pac::uart0::mr::{BRSRCCKSELECT_A, CHMODESELECT_A, FILTERSELECT_A, PARSELECT_A};
+
+use super::{Frequency, OVERSAMPLING_RATIO};
+
+/// Structure representing UART configuration.
+///
+/// Public members of th... | Is this neccessary as there are no public members? |
aerugo | github_2023 | others | 69 | n7space | Glamhoth | @@ -0,0 +1,425 @@
+//! Module with structures and enumerations representing UART configuration.
+
+use samv71q21_pac::uart0::mr::{BRSRCCKSELECT_A, CHMODESELECT_A, FILTERSELECT_A, PARSELECT_A};
+
+use super::{Frequency, OVERSAMPLING_RATIO};
+
+/// Structure representing UART configuration.
+///
+/// Public members of th... | Maybe impl `Into`/`From` instead? |
aerugo | github_2023 | others | 69 | n7space | Glamhoth | @@ -0,0 +1,106 @@
+#![no_std]
+#![no_main]
+
+extern crate cortex_m;
+extern crate cortex_m_rt as rt;
+extern crate panic_rtt_target;
+
+use aerugo::hal::drivers::pio::{pin::Peripheral, Port};
+use aerugo::hal::drivers::pmc::config::PeripheralId;
+use aerugo::hal::drivers::uart::{Bidirectional, Config, NotConfigured, R... | ```suggestion
let uart = &mut context.uart;
uart.transmit_byte(context.byte_to_transmit, 1_000_000)
.unwrap();
let received_byte = uart.receive_byte(1_000_000).unwrap();
logln!(
``` |
aerugo | github_2023 | others | 68 | n7space | SteelPh0enix | @@ -20,9 +20,25 @@ pub(crate) struct CyclicExecution {
impl CyclicExecution {
/// Creates new instance.
- pub(crate) fn new(tasklet: TaskletPtr, period: Option<Duration>) -> Self {
+ ///
+ /// # Parameters
+ /// * `tasklet` - Tasklet which should be executed cyclically.
+ /// * `period` - Period ... | ```suggestion
/// * `period` - Period of execution, `None` if should be awaken whenever possible.
``` |
aerugo | github_2023 | others | 68 | n7space | SteelPh0enix | @@ -20,9 +20,25 @@ pub(crate) struct CyclicExecution {
impl CyclicExecution {
/// Creates new instance.
- pub(crate) fn new(tasklet: TaskletPtr, period: Option<Duration>) -> Self {
+ ///
+ /// # Parameters
+ /// * `tasklet` - Tasklet which should be executed cyclically.
+ /// * `period` - Period ... | ```suggestion
``` |
aerugo | github_2023 | others | 68 | n7space | SteelPh0enix | @@ -44,6 +44,11 @@ impl CyclicExecutionManager {
/// * `tasklet`: Tasklet that will be executed
/// * `period`: Period for execution, `None` if tasklet shall be executed without waits
///
+ /// # Parameters
+ /// * `tasklet` - Tasklet which should be executed cyclically.
+ /// * `period` - Perio... | ```suggestion
/// * `period` - Period of execution, `None` if should be awaken whenever possible.
``` |
aerugo | github_2023 | others | 68 | n7space | SteelPh0enix | @@ -101,3 +101,5 @@ impl DataProvider<bool> for BooleanCondition {
false
}
}
+
+unsafe impl Sync for BooleanCondition {} | safety comment? |
aerugo | github_2023 | others | 68 | n7space | SteelPh0enix | @@ -79,3 +79,5 @@ impl PartialEq for Event {
self.id.eq(&other.id)
}
}
+
+unsafe impl Sync for Event {} | safety comment? |
aerugo | github_2023 | others | 68 | n7space | SteelPh0enix | @@ -120,3 +125,5 @@ mod tests {
assert_eq!(queue100u64_size, stub_size);
}
}
+
+unsafe impl<T, const N: usize> Sync for MessageQueue<T, N> {} | safety comment? |
aerugo | github_2023 | others | 68 | n7space | SteelPh0enix | @@ -0,0 +1,91 @@
+#![feature(prelude_import)] | wtf happened here |
aerugo | github_2023 | others | 67 | n7space | SteelPh0enix | @@ -20,12 +20,12 @@ fn dummy_task(_: (), context: &mut DummyTaskContext, api: &'static dyn RuntimeAp
context.acc = context.acc.wrapping_add(1);
if context.acc == 1 {
- let startup_time = api.get_startup_time();
- let startup_secs = startup_time.unwrap().to_secs();
- let startup_ms = sta... | `startup_time` -> `startup_duration`? |
aerugo | github_2023 | others | 67 | n7space | SteelPh0enix | @@ -21,6 +21,8 @@ use crate::time::{Duration, Instant};
/// Failing to adhere to this requirement will invalidate `Sync` trait implementation of this type,
/// unless it's explicitly guaranteed by design that mutations will not occur during interrupt's execution.
