Split recursive mutex into their own functions (was Reduce performance hit of recursive mutex) (#495)

mutex_t and mutex_ are reverted to non recursive versions (pre SDK1.2.0) and new recursive_mutex_t and recursive_mutex_ functions have been added

PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY flag has been added to allow old SDK1.2.0 compatibility (i.e. mutex_t can be used recursively or not) but this is slower (and is will be removed in a future version)

src/common/pico_sync/include/pico/lock_core.h

@@ -93,6 +93,13 @@ void lock_init(lock_core_t *core, uint lock_num);
  * By default this returns the calling core number, but may be overridden (e.g. to return an RTOS task id)
  */
 #define lock_get_caller_owner_id() ((lock_owner_id_t)get_core_num())
+#ifndef lock_is_owner_id_valid
+#define lock_is_owner_id_valid(id) ((id)>=0)
+#endif
+#endif
+
+#ifndef lock_is_owner_id_valid
+#define lock_is_owner_id_valid(id) ((id) != LOCK_INVALID_OWNER_ID)
 #endif
 
 #ifndef lock_internal_spin_unlock_with_wait

src/common/pico_sync/include/pico/mutex.h

@@ -19,25 +19,51 @@ extern "C" {
  * \brief Mutex API for non IRQ mutual exclusion between cores
  *
  * Mutexes are application level locks usually used protecting data structures that might be used by
- * multiple cores. Unlike critical sections, the mutex protected code is not necessarily
+ * multiple threads of execution. Unlike critical sections, the mutex protected code is not necessarily
- * required/expected to complete quickly, as no other sytemwide locks are held on account of a locked mutex.
+ * required/expected to complete quickly, as no other sytem wide locks are held on account of an acquired mutex.
  *
- * Because they are not re-entrant on the same core, blocking on a mutex should never be done in an IRQ
+ * When acquired, the mutex has an owner (see \ref lock_get_caller_owner_id) which with the plain SDK is just
- * handler. It is valid to call \ref mutex_try_enter from within an IRQ handler, if the operation
+ * the acquiring core, but in an RTOS it could be a task, or an IRQ handler context.
- * that would be conducted under lock can be skipped if the mutex is locked (at least by the same core).
+ *
+ * Two variants of mutex are provided; \ref mutex_t (and associated mutex_ functions) is a regular mutex that cannot
+ * be acquired recursively by the same owner (a deadlock will occur if you try). \ref recursive_mutex_t
+ * (and associated recursive_mutex_ functions) is a recursive mutex that can be recursively obtained by
+ * the same caller, at the expense of some more overhead when acquiring and releasing.
+ *
+ * It is generally a bad idea to call blocking mutex_ or recursive_mutex_ functions from within an IRQ handler.
+ * It is valid to call \ref mutex_try_enter or \ref recursive_mutex_try_enter from within an IRQ handler, if the operation
+ * that would be conducted under lock can be skipped if the mutex is locked (at least by the same owner).
+ *
+ * NOTE: For backwards compatibility with version 1.2.0 of the SDK, if the define
+ * PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY is set to 1, then the the regular mutex_ functions
+ * may also be used for recursive mutexes. This flag will be removed in a future version of the SDK.
  *
  * See \ref critical_section.h for protecting access between multiple cores AND IRQ handlers
  */
+
+/*! \brief recursive mutex instance
+ * \ingroup mutex
+ */
+typedef struct __packed_aligned  {
+    lock_core_t core;
+    lock_owner_id_t owner;      //! owner id LOCK_INVALID_OWNER_ID for unowned
+    uint8_t enter_count;        //! ownership count
+#if PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY
+    bool recursive;
+#endif
+} recursive_mutex_t;
+
+/*! \brief regular (non recursive) mutex instance
+ * \ingroup mutex
+ */
+#if !PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY
 typedef struct __packed_aligned mutex {
     lock_core_t core;
     lock_owner_id_t owner;      //! owner id LOCK_INVALID_OWNER_ID for unowned
-    uint8_t recursion_state;    //! 0 means non recursive (owner or unowned)
-                                //! 1 is a maxed out recursive lock
-                                //! 2-254 is an owned lock
-                                //! 255 is an un-owned lock
 } mutex_t;
-
+#else
-#define MAX_RECURSION_STATE ((uint8_t)255)
+typedef recursive_mutex_t mutex_t; // they are one and the same when backwards compatible with SDK1.2.0
+#endif
 
