From 11d2ca9f2bd47e8c653c5b830b137ce263b66b54 Mon Sep 17 00:00:00 2001
From: Olle Ronstad <ollron-2@student.ltu.se>
Date: Thu, 2 Oct 2025 17:02:43 +0200
Subject: [PATCH] added argument trampoline to hardware tasks to allow
 exception "masking"

Co-authored-by: Salon <salon64@users.noreply.github.com>
---
 rtic-macros/src/codegen/bindings/cortex.rs |  6 +-
 rtic-macros/src/codegen/hardware_tasks.rs  | 74 ++++++++++++++++------
 rtic-macros/src/syntax/ast.rs              |  3 +
 rtic-macros/src/syntax/parse.rs            | 22 ++++++-
 4 files changed, 79 insertions(+), 26 deletions(-)

diff --git a/rtic-macros/src/codegen/bindings/cortex.rs b/rtic-macros/src/codegen/bindings/cortex.rs
index 5c56261db5d..87a06ac55ee 100644
--- a/rtic-macros/src/codegen/bindings/cortex.rs
+++ b/rtic-macros/src/codegen/bindings/cortex.rs
@@ -319,13 +319,13 @@ pub fn architecture_specific_analysis(app: &App, _: &SyntaxAnalysis) -> parse::R
         .filter(|prio| *prio > 0)
         .collect::<HashSet<_>>();
 
-    let need = priorities.len();
+    let need_software = priorities.len();
     let given = app.args.dispatchers.len();
-    if need > given {
+    if need_software > given {
         let s = {
             format!(
                 "not enough interrupts to dispatch \
-                    all software tasks (need: {need}; given: {given})"
+                    all software tasks (need: {need_software}; given: {given})"
             )
         };
 
diff --git a/rtic-macros/src/codegen/hardware_tasks.rs b/rtic-macros/src/codegen/hardware_tasks.rs
index ee85f59f335..e77c7f1e588 100644
--- a/rtic-macros/src/codegen/hardware_tasks.rs
+++ b/rtic-macros/src/codegen/hardware_tasks.rs
@@ -24,26 +24,62 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
         let exit_stmts = interrupt_exit(app, analysis);
         let config = handler_config(app, analysis, symbol.clone());
 
-        mod_app.push(quote!(
-            #[allow(non_snake_case)]
-            #[no_mangle]
-            #(#attrs)*
-            #(#cfgs)*
-            #(#config)*
-            unsafe fn #symbol() {
-                #(#entry_stmts)*
+        if let Some(trampoline) = &task.args.trampoline {
+            let trampoline_symbol = trampoline.clone();
+            mod_app.push(quote!(
 
-                const PRIORITY: u8 = #priority;
+                #[allow(non_snake_case)]
+                #[no_mangle]
+                #(#attrs)*
+                #(#cfgs)*
+                #(#config)*
+                unsafe fn #symbol() {
+                    rtic::export::pend(rtic::export::Interrupt::#trampoline_symbol);
+                }
 
-                rtic::export::run(PRIORITY, || {
-                    #name(
-                        #name::Context::new()
-                    )
-                });
-
-                #(#exit_stmts)*
-            }
-        ));
+                #[allow(non_snake_case)]
+                #[no_mangle]
+                #(#attrs)*
+                #(#cfgs)*
+                #(#config)*
+                unsafe fn #trampoline_symbol() {
+                    #(#entry_stmts)*
+    
+                    const PRIORITY: u8 = #priority;
+    
+                    rtic::export::run(PRIORITY, || {
+                        #name(
+                            #name::Context::new()
+                        )
+                    });
+                    
+    
+                    #(#exit_stmts)*
+                }
+            ));
+            
+        } else {
+            mod_app.push(quote!(
+                #[allow(non_snake_case)]
+                #[no_mangle]
+                #(#attrs)*
+                #(#cfgs)*
+                #(#config)*
+                unsafe fn #symbol() {
+                    #(#entry_stmts)*
+    
+                    const PRIORITY: u8 = #priority;
+    
+                    rtic::export::run(PRIORITY, || {
+                        #name(
+                            #name::Context::new()
+                        )
+                    });
+    
+                    #(#exit_stmts)*
+                }
+            ));
+        }
 
         // `${task}Locals`
         if !task.args.local_resources.is_empty() {
@@ -51,7 +87,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
                 local_resources_struct::codegen(Context::HardwareTask(name), app);
 
             root.push(item);
-
             mod_app.push(constructor);
         }
 
@@ -61,7 +96,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
                 shared_resources_struct::codegen(Context::HardwareTask(name), app);
 
             root.push(item);
-
             mod_app.push(constructor);
         }
 
diff --git a/rtic-macros/src/syntax/ast.rs b/rtic-macros/src/syntax/ast.rs
index 44c1385d24f..0229e64ef2a 100644
--- a/rtic-macros/src/syntax/ast.rs
+++ b/rtic-macros/src/syntax/ast.rs
@@ -298,6 +298,9 @@ pub struct HardwareTaskArgs {
     /// The interrupt or exception that this task is bound to
     pub binds: Ident,
 
+    /// if set the bind would trampoline with the given interrupt handler
+    pub trampoline: Option<Ident>,
+
     /// The priority of this task
     pub priority: u8,
 
diff --git a/rtic-macros/src/syntax/parse.rs b/rtic-macros/src/syntax/parse.rs
index ea7ff29409a..3b0494a43a5 100644
--- a/rtic-macros/src/syntax/parse.rs
+++ b/rtic-macros/src/syntax/parse.rs
@@ -193,6 +193,7 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
         }
 
         let mut binds = None;
+        let mut trampoline = None;
         let mut priority = None;
         let mut shared_resources = None;
         let mut local_resources = None;
@@ -223,7 +224,21 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
                     let ident = input.parse()?;
 
                     binds = Some(ident);
-                }
+                },
+
+                "trampoline" => {
+                    if trampoline.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "argument appears more than once",
+                        ));
+                    }
+
+                    // Parse identifier name
+                    let ident: Ident = input.parse()?;
+
+                    trampoline = Some(ident);
+                },
 
                 "priority" => {
                     if priority.is_some() {
@@ -277,8 +292,8 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
                     local_resources = Some(util::parse_local_resources(input)?);
                 }
 
-                _ => {
-                    return Err(parse::Error::new(ident.span(), "unexpected argument"));
+                a => {
+                    return Err(parse::Error::new(ident.span(), format!("unexpected argument {}", a)));
                 }
             }
 
@@ -308,6 +323,7 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
                 priority,
                 shared_resources,
                 local_resources,
+                trampoline,
             })
         } else {
             // Software tasks start at idle priority