mirror of
https://github.com/rtic-rs/rtic.git
synced 2025-12-18 22:05:37 +01:00
more fixes
This commit is contained in:
Jorge Aparicio
parent
cfcf25ef53
commit
0c7a0116a7
25 changed files with 227 additions and 94 deletions
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@ -14,7 +14,16 @@ pub fn app(app: &App) -> Context {
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let mut free_interrupts = app.free_interrupts.iter().cloned().collect::<Vec<_>>();
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async.extend(&app.init.async);
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async_after.extend(&app.init.async_after);
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for task in &app.init.async_after {
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async_after.insert(*task);
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// Timer queue
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if let Entry::Vacant(entry) = tq.tasks.entry(*task) {
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tq.capacity += app.tasks[task].interrupt_or_capacity.right().unwrap();
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entry.insert(app.tasks[task].priority);
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}
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}
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// compute dispatchers
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for (name, task) in &app.tasks {
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@ -23,9 +32,9 @@ pub fn app(app: &App) -> Context {
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triggers.insert(interrupt, (*name, task.priority));
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}
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Either::Right(capacity) => {
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let dispatcher = dispatchers.entry(task.priority).or_insert(Dispatcher::new(
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free_interrupts.pop().expect("not enough free interrupts"),
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));
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let dispatcher = dispatchers.entry(task.priority).or_insert_with(|| {
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Dispatcher::new(free_interrupts.pop().expect("not enough free interrupts"))
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});
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dispatcher.tasks.push(*name);
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dispatcher.capacity += capacity;
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}
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@ -274,7 +274,8 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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#[allow(unsafe_code)]
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#[export_name = #export_name]
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pub unsafe extern "C" fn #fn_name() {
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let _ = #device::Interrupt::#interrupt; // verify that the interrupt exists
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use #device::Interrupt;
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let _ = Interrupt::#interrupt; // verify that the interrupt exists
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#name::HANDLER(#name::Context::new(#bl ()))
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}
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});
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@ -306,13 +307,24 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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ctxt.ceilings.slot_queues().get(name).cloned() // 0 = owned by init
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.unwrap_or(0)
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));
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mod_.push(quote! {
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let mangled = Ident::from(format!("_ZN{}{}6BUFFERE", name.as_ref().len(), name));
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// NOTE must be in the root because of `#input`
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root.push(quote! {
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#[allow(non_upper_case_globals)]
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#[allow(unsafe_code)]
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pub static mut BUFFER: [#krate::Node<#input>; #capacity] =
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unsafe { #krate::uninitialized() };
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pub static mut #mangled: [#hidden::#krate::Node<#input>; #capacity] =
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unsafe { #hidden::#krate::uninitialized() };
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});
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mod_.push(quote! {
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pub use ::#mangled as BUFFER;
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pub struct SQ { _0: () }
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#[allow(dead_code)]
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#[allow(unsafe_code)]
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impl SQ {
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pub unsafe fn new() -> Self {
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@ -351,44 +363,40 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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let qc = Ident::from(format!("U{}", ctxt.ceilings.dispatch_queues()[&priority]));
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if cfg!(feature = "timer-queue") {
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quote! {
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#[allow(non_camel_case_types)]
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pub struct #name { baseline: #krate::Instant }
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root.push(quote! {
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#[allow(dead_code)]
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#[allow(unsafe_code)]
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impl #name {
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pub unsafe fn new(bl: #krate::Instant) -> Self {
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#name { baseline: bl }
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}
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// XXX or take `self`?