 /*! \brief  Initialise a mutex structure
  *  \ingroup mutex
@@ -51,74 +77,140 @@ void mutex_init(mutex_t *mtx);
  *
  * A recursive mutex may be entered in a nested fashion by the same owner
  *
- * \param mtx Pointer to mutex structure
+ * \param mtx Pointer to recursive mutex structure
  */
-void recursive_mutex_init(mutex_t *mtx);
+void recursive_mutex_init(recursive_mutex_t *mtx);
 
 /*! \brief  Take ownership of a mutex
  *  \ingroup mutex
  *
- * This function will block until the calling core can claim ownership of the mutex.
+ * This function will block until the caller can be granted ownership of the mutex.
- * On return the caller core owns the mutex
+ * On return the caller owns the mutex
  *
  * \param mtx Pointer to mutex structure
  */
 void mutex_enter_blocking(mutex_t *mtx);
 
+/*! \brief  Take ownership of a recursive mutex
+ *  \ingroup mutex
+ *
+ * This function will block until the caller can be granted ownership of the mutex.
+ * On return the caller owns the mutex
+ *
+ * \param mtx Pointer to recursive mutex structure
+ */
+void recursive_mutex_enter_blocking(recursive_mutex_t *mtx);
+
 /*! \brief Attempt to take ownership of a mutex
  *  \ingroup mutex
  *
- * If the mutex wasn't owned, this will claim the mutex and return true.
+ * If the mutex wasn't owned, this will claim the mutex for the caller and return true.
  * Otherwise (if the mutex was already owned) this will return false and the
- * calling core will *NOT* own the mutex.
+ * caller will *NOT* own the mutex.
  *
  * \param mtx Pointer to mutex structure
- * \param owner_out If mutex was already owned, and this pointer is non-zero, it will be filled in with the core number of the current owner of the mutex
+ * \param owner_out If mutex was already owned, and this pointer is non-zero, it will be filled in with the owner id of the current owner of the mutex
+ * \return true if mutex now owned, false otherwise
  */
 bool mutex_try_enter(mutex_t *mtx, uint32_t *owner_out);
 
-/*! \brief Wait for mutex with timeout
+/*! \brief Attempt to take ownership of a recursive mutex
  *  \ingroup mutex
  *
- * Wait for up to the specific time to take ownership of the mutex. If the calling
+ * If the mutex wasn't owned or was owned by the caller, this will claim the mutex and return true.
- * core can take ownership of the mutex before the timeout expires, then true will be returned
+ * Otherwise (if the mutex was already owned by another owner) this will return false and the
- * and the calling core will own the mutex, otherwise false will be returned and the calling
+ * caller will *NOT* own the mutex.
- * core will *NOT* own the mutex.
  *
- * \param mtx Pointer to mutex structure
+ * \param mtx Pointer to recursive mutex structure
- * \param timeout_ms The timeout in milliseconds.
+ * \param owner_out If mutex was already owned by another owner, and this pointer is non-zero,
- * \return true if mutex now owned, false if timeout occurred before mutex became available
+ *                  it will be filled in with the owner id of the current owner of the mutex
+ * \return true if the recursive mutex (now) owned, false otherwise
  */
-bool mutex_enter_timeout_ms(mutex_t *mtx, uint32_t timeout_ms);
+bool recursive_mutex_try_enter(recursive_mutex_t *mtx, uint32_t *owner_out);
 