pub(crate) struct TimeSource {
+ /// Time system's... | that syntax is weird |
aerugo | github_2023 | others | 63 | n7space | Glamhoth | @@ -0,0 +1,100 @@
+#![no_std]
+#![no_main]
+
+extern crate aerugo;
+extern crate calldwell;
+extern crate cortex_m;
+extern crate cortex_m_rt as rt;
+
+use aerugo::hal::user_peripherals::{CPUID, SCB};
+use aerugo::{Aerugo, InitApi, SystemHardwareConfig};
+use calldwell::write_str;
+use rt::entry;
+
+// Align for dcache... | I think now we know why? |
aerugo | github_2023 | others | 63 | n7space | Glamhoth | @@ -0,0 +1,25 @@
+// Test scenario:
+// - Verify that icache can be disabled/enabled/cleared
+// - Verify that dcache can be disabled/enabled/cleared
+
+/// @SRS{ROS-FUN-BSP-SCB-020}
+/// @SRS{ROS-FUN-BSP-SCB-030} | It's not covered for now, right? |
aerugo | github_2023 | others | 60 | n7space | Glamhoth | @@ -0,0 +1,175 @@
+//! Module containing Parallel I/O (PIO) pin items for PIO-controlled I/O pin in output mode.
+
+use embedded_hal::digital::{OutputPin, PinState, StatefulOutputPin, ToggleableOutputPin};
+
+use super::{pin::OutputMode, Pin};
+
+/// Enumeration listing available pin driving modes.
+#[derive(Debug, Cop... | maybe base `impl` shoud be be before trait `impl`s? (readabilty) |
aerugo | github_2023 | others | 60 | n7space | Glamhoth | @@ -0,0 +1,234 @@
+#![no_std]
+#![no_main]
+
+extern crate aerugo;
+extern crate calldwell;
+extern crate cortex_m;
+extern crate cortex_m_rt as rt;
+
+use aerugo::{
+ hal::drivers::{
+ embedded_hal::digital::{OutputPin, StatefulOutputPin},
+ pio::{
+ pin::{DriveMode, OutputMode, PinMode, Pi... | Those could be replaced with
`assert!(cond, "message")` |
aerugo | github_2023 | others | 59 | n7space | SteelPh0enix | @@ -32,14 +31,16 @@ impl AerugoHal for Hal {
}
fn get_system_time() -> Instant {
- Instant::from_ticks(
+ let duration = Duration::nanos(
TIME_START
.elapsed()
.expect("{}")
.as_nanos()
.try_into()
... | why like that, readability, or is there some difference in code underneath? |
aerugo | github_2023 | others | 59 | n7space | SteelPh0enix | @@ -5,25 +5,48 @@
use crate::aerugo::Aerugo;
use crate::data_provider::DataProvider;
use crate::tasklet::TaskletPtr;
-use crate::time::MillisDurationU32;
+use crate::time::{Duration, Instant};
+use crate::Mutex;
/// Cyclic execution information.
pub(crate) struct CyclicExecution {
+ /// Next execution time.
+... | ```suggestion
/// Wakes that stored tasklet if the time for it's execution has come.
```
"if the time has come" sounds pretty ominous |
aerugo | github_2023 | others | 59 | n7space | SteelPh0enix | @@ -5,25 +5,48 @@
use crate::aerugo::Aerugo;
use crate::data_provider::DataProvider;
use crate::tasklet::TaskletPtr;
-use crate::time::MillisDurationU32;
+use crate::time::{Duration, Instant};
+use crate::Mutex;
/// Cyclic execution information.
pub(crate) struct CyclicExecution {
+ /// Next execution time.
