ringbuffer实现自旋锁（H7下）消息中心增加安全版本

RBcore/include/msg_center.h

@@ -109,6 +109,16 @@ int MsgCenter_Send(const Msg_t *pstMsg);
  */
 int MsgCenter_SendTo(const char *pszDstName, uint32_t uiMsgID, const void *pData, uint32_t uiDataLen);
 
+/**
+ * @brief 发送消息给指定模块（ISR安全版本，无mutex，关中断+自旋锁保护）
+ * @param pszDstName 目标模块名称
+ * @param uiMsgID 消息ID
+ * @param pData 数据指针（可为NULL）
+ * @param uiDataLen 数据长度
+ * @return 0成功，非0失败
+ */
+int MsgCenter_SendFromISR(const char *pszDstName, uint32_t uiMsgID, const void *pData, uint32_t uiDataLen);
+
 /**
  * @brief 处理当前模块的消息（在模块线程中调用）
  * @param uiModuleID 模块ID

RBcore/msg_center.c

@@ -45,7 +45,6 @@
 typedef struct {
     MsgModule_t     stModule;
     rd_ringbuf_t    *pstRingBuf;    // 消息队列（ringbuffer）
-    rd_mutex_t      stMutex;        // 互斥锁（保护ringbuffer）
     rd_sem_t        stSem;          // 信号量（阻塞等待）
 } MsgModuleEntry_t;
 
@@ -129,17 +128,9 @@ uint32_t MsgCenter_Register(const char *pszName, MsgHandler_t pfHandler)
         return 0;
     }
 
-    // 初始化互斥锁
-    if (Rd_MutexInit(&g_astModules[uiIndex].stMutex) != RD_SUCCESS)
-    {
-        rd_RingbufferDestroy(g_astModules[uiIndex].pstRingBuf);
-        return 0;
-    }
-
     // 初始化信号量（初始值为0，表示无消息）
     if (Rd_SemInit(&g_astModules[uiIndex].stSem, 0, 0) != RD_SUCCESS)
     {
-        Rd_MutexDestroy(&g_astModules[uiIndex].stMutex);
         rd_RingbufferDestroy(g_astModules[uiIndex].pstRingBuf);
         return 0;
     }
@@ -194,15 +185,10 @@ int MsgCenter_Send(const Msg_t *pstMsg)
         return RD_FAILURE;
     }
 
-    // 加锁保护ringbuffer
-    Rd_MutexLock(&g_astModules[iDstIndex].stMutex, __func__, NULL);
-
-    // 写入ringbuffer
-    int iRet = rd_RingbufferPut(g_astModules[iDstIndex].pstRingBuf, 
+    // MPSC安全写入（ringbuffer内部关中断+自旋锁）
+    int iRet = rd_RingbufferPutSafe(g_astModules[iDstIndex].pstRingBuf, 
                                      (const char *)pstMsg, sizeof(Msg_t));
 
-    Rd_MutexUnlock(&g_astModules[iDstIndex].stMutex, __func__, NULL);
-
     if (iRet > 0)
     {
         // 发送信号量，通知有新消息
@@ -256,6 +242,53 @@ int MsgCenter_SendTo(const char *pszDstName, uint32_t uiMsgID, const void *pData
     return MsgCenter_Send(&stMsg);
 }
 
+int MsgCenter_SendFromISR(const char *pszDstName, uint32_t uiMsgID, const void *pData, uint32_t uiDataLen)
+{
+    if (NULL == pszDstName)
+    {
+        return RD_NULL;
+    }
+
+    uint32_t uiDstModuleID = MsgCenter_FindModule(pszDstName);
+    if (0 == uiDstModuleID)
+    {
+        return RD_FAILURE;
+    }
+
+    int iDstIndex = FIND_MODULE_INDEX(uiDstModuleID);
+    if (iDstIndex < 0 || NULL == g_astModules[iDstIndex].pstRingBuf)
+    {
+        return RD_FAILURE;
+    }
+
+    Msg_t stMsg;
+    RD_MEMSET(&stMsg, 0, sizeof(Msg_t));
+    stMsg.m_uiDstModule = uiDstModuleID;
+    stMsg.m_uiMsgID = uiMsgID;
+
+    if (NULL != pData && uiDataLen > 0)
+    {
+        if (uiDataLen > MSG_CENTER_MAX_DATA_SIZE)
+        {
+            uiDataLen = MSG_CENTER_MAX_DATA_SIZE;
+        }
+        RD_MEMCPY(stMsg.m_aucData, pData, uiDataLen);
+        stMsg.m_uiDataLen = uiDataLen;
+    }
+
+    // MPSC安全写入（ringbuffer内部关中断+自旋锁）
+    int iRet = rd_RingbufferPutSafe(g_astModules[iDstIndex].pstRingBuf,
+                                     (const char *)&stMsg, sizeof(Msg_t));
+    if (iRet > 0)
+    {
+        // 信号量在CMSIS-RTOS2中自动识别ISR上下文
+        Rd_SemPost(&g_astModules[iDstIndex].stSem, __func__, NULL);
+        return RD_SUCCESS;
+    }
+
+    return RD_FAILURE;
+}
+
 /*****************************************************************************
  函 数 名  : MsgCenter_ProcessOne
  功能描述  : 从ringbuffer读取一条消息
@@ -266,14 +299,9 @@ int MsgCenter_SendTo(const char *pszDstName, uint32_t uiMsgID, const void *pData
 *****************************************************************************/
 static int MsgCenter_ProcessOne(int iIndex, Msg_t *pstMsg)
 {
-    // 加锁保护ringbuffer
-    Rd_MutexLock(&g_astModules[iIndex].stMutex, __func__, NULL);
-
     int iRet = rd_RingbufferGet(g_astModules[iIndex].pstRingBuf, 
                                  (char *)pstMsg, sizeof(Msg_t));
 