 /*! \brief Wait for mutex with timeout
  *  \ingroup mutex
  *
- * Wait for up to the specific time to take ownership of the mutex. If the calling
+ * Wait for up to the specific time to take ownership of the mutex. If the caller
- * core can take ownership of the mutex before the timeout expires, then true will be returned
+ * can be granted ownership of the mutex before the timeout expires, then true will be returned
- * and the calling core will own the mutex, otherwise false will be returned and the calling
+ * and the caller will own the mutex, otherwise false will be returned and the caller will *NOT* own the mutex.
- * core will *NOT* own the mutex.
+ *
+ * \param mtx Pointer to mutex structure
+ * \param timeout_ms The timeout in milliseconds.
+ * \return true if mutex now owned, false if timeout occurred before ownership could be granted
+ */
+bool mutex_enter_timeout_ms(mutex_t *mtx, uint32_t timeout_ms);
+
+/*! \brief Wait for recursive mutex with timeout
+ *  \ingroup mutex
+ *
+ * Wait for up to the specific time to take ownership of the recursive mutex. If the caller
+ * already has ownership of the mutex or can be granted ownership of the mutex before the timeout expires,
+ * then true will be returned and the caller will own the mutex, otherwise false will be returned and the caller
+ * will *NOT* own the mutex.
+ *
+ * \param mtx Pointer to recursive mutex structure
+ * \param timeout_ms The timeout in milliseconds.
+ * \return true if the recursive mutex (now) owned, false if timeout occurred before ownership could be granted
+ */
+bool recursive_mutex_enter_timeout_ms(recursive_mutex_t *mtx, uint32_t timeout_ms);
+
+/*! \brief Wait for mutex with timeout
+ *  \ingroup mutex
+ *
+ * Wait for up to the specific time to take ownership of the mutex. If the caller
+ * can be granted ownership of the mutex before the timeout expires, then true will be returned
+ * and the caller will own the mutex, otherwise false will be returned and the caller
+ * will *NOT* own the mutex.
  *
  * \param mtx Pointer to mutex structure
  * \param timeout_us The timeout in microseconds.
- * \return true if mutex now owned, false if timeout occurred before mutex became available
+ * \return true if mutex now owned, false if timeout occurred before ownership could be granted
  */
 bool mutex_enter_timeout_us(mutex_t *mtx, uint32_t timeout_us);
 
+/*! \brief Wait for recursive mutex with timeout
+ *  \ingroup mutex
+ *
+ * Wait for up to the specific time to take ownership of the recursive mutex. If the caller
+ * already has ownership of the mutex or can be granted ownership of the mutex before the timeout expires,
+ * then true will be returned and the caller will own the mutex, otherwise false will be returned and the caller
+ * will *NOT* own the mutex.
+ *
+ * \param mtx Pointer to mutex structure
+ * \param timeout_us The timeout in microseconds.
+ * \return true if the recursive mutex (now) owned, false if timeout occurred before ownership could be granted
+ */
+bool recursive_mutex_enter_timeout_us(recursive_mutex_t *mtx, uint32_t timeout_us);
+
 /*! \brief Wait for mutex until a specific time
  *  \ingroup mutex
  *
- * Wait until the specific time to take ownership of the mutex. If the calling
+ * Wait until the specific time to take ownership of the mutex. If the caller
- * core can take ownership of the mutex before the timeout expires, then true will be returned
+ * can be granted ownership of the mutex before the timeout expires, then true will be returned
- * and the calling core will own the mutex, otherwise false will be returned and the calling
+ * and the caller will own the mutex, otherwise false will be returned and the caller
- * core will *NOT* own the mutex.
+ * will *NOT* own the mutex.
  *
  * \param mtx Pointer to mutex structure
- * \param until The time after which to return if the core cannot take ownership of the mutex
+ * \param until The time after which to return if the caller cannot be granted ownership of the mutex
- * \return true if mutex now owned, false if timeout occurred before mutex became available
+ * \return true if mutex now owned, false if timeout occurred before ownership could be granted
  */
 bool mutex_enter_block_until(mutex_t *mtx, absolute_time_t until);
 