+... | maybe `wake_if_should_execute`? |
aerugo | github_2023 | others | 49 | n7space | Glamhoth | @@ -23,6 +22,8 @@ use samv71_hal::watchdog::{Watchdog, WatchdogConfig};
/// Safety of this cell is managed by HAL instead, guaranteeing that undefined behavior will not occur.
static mut HAL_SYSTEM_PERIPHERALS: Option<SystemPeripherals> = None;
+/// Global "restore state" that's used to manage | Comment to nothing? |
aerugo | github_2023 | others | 49 | n7space | Glamhoth | @@ -11,10 +11,10 @@ pub use self::boolean_condition_storage::BooleanConditionStorage;
use crate::aerugo::{Aerugo, AERUGO};
use crate::api::{InitError, SystemApi};
-use crate::arch::Mutex;
use crate::data_provider::DataProvider;
use crate::internal_list::InternalList;
use crate::tasklet::TaskletPtr;
+use crate::M... | ```suggestion
use crate::mutex::Mutex;
``` |
aerugo | github_2023 | others | 49 | n7space | Glamhoth | @@ -9,8 +9,8 @@ use heapless::binary_heap::{BinaryHeap, Max};
use crate::aerugo::{Aerugo, AERUGO};
use crate::api::{RuntimeApi, RuntimeError, SystemApi};
-use crate::arch::Mutex;
use crate::tasklet::{TaskletPtr, TaskletStatus};
+use crate::Mutex; | ```suggestion
use crate::mutex::Mutex;
``` |
aerugo | github_2023 | others | 49 | n7space | Glamhoth | @@ -10,8 +10,8 @@ use core::cell::OnceCell;
use heapless::Vec;
use crate::api::InitError;
-use crate::arch::Mutex;
use crate::message_queue::MessageQueueHandle;
+use crate::Mutex; | ```suggestion
use crate::mutex::Mutex;
``` |
aerugo | github_2023 | others | 49 | n7space | Glamhoth | @@ -28,10 +28,10 @@ use core::cell::{OnceCell, UnsafeCell};
use crate::aerugo::AERUGO;
use crate::api::{InitError, RuntimeApi};
-use crate::arch::Mutex;
use crate::boolean_condition::BooleanConditionSet;
use crate::data_provider::DataProvider;
use crate::Instant;
+use crate::Mutex; | ```suggestion
use crate::mutex::Mutex;
``` |
aerugo | github_2023 | others | 52 | n7space | SteelPh0enix | @@ -44,7 +44,7 @@ static EVENT_MANAGER: EventManager = EventManager::new();
///
/// Singleton instance of the time manager. Used directly only by the [Aerugo]
/// structure.
-static TIME_MANAGER: TimeManager = TimeManager::new();
+static TIME_MANAGER: CyclicExecutionManager = CyclicExecutionManager::new(); | why did `TIME_MANAGER` stay the same? |
aerugo | github_2023 | others | 47 | n7space | Glamhoth | @@ -44,26 +45,27 @@ keywords = ["rtos", "space"]
categories = ["aerospace", "embedded", "hardware-support", "no-std"]
[dependencies]
-heapless = "0.7"
-bare-metal = "0.2.4"
-aerugo-hal = { version = "0.1.0", path = "aerugo-hal" }
aerugo-cortex-m = { version = "0.1.0", path = "arch/cortex-m/aerugo-cortex-m", option... | Some sorting by 'category'? |
aerugo | github_2023 | others | 46 | n7space | Glamhoth | @@ -699,12 +711,31 @@ impl RuntimeApi for Aerugo {
EVENT_MANAGER.clear()
}
- fn get_system_time(&'static self) -> crate::time::TimerInstantU64<1_000_000> {
- Hal::get_system_time()
+ fn get_system_time(&'static self) -> Instant {
+ if let Some(system_time) = self.time_source.time_sin... | imo `match` would be more readable here |
aerugo | github_2023 | others | 46 | n7space | Glamhoth | @@ -0,0 +1,89 @@
+//! Module containing Aerugo's time source module, providing configurable timestamps for the system
+//! Should be used internally by the system.
+
+use aerugo_hal::system_hal::SystemHal;
+
+use crate::hal::Hal;
+use crate::internal_cell::InternalCell;
+use crate::{Duration, Instant};
+
+/// Time sour... | imo `match` would be more readable here |
aerugo | github_2023 | others | 46 | n7space | Glamhoth | @@ -0,0 +1,89 @@
+//! Module containing Aerugo's time source module, providing configurable timestamps for the system
+//! Should be used internally by the system.
+
+use aerugo_hal::system_hal::SystemHal;
+
+use crate::hal::Hal;
+use crate::internal_cell::InternalCell;
+use crate::{Duration, Instant};
+
+/// Time sour... | imo `match` would be more readable here |
aerugo | github_2023 | others | 45 | n7space | SteelPh0enix | @@ -63,63 +21,44 @@ type EventStateList = Vec<EventState, { EventManager::EVENT_COUNT }>;
pub(crate) struct EventSet {
/// Tasklet assigned to this set.
tasklet: TaskletPtr,
- /// List of event states.
