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https://github.com/rtic-rs/rtic.git
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reduce memory overhead
by storing indices (u8) in the queues instead of pointers (*mut u8) in the binary heap we store the baseline inline along with the index and the task name. Before we stored a pointer to the message and had to lookup the baseline when comparing two nodes in the heap.
This commit is contained in:
Jorge Aparicio
parent
6de27b9a64
commit
0cc456ba80
10 changed files with 227 additions and 233 deletions
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@ -280,18 +280,19 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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});
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}
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Either::Right(capacity) => {
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let capacity = Ident::from(format!("U{}", capacity));
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let ucapacity = Ident::from(format!("U{}", capacity));
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let capacity = capacity as usize;
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root.push(quote! {
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#[allow(unsafe_code)]
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unsafe impl #hidden::#krate::Resource for #name::SQ {
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const NVIC_PRIO_BITS: u8 = ::#device::NVIC_PRIO_BITS;
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type Ceiling = #name::Ceiling;
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type Data = #hidden::#krate::SlotQueue<#input, #hidden::#krate::#capacity>;
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type Data = #hidden::#krate::SlotQueue<#hidden::#krate::#ucapacity>;
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unsafe fn get() -> &'static mut Self::Data {
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static mut SQ:
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#hidden::#krate::SlotQueue<#input, #hidden::#krate::#capacity> =
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#hidden::#krate::SlotQueue<#hidden::#krate::#ucapacity> =
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#hidden::#krate::SlotQueue::u8();
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&mut SQ
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@ -306,6 +307,10 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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.unwrap_or(0)
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));
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mod_.push(quote! {
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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 struct SQ { _0: () }
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#[allow(unsafe_code)]
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@ -372,13 +377,15 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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{
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unsafe {
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let slot = ::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue());
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if let Some(slot) = slot {
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let tp = slot
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.write(self.baseline, payload)
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.tag(::#__priority::Task::#name);
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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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);
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::#__priority::Q::new().claim_mut(t, |q, _| {
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q.split().0.enqueue_unchecked(tp);
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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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@ -417,17 +424,19 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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#krate::Maximum<P, #krate::#qc>: #krate::Unsigned,
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{
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unsafe {
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if let Some(slot) =
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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 tp = slot
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.write(payload)
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.tag(::#__priority::Task::#name);
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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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);
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::#__priority::Q::new().claim_mut(t, |q, _| {
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q.split().0.enqueue_unchecked(tp);
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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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#krate::set_pending(#device::Interrupt::#interrupt);
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Ok(())
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} else {
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@ -487,14 +496,21 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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#krate::Maximum<P, #krate::#tqc>: #krate::Unsigned,
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{
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unsafe {
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if let Some(slot) =
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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 tp = slot
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.write(bl, payload)
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.tag(::__tq::Task::#name);
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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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);
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let m = #krate::Message {
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baseline: bl,
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index,
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task,
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};
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::__tq::TQ::new().claim_mut(t, |tq, _| tq.enqueue(bl, tp));
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::__tq::TQ::new().claim_mut(t, |tq, _| tq.enqueue(m));
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Ok(())
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} else {
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@ -531,7 +547,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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quote! {
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__tq::Task::#name => {
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#__priority::Q::new().claim_mut(t, |q, _| {
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q.split().0.enqueue_unchecked(tp.retag(#__priority::Task::#name))
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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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}
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@ -585,8 +601,8 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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#hidden::#krate::dispatch(
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&mut #hidden::#krate::Threshold::<__tq::Priority>::new(),
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&mut __tq::TQ::new(),
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|t, tp| {
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match tp.tag() {
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|t, task, index| {
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match task {
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#(#arms,)*
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}
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})
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@ -644,20 +660,18 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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if cfg!(feature = "timer-queue") {
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quote! {
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#__priority::Task::#name => {
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let (bl, payload, slot) = payload.coerce().read();
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// priority
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#name::SQ::get().split().0.enqueue_unchecked(slot);
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#name::HANDLER(#name::Context::new(bl, payload));
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let node = core::ptr::read(::#name::BUFFER.get_unchecked(index as usize));
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#name::SQ::get().split().0.enqueue_unchecked(index);
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#name::HANDLER(#name::Context::new(node.baseline, node.payload));
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}
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}
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} else {
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quote! {
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#__priority::Task::#name => {
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let (payload, slot) = payload.coerce().read();
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// priority
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#name::SQ::get().split().0.enqueue_unchecked(slot);
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#name::HANDLER(#name::Context::new(payload));
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let node = core::ptr::read(::#name::BUFFER.get_unchecked(index as usize));
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#name::SQ::get().split().0.enqueue_unchecked(index);
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#name::HANDLER(#name::Context::new(node.payload));
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}
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}
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}
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@ -675,8 +689,8 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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use #hidden::#krate::Resource;
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// NOTE(get) the dispatcher is the only consumer of this queue
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while let Some(payload) = #__priority::Q::get().split().1.dequeue() {
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match payload.tag() {
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while let Some((task, index)) = #__priority::Q::get().split().1.dequeue() {
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match task {
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#(#arms,)*
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}
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}
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@ -691,16 +705,9 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
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let input = &task.input;
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if let Either::Right(capacity) = task.interrupt_or_capacity {
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let capacity = capacity as usize;
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pre_init.push(quote! {
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{
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static mut N: [#hidden::#krate::Node<#input>; #capacity] =
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unsafe { #hidden::#krate::uninitialized() };
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for node in N.iter_mut() {
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#name::SQ::get().enqueue_unchecked(node.into());
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}
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for i in 0..#capacity {
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#name::SQ::get().enqueue_unchecked(i);
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}
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})
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}
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