+/*! \brief Wait for mutex until a specific time
+ *  \ingroup mutex
+ *
+ * Wait until the specific time to take ownership of the mutex. If the caller
+ * already has ownership of the mutex or can be granted ownership of the mutex before the timeout expires,
+ * then true will be returned and the caller will own the mutex, otherwise false will be returned and the caller
+ * will *NOT* own the mutex.
+ *
+ * \param mtx Pointer to recursive mutex structure
+ * \param until The time after which to return if the caller cannot be granted ownership of the mutex
+ * \return true if the recursive mutex (now) owned, false if timeout occurred before ownership could be granted
+ */
+bool recursive_mutex_enter_block_until(recursive_mutex_t *mtx, absolute_time_t until);
+
 /*! \brief  Release ownership of a mutex
  *  \ingroup mutex
  *
@@ -126,13 +218,30 @@ bool mutex_enter_block_until(mutex_t *mtx, absolute_time_t until);
  */
 void mutex_exit(mutex_t *mtx);
 
-/*! \brief Test for mutex initialised state
+/*! \brief  Release ownership of a recursive mutex
+ *  \ingroup mutex
+ *
+ * \param mtx Pointer to recursive mutex structure
+ */
+void recursive_mutex_exit(recursive_mutex_t *mtx);
+
+/*! \brief Test for mutex initialized state
  *  \ingroup mutex
  *
  * \param mtx Pointer to mutex structure
- * \return true if the mutex is initialised, false otherwise
+ * \return true if the mutex is initialized, false otherwise
  */
-static inline bool mutex_is_initialzed(mutex_t *mtx) {
+static inline bool mutex_is_initialized(mutex_t *mtx) {
+    return mtx->core.spin_lock != 0;
+}
+
+/*! \brief Test for recursive mutex initialized state
+ *  \ingroup mutex
+ *
+ * \param mtx Pointer to recursive mutex structure
+ * \return true if the recursive mutex is initialized, false otherwise
+ */
+static inline bool recursive_mutex_is_initialized(recursive_mutex_t *mtx) {
     return mtx->core.spin_lock != 0;
 }
 
@@ -165,22 +274,22 @@ static inline bool mutex_is_initialzed(mutex_t *mtx) {
  * A recursive mutex defined as follows:
  *
  * ```c
- * auto_init_recursive_mutex(my_mutex);
+ * auto_init_recursive_mutex(my_recursive_mutex);
  * ```
  *
  * Is equivalent to doing
  *
  * ```c
- * static mutex_t my_mutex;
+ * static recursive_mutex_t my_recursive_mutex;
  *
  * void my_init_function() {
- *    recursive_mutex_init(&my_mutex);
+ *    recursive_mutex_init(&my_recursive_mutex);
  * }
  * ```
  *
  * But the initialization of the mutex is performed automatically during runtime initialization
  */
-#define auto_init_recursive_mutex(name) static __attribute__((section(".mutex_array"))) mutex_t name = { .recursion_state = MAX_RECURSION_STATE }
+#define auto_init_recursive_mutex(name) static __attribute__((section(".mutex_array"))) recursive_mutex_t name = { .core.spin_lock = (spin_lock_t *)1 /* marker for runtime_init */ }
 
 #ifdef __cplusplus
 }

src/common/pico_sync/mutex.c

@@ -7,53 +7,87 @@
 #include "pico/mutex.h"
 #include "pico/time.h"
 