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impl __async::#name {
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#[inline]
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pub fn post<P>(
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&mut self,
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t: &mut #krate::Threshold<P>,
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t: &mut #hidden::#krate::Threshold<P>,
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payload: #ty,
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) -> Result<(), #ty>
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where
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P: #krate::Unsigned +
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#krate::Max<#krate::#sqc> +
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#krate::Max<#krate::#qc>,
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#krate::Maximum<P, #krate::#sqc>: #krate::Unsigned,
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#krate::Maximum<P, #krate::#qc>: #krate::Unsigned,
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P: #hidden::#krate::Unsigned +
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#hidden::#krate::Max<#hidden::#krate::#sqc> +
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#hidden::#krate::Max<#hidden::#krate::#qc>,
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#hidden::#krate::Maximum<P, #hidden::#krate::#sqc>: #hidden::#krate::Unsigned,
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#hidden::#krate::Maximum<P, #hidden::#krate::#qc>: #hidden::#krate::Unsigned,
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{
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unsafe {
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use #hidden::#krate::Resource;
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let slot = ::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue());
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if let Some(index) = slot {
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let task = ::#__priority::Task::#name;
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core::ptr::write(
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::#name::BUFFER.get_unchecked_mut(index as usize),
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#krate::Node { baseline: self.baseline, payload }
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#name::BUFFER.get_unchecked_mut(index as usize),
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#hidden::#krate::Node { baseline: self.baseline(), payload }
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);
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::#__priority::Q::new().claim_mut(t, |q, _| {
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#__priority::Q::new().claim_mut(t, |q, _| {
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q.split().0.enqueue_unchecked((task, index));
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});
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#krate::set_pending(#device::Interrupt::#interrupt);
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use #device::Interrupt;
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#hidden::#krate::set_pending(Interrupt::#interrupt);
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Ok(())
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} else {
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@ -397,46 +405,59 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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}
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}
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}
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}
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} else {
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});
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quote! {
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#[allow(non_camel_case_types)]
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pub struct #name {}
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pub struct #name { baseline: #krate::Instant }
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#[allow(dead_code)]
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#[allow(unsafe_code)]
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impl #name {
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pub unsafe fn new() -> Self {
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#name {}
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pub unsafe fn new(bl: #krate::Instant) -> Self {
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#name { baseline: bl }
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}
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// XXX or take `self`?
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pub fn baseline(&self) -> #krate::Instant {
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self.baseline
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}
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}
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}
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} else {
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root.push(quote! {
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#[allow(dead_code)]
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#[allow(unsafe_code)]
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impl __async::#name {
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#[inline]
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pub fn post<P>(
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&mut self,
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t: &mut #krate::Threshold<P>,
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t: &mut #hidden::#krate::Threshold<P>,
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payload: #ty,
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) -> Result<(), #ty>
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where
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P: #krate::Unsigned +
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#krate::Max<#krate::#sqc> +
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#krate::Max<#krate::#qc>,
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#krate::Maximum<P, #krate::#sqc>: #krate::Unsigned,
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#krate::Maximum<P, #krate::#qc>: #krate::Unsigned,
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P: #hidden::#krate::Unsigned +
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#hidden::#krate::Max<#hidden::#krate::#sqc> +
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#hidden::#krate::Max<#hidden::#krate::#qc>,
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#hidden::#krate::Maximum<P, #hidden::#krate::#sqc>: #hidden::#krate::Unsigned,
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#hidden::#krate::Maximum<P, #hidden::#krate::#qc>: #hidden::#krate::Unsigned,
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{
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unsafe {
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use #hidden::#krate::Resource;
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if let Some(index) =
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::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue()) {
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let task = ::#__priority::Task::#name;
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core::ptr::write(
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::#name::BUFFER.get_unchecked_mut(index as usize),
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#krate::Node { payload }
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#hidden::#krate::Node { payload }
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);
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::#__priority::Q::new().claim_mut(t, |q, _| {
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q.split().0.enqueue_unchecked((task, index));
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});
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#krate::set_pending(#device::Interrupt::#interrupt);
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use #device::Interrupt;
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#hidden::#krate::set_pending(Interrupt::#interrupt);
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Ok(())
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} else {
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@ -445,6 +466,19 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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}
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}
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}
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});
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quote! {
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#[allow(non_camel_case_types)]
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pub struct #name {}
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#[allow(dead_code)]
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#[allow(unsafe_code)]
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impl #name {
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pub unsafe fn new() -> Self {
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#name {}
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}
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}
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}
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}
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})
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@ -467,44 +501,43 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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let task = &app.tasks[name];
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let ty = &task.input;
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let sqc = Ident::from(format!("U{}", ctxt.ceilings.slot_queues()[name]));
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let sqc = Ident::from(format!(
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"U{}",
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ctxt.ceilings.slot_queues().get(name).unwrap_or(&0) // 0 = owned by init
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));
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let tqc = Ident::from(format!("U{}", ctxt.ceilings.timer_queue()));
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quote! {
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#[allow(non_camel_case_types)]
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pub struct #name { baseline: #krate::Instant }
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// NOTE needs to be in the root because of `#ty`
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root.push(quote! {
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#[allow(dead_code)]
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#[allow(unsafe_code)]
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impl #name {
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pub unsafe fn new(bl: #krate::Instant) -> Self {
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#name { baseline: bl }
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}
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// XXX or take `self`?