-    Rd_MutexUnlock(&g_astModules[iIndex].stMutex, __func__, NULL);
-
     return (iRet > 0) ? 1 : 0;
 }
 

library/common/include/common.h

@@ -41,6 +41,22 @@
     #define ATOMIC_ORDER_RELEASE 0
 #endif
 
+/* 中断控制（CMSIS 标准接口，ISR 安全） */
+#if defined(__arm__) || defined(__aarch64__)
+    #include "../../../Drivers/CMSIS/Include/cmsis_compiler.h"
+    static inline uint32_t rd_irq_save(void) {
+        uint32_t primask = __get_PRIMASK();
+        __disable_irq();
+        return primask;
+    }
+    static inline void rd_irq_restore(uint32_t primask) {
+        __set_PRIMASK(primask);
+    }
+#else
+    static inline uint32_t rd_irq_save(void) { return 0; }
+    static inline void rd_irq_restore(uint32_t primask) { (void)primask; }
+#endif
+
 /* 跨平台弱符号宏定义 */
 #if defined(_MSC_VER) || defined(WIN32)
     /* Microsoft Visual C++ */

library/ringbuffer/include/ringbuffer.h

@@ -74,6 +74,7 @@ struct TRingBuffer
     unsigned short m_sReadIndex;
     unsigned char m_bWriteMirror;
     unsigned short m_sWriteIndex;
+    unsigned char m_bWriteLock;     /* 写入自旋锁（关中断+原子CAS，ISR安全） */
     int m_iBufsize;
     char *m_pcBufPtr;
 };
@@ -120,6 +121,7 @@ extern void rd_RingbufferInit(rd_ringbuf_t *rb, char *pool, int size);
 extern int rd_RingbufferPeak(rd_ringbuf_t *rb, char **ptr);
 extern int rd_RingbufferPeekLinear(rd_ringbuf_t *rb, char *out, int length);
 extern int rd_RingbufferPut(rd_ringbuf_t *rb, const char *ptr, int length);
+extern int rd_RingbufferPutSafe(rd_ringbuf_t *rb, const char *ptr, int length);
 extern int rd_RingbufferPutchar(rd_ringbuf_t *rb, const char ch);
 extern int rd_RingbufferPutcharForce(rd_ringbuf_t *rb, const char ch);
 extern int rd_RingbufferPutForce(rd_ringbuf_t *rb, const char *ptr, int length);

library/ringbuffer/ringbuffer.c

@@ -69,6 +69,7 @@ void rd_RingbufferInit(rd_ringbuf_t *rb, char *pool, int size)
     ATOMIC_STORE(&rb->m_sWriteIndex, 0, unsigned short, ATOMIC_ORDER_RELAXED);
     ATOMIC_STORE(&rb->m_bReadMirror,  0, unsigned char, ATOMIC_ORDER_RELAXED);
     ATOMIC_STORE(&rb->m_bWriteMirror, 0, unsigned char, ATOMIC_ORDER_RELAXED);
+    ATOMIC_STORE(&rb->m_bWriteLock,   0, unsigned char, ATOMIC_ORDER_RELAXED);
 
     rb->m_pcBufPtr = pool;
     rb->m_iBufsize = RD_ALIGN_DOWN(size, RD_ALIGN_SIZE);
@@ -155,6 +156,30 @@ int rd_RingbufferPut(rd_ringbuf_t *rb, const char *ptr, int length)
     return length;
 }
 
+/**
+ * @brief MPSC-safe Put: 关中断+原子自旋锁保护写入，可安全用于 ISR 和多线程并发写入。
+ */
+int rd_RingbufferPutSafe(rd_ringbuf_t *rb, const char *ptr, int length)
+{
+    if (!rb || !ptr || length <= 0) return RD_INVALUE;
+
+    /* 关中断（若已在 ISR 中则 primask=1，末尾不恢复开中断） */
+    uint32_t primask = rd_irq_save();
+
+    /* 原子自旋锁 */
+    while (ATOMIC_EXCH(&rb->m_bWriteLock, 1, unsigned char, ATOMIC_ORDER_ACQUIRE))
+    {
+        /* 等待锁释放 */
+    }
+
+    int iRet = rd_RingbufferPut(rb, ptr, length);
+
+    ATOMIC_STORE(&rb->m_bWriteLock, 0, unsigned char, ATOMIC_ORDER_RELEASE);
+    rd_irq_restore(primask);
+
+    return iRet;
+}
+
 /**
  * @brief Put a block of data into the ring buffer. If the capacity of ring buffer is insufficient, it will overwrite the existing data in the ring buffer.
  *
@@ -424,6 +449,7 @@ void rd_RingbufferReset(rd_ringbuf_t *rb)
     ATOMIC_STORE(&rb->m_sWriteIndex, 0, unsigned short, ATOMIC_ORDER_RELAXED);
     ATOMIC_STORE(&rb->m_bReadMirror, 0, unsigned char, ATOMIC_ORDER_RELAXED);
     ATOMIC_STORE(&rb->m_bWriteMirror, 0, unsigned char, ATOMIC_ORDER_RELAXED);
+    ATOMIC_STORE(&rb->m_bWriteLock, 0, unsigned char, ATOMIC_ORDER_RELAXED);
 }
 
 /**