-static void mutex_init_internal(mutex_t *mtx, uint8_t recursion_state) {
+void mutex_init(mutex_t *mtx) {
     lock_init(&mtx->core, next_striped_spin_lock_num());
     mtx->owner = LOCK_INVALID_OWNER_ID;
-    mtx->recursion_state = recursion_state;
+#if PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY
+    mtx->recursive = false;
+#endif
     __mem_fence_release();
 }
 
-void mutex_init(mutex_t *mtx) {
+void recursive_mutex_init(recursive_mutex_t *mtx) {
-    mutex_init_internal(mtx, 0);
+    lock_init(&mtx->core, next_striped_spin_lock_num());
-}
+    mtx->owner = LOCK_INVALID_OWNER_ID;
-
+    mtx->enter_count = 0;
-void recursive_mutex_init(mutex_t *mtx) {
+#if PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY
-    mutex_init_internal(mtx, MAX_RECURSION_STATE);
+    mtx->recursive = true;
+#endif
+    __mem_fence_release();
 }
 
 void __time_critical_func(mutex_enter_blocking)(mutex_t *mtx) {
-    assert(mtx->core.spin_lock);
+#if PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY
+    if (mtx->recursive) {
+        recursive_mutex_enter_blocking(mtx);
+        return;
+    }
+#endif
+    lock_owner_id_t caller = lock_get_caller_owner_id();
     do {
         uint32_t save = spin_lock_blocking(mtx->core.spin_lock);
-        lock_owner_id_t caller = lock_get_caller_owner_id();
+        if (!lock_is_owner_id_valid(mtx->owner)) {
-        if (mtx->owner == LOCK_INVALID_OWNER_ID) {
             mtx->owner = caller;
-            if (mtx->recursion_state) {
-                assert(mtx->recursion_state == MAX_RECURSION_STATE);
-                mtx->recursion_state--;
-            }
-        } else if (mtx->owner == caller && mtx->recursion_state > 1) {
-            mtx->recursion_state--;
-        } else {
-            lock_internal_spin_unlock_with_wait(&mtx->core, save);
-            // spin lock already unlocked, so loop again
-            continue;
-        }
             spin_unlock(mtx->core.spin_lock, save);
             break;
+        }
+        lock_internal_spin_unlock_with_wait(&mtx->core, save);
+    } while (true);
+}
+
+void __time_critical_func(recursive_mutex_enter_blocking)(recursive_mutex_t *mtx) {
+    lock_owner_id_t caller = lock_get_caller_owner_id();
+    do {
+        uint32_t save = spin_lock_blocking(mtx->core.spin_lock);
+        if (mtx->owner == caller || !lock_is_owner_id_valid(mtx->owner)) {
+            mtx->owner = caller;
+            uint __unused total = ++mtx->enter_count;
+            spin_unlock(mtx->core.spin_lock, save);
+            assert(total); // check for overflow
+            return;
+        } else {
+            lock_internal_spin_unlock_with_wait(&mtx->core, save);
+        }
     } while (true);
 }
 
 bool __time_critical_func(mutex_try_enter)(mutex_t *mtx, uint32_t *owner_out) {
+#if PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY
+    if (mtx->recursive) {
+        return recursive_mutex_try_enter(mtx, owner_out);
+    }
+#endif
     bool entered;
     uint32_t save = spin_lock_blocking(mtx->core.spin_lock);
-    lock_owner_id_t caller = lock_get_caller_owner_id();
+    if (!lock_is_owner_id_valid(mtx->owner)) {
-    if (mtx->owner == LOCK_INVALID_OWNER_ID) {
         mtx->owner = lock_get_caller_owner_id();
         entered = true;
-    } else if (mtx->owner == caller && mtx->recursion_state > 1) {
+    } else {
-        mtx->recursion_state--;
+        if (owner_out) *owner_out = (uint32_t) mtx->owner;
+        entered = false;
+    }
+    spin_unlock(mtx->core.spin_lock, save);
+    return entered;
+}
+
+bool __time_critical_func(recursive_mutex_try_enter)(recursive_mutex_t *mtx, uint32_t *owner_out) {
+    bool entered;
+    lock_owner_id_t caller = lock_get_caller_owner_id();
+    uint32_t save = spin_lock_blocking(mtx->core.spin_lock);
+    if (!lock_is_owner_id_valid(mtx->owner) || mtx->owner == caller) {
+        mtx->owner = caller;
+        uint __unused total = ++mtx->enter_count;
+        assert(total); // check for overflow
         entered = true;
     } else {
         if (owner_out) *owner_out = (uint32_t) mtx->owner;
@@ -67,47 +101,84 @@ bool __time_critical_func(mutex_enter_timeout_ms)(mutex_t *mtx, uint32_t timeout
     return mutex_enter_block_until(mtx, make_timeout_time_ms(timeout_ms));
 }
 