- event_states: Mutex<EventStateList>,
+ /// Event queue.
+ event_queue: Mutex<EventQueue>,
}
... | ```suggestion
/// `true` if successfully activated event, `false` if event was already on the event queue and is waiting for trigger, `RuntimeError` otherwise.
``` |
aerugo | github_2023 | others | 45 | n7space | SteelPh0enix | @@ -131,24 +70,48 @@ impl EventSet {
/// `()` if successful, `RuntimeError` otherwise.
#[allow(dead_code)]
pub(crate) fn deactivate_event(&self, event_id: EventId) -> Result<(), RuntimeError> {
- self.event_states.lock(|event_states| {
- match event_states
- .iter_mut()
-... | that whole lock looks like a giant https://doc.rust-lang.org/core/iter/trait.Iterator.html#method.filter
you have iterators here, so you should be able to use it to one-line this whole function |
aerugo | github_2023 | others | 44 | n7space | Glamhoth | @@ -44,4 +44,5 @@ pub(crate) use aerugo_x86 as arch;
#[cfg(feature = "use-aerugo-x86")]
pub use x86_hal as hal;
-pub use arch::log;
+#[cfg(feature = "log")]
+pub use arch::{log, logln}; | There should probably be a stub-empty implementation if the feature is disabled for the case we would have any `log!` in the rtos code |
aerugo | github_2023 | others | 44 | n7space | Glamhoth | @@ -2,15 +2,16 @@
set -euo pipefail
-if [ $# -eq 0 ]
-then
+if [ $# -eq 0 ]; then
for d in examples/*/; do
- pushd $d > /dev/null
+ pushd $d >/dev/null
+ echo "Building $d"
cargo build
- popd > /dev/null
+ popd >/dev/null
done
else
- pushd examples/$1/ > /d... | Some spaces are removed |
aerugo | github_2023 | others | 43 | n7space | Glamhoth | @@ -1,3 +1,10 @@
#!/bin/sh | ```suggestion
#!/bin/bash
set -euo pipefail
``` |
aerugo | github_2023 | others | 43 | n7space | Glamhoth | @@ -1,3 +1,5 @@
#!/bin/sh | ```suggestion
#!/bin/bash
set -euo pipefail
``` |
aerugo | github_2023 | others | 43 | n7space | Glamhoth | @@ -0,0 +1,10 @@
+export CALLDWELL_BOARD_LOGIN=$AERUGO_BOARD_LOGIN | ```suggestion
#!/bin/bash
set -euo pipefail
export CALLDWELL_BOARD_LOGIN=$AERUGO_BOARD_LOGIN
``` |
aerugo | github_2023 | others | 41 | n7space | Glamhoth | @@ -197,7 +197,13 @@ impl SystemHal for Hal {
peripherals.timer.trigger_all_channels();
Ok(())
- })
+ });
+
+ if config.disable_interrupts_during_setup { | What about disabling the interrupts before initializing HAL? This would simplify this a bit |
aerugo | github_2023 | others | 41 | n7space | Glamhoth | @@ -244,10 +250,15 @@ impl SystemHal for Hal {
peripherals.watchdog.feed();
}
+ /// Enters critical section by disabling global interrupts.
fn enter_critical() {
cortex_m::interrupt::disable();
}
+ /// Exits critical section by enabling global interrupts.
+ ///
+ /// # S... | Maybe use this new `warning` tag that is now available in the Rust doc? |
aerugo | github_2023 | others | 41 | n7space | Glamhoth | @@ -244,10 +250,15 @@ impl SystemHal for Hal {
peripherals.watchdog.feed();
}
+ /// Enters critical section by disabling global interrupts.
fn enter_critical() {
cortex_m::interrupt::disable();
}
+ /// Exits critical section by enabling global interrupts.
+ ///
+ /// # S... | ```suggestion
/// <div class="warning">This function should never be called from scope-bound critical sections (like the one created with <code>SystemHal::execute_critical</code>)</div>
``` |
aerugo | github_2023 | others | 39 | n7space | Glamhoth | @@ -22,19 +22,23 @@ pub trait SystemHal {
/// Type for system HAL error.
type Error;
+ /// Creates global HAL instance. Since there can only be a single instance of HAL, this function
+ /// should initialize it's global state and prepare the environment for hardware configuration.
+ fn create() -> ... | Maybe `initialize` then, if this initializes and not creates/returns anything? |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.