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impl __async_after::#name {
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#[inline]
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pub fn post<P>(
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&self,
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t: &mut #krate::Threshold<P>,
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t: &mut #hidden::#krate::Threshold<P>,
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after: u32,
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payload: #ty,
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) -> Result<(), #ty>
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where
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P: #krate::Unsigned +
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#krate::Max<#krate::#sqc> +
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#krate::Max<#krate::#tqc>,
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#krate::Maximum<P, #krate::#sqc>: #krate::Unsigned,
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#krate::Maximum<P, #krate::#tqc>: #krate::Unsigned,
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P: #hidden::#krate::Unsigned +
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#hidden::#krate::Max<#hidden::#krate::#sqc> +
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#hidden::#krate::Max<#hidden::#krate::#tqc>,
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#hidden::#krate::Maximum<P, #hidden::#krate::#sqc>: #hidden::#krate::Unsigned,
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#hidden::#krate::Maximum<P, #hidden::#krate::#tqc>: #hidden::#krate::Unsigned,
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{
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unsafe {
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use #hidden::#krate::Resource;
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if let Some(index) =
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::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue()) {
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let bl = self.baseline + after;
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let bl = self.baseline() + after;
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let task = ::__tq::Task::#name;
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core::ptr::write(
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::#name::BUFFER.get_unchecked_mut(index as usize),
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#krate::Node { baseline: bl, payload },
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#hidden::#krate::Node { baseline: bl, payload },
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);
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let m = #krate::Message {
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let m = #hidden::#krate::Message {
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baseline: bl,
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index,
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task,
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@ -519,6 +552,23 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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}
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}
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}
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});
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quote! {
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#[allow(non_camel_case_types)]
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pub struct #name { baseline: #krate::Instant }
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#[allow(dead_code)]
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#[allow(unsafe_code)]
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impl #name {
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pub unsafe fn new(bl: #krate::Instant) -> Self {
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#name { baseline: bl }
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}
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pub fn baseline(&self) -> #krate::Instant {
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self.baseline
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}
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}
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}
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})
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.collect::<Vec<_>>();
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@ -549,7 +599,8 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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#__priority::Q::new().claim_mut(t, |q, _| {
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q.split().0.enqueue_unchecked((#__priority::Task::#name, index))
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});
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#hidden::#krate::set_pending(#device::Interrupt::#interrupt);
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use #device::Interrupt;
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#hidden::#krate::set_pending(Interrupt::#interrupt);
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}
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}
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})
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@ -588,6 +639,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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pub type Priority = #krate::#priority;
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#[allow(non_camel_case_types)]
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#[allow(dead_code)]
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#[derive(Clone, Copy)]
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pub enum Task { #(#tasks,)* }
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}
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@ -646,6 +698,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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}
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#[allow(non_camel_case_types)]
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#[allow(dead_code)]
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#[derive(Clone, Copy)]
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pub enum Task { #(#tasks,)* }
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}
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@ -819,6 +872,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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pub use ::#device::Peripherals as Device;
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pub use ::_ZN4init13LateResourcesE as LateResources;
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#[allow(dead_code)]
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pub struct Context {
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pub async: Async,
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#baseline_field
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@ -890,7 +944,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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let interrupt = dispatcher.interrupt();
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post_init.push(quote! {
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let priority = ((1 << #prio_bits) - #priority) << (8 - #prio_bits);
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_nvic.set_priority(#device::Interrupt::#interrupt, priority);
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_nvic.set_priority(Interrupt::#interrupt, priority);
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});
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}
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@ -898,7 +952,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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for (interrupt, (_, priority)) in &ctxt.triggers {
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post_init.push(quote! {
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let priority = ((1 << #prio_bits) - #priority) << (8 - #prio_bits);
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_nvic.set_priority(#device::Interrupt::#interrupt, priority);
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_nvic.set_priority(Interrupt::#interrupt, priority);
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});
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}
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@ -906,14 +960,14 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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for dispatcher in ctxt.dispatchers.values() {
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let interrupt = dispatcher.interrupt();
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post_init.push(quote! {
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_nvic.enable(#device::Interrupt::#interrupt);
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_nvic.enable(Interrupt::#interrupt);
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});
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}
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// Enable triggers
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for interrupt in ctxt.triggers.keys() {
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post_init.push(quote! {
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_nvic.enable(#device::Interrupt::#interrupt);
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_nvic.enable(Interrupt::#interrupt);
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});
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}
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@ -951,6 +1005,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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#[allow(unused_imports)]
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use self::#krate::Resource;
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#[allow(dead_code)]
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pub struct Context {
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pub resources: Resources,
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pub threshold: #krate::Threshold<#krate::U0>,
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@ -991,6 +1046,8 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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fn main() {
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#[allow(unused_imports)]
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use #hidden::#krate::Resource;
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#[allow(unused_imports)]
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use #device::Interrupt;
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#[allow(unused_mut)]
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unsafe {
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|
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