+bool __time_critical_func(recursive_mutex_enter_timeout_ms)(recursive_mutex_t *mtx, uint32_t timeout_ms) {
+    return recursive_mutex_enter_block_until(mtx, make_timeout_time_ms(timeout_ms));
+}
+
 bool __time_critical_func(mutex_enter_timeout_us)(mutex_t *mtx, uint32_t timeout_us) {
     return mutex_enter_block_until(mtx, make_timeout_time_us(timeout_us));
 }
 
+bool __time_critical_func(recursive_mutex_enter_timeout_us)(recursive_mutex_t *mtx, uint32_t timeout_us) {
+    return recursive_mutex_enter_block_until(mtx, make_timeout_time_us(timeout_us));
+}
+
 bool __time_critical_func(mutex_enter_block_until)(mutex_t *mtx, absolute_time_t until) {
+#if PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY
+    if (mtx->recursive) {
+        return recursive_mutex_enter_block_until(mtx, until);
+    }
+#endif
     assert(mtx->core.spin_lock);
+    lock_owner_id_t caller = lock_get_caller_owner_id();
     do {
         uint32_t save = spin_lock_blocking(mtx->core.spin_lock);
-        lock_owner_id_t caller = lock_get_caller_owner_id();
+        if (!lock_is_owner_id_valid(mtx->owner)) {
-        if (mtx->owner == LOCK_INVALID_OWNER_ID) {
             mtx->owner = caller;
-        } else if (mtx->owner == caller && mtx->recursion_state > 1) {
+            spin_unlock(mtx->core.spin_lock, save);
-            mtx->recursion_state--;
+            return true;
         } else {
             if (lock_internal_spin_unlock_with_best_effort_wait_or_timeout(&mtx->core, save, until)) {
                 // timed out
                 return false;
-            } else {
+            }
             // not timed out; spin lock already unlocked, so loop again
-                continue;
-            }
         }
+    } while (true);
+}
+
+bool __time_critical_func(recursive_mutex_enter_block_until)(recursive_mutex_t *mtx, absolute_time_t until) {
+    assert(mtx->core.spin_lock);
+    lock_owner_id_t caller = lock_get_caller_owner_id();
+    do {
+        uint32_t save = spin_lock_blocking(mtx->core.spin_lock);
+        if (!lock_is_owner_id_valid(mtx->owner) || mtx->owner == caller) {
+            mtx->owner = caller;
+            uint __unused total = ++mtx->enter_count;
             spin_unlock(mtx->core.spin_lock, save);
+            assert(total); // check for overflow
             return true;
+        } else {
+            if (lock_internal_spin_unlock_with_best_effort_wait_or_timeout(&mtx->core, save, until)) {
+                // timed out
+                return false;
+            }
+            // not timed out; spin lock already unlocked, so loop again
+        }
     } while (true);
 }
 
 void __time_critical_func(mutex_exit)(mutex_t *mtx) {
+#if PICO_MUTEX_ENABLE_SDK120_COMPATIBILITY
+    if (mtx->recursive) {
+        recursive_mutex_exit(mtx);
+        return;
+    }
+#endif
     uint32_t save = spin_lock_blocking(mtx->core.spin_lock);
-    assert(mtx->owner != LOCK_INVALID_OWNER_ID);
+    assert(lock_is_owner_id_valid(mtx->owner));
-    if (!mtx->recursion_state) {
     mtx->owner = LOCK_INVALID_OWNER_ID;
     lock_internal_spin_unlock_with_notify(&mtx->core, save);
-    } else {
+}
-        mtx->recursion_state++;
+
-        assert(mtx->recursion_state);
+void __time_critical_func(recursive_mutex_exit)(recursive_mutex_t *mtx) {
-        if (mtx->recursion_state == MAX_RECURSION_STATE) {
+    uint32_t save = spin_lock_blocking(mtx->core.spin_lock);
+    assert(lock_is_owner_id_valid(mtx->owner));
+    assert(mtx->enter_count);
+    if (!--mtx->enter_count) {
         mtx->owner = LOCK_INVALID_OWNER_ID;
         lock_internal_spin_unlock_with_notify(&mtx->core, save);
     } else {
         spin_unlock(mtx->core.spin_lock, save);
     }
-    }
 }

src/rp2_common/pico_multicore/multicore.c

@@ -176,7 +176,7 @@ static void __isr __not_in_flash_func(multicore_lockout_handler)(void) {
 static void check_lockout_mutex_init(void) {
     // use known available lock - we only need it briefly
     uint32_t save = hw_claim_lock();
-    if (!mutex_is_initialzed(&lockout_mutex)) {
+    if (!mutex_is_initialized(&lockout_mutex)) {
         mutex_init(&lockout_mutex);
     }
     hw_claim_unlock(save);
@@ -237,7 +237,7 @@ void multicore_lockout_start_blocking() {
 }
 
 static bool multicore_lockout_end_block_until(absolute_time_t until) {
-    assert(mutex_is_initialzed(&lockout_mutex));
+    assert(mutex_is_initialized(&lockout_mutex));
     if (!mutex_enter_block_until(&lockout_mutex, until)) {
         return false;
     }

src/rp2_common/pico_runtime/runtime.c

@@ -119,15 +119,27 @@ void runtime_init(void) {
             hw_clear_alias(padsbank0_hw)->io[28] = hw_clear_alias(padsbank0_hw)->io[29] = PADS_BANK0_GPIO0_IE_BITS;
 #endif
 
-    extern mutex_t __mutex_array_start;
+    // this is an array of either mutex_t or recursive_mutex_t (i.e. not necessarily the same size)
-    extern mutex_t __mutex_array_end;
+    // however each starts with a lock_core_t, and the spin_lock is initialized to address 1 for a recursive
+    // spinlock and 0 for a regular one.
 
-    // the first function pointer, not the address of it.
+    static_assert(!(sizeof(mutex_t)&3), "");
-    for (mutex_t *m = &__mutex_array_start; m < &__mutex_array_end; m++) {
+    static_assert(!(sizeof(recursive_mutex_t)&3), "");
-        if (m->recursion_state) {
+    static_assert(!offsetof(mutex_t, core), "");
-            recursive_mutex_init(m);
+    static_assert(!offsetof(recursive_mutex_t, core), "");
+    extern lock_core_t __mutex_array_start;
+    extern lock_core_t __mutex_array_end;
+
+    for (lock_core_t *l = &__mutex_array_start; l < &__mutex_array_end; ) {
+        if (l->spin_lock) {
+            assert(1 == (uintptr_t)l->spin_lock); // indicator for a recursive mutex
+            recursive_mutex_t *rm = (recursive_mutex_t *)l;
+            recursive_mutex_init(rm);
+            l = &rm[1].core; // next
         } else {
+            mutex_t *m = (mutex_t *)l;
             mutex_init(m);
+            l = &m[1].core; // next
         }
     }