mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-11-23 20:22:51 +01:00
bump heapless dependency to v0.5.0; remove "nightly" feature
with the upcoming version of heapless we are able to initialize all internal queues in const context removing the need for late initialization this commit also removes the "nightly" feature because all the optimization provided by it are now enabled by default
This commit is contained in:
Jorge Aparicio
parent
eb528ef921
commit
30d6327001
5 changed files with 57 additions and 136 deletions
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@ -43,10 +43,7 @@ required-features = ["timer-queue"]
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cortex-m = "0.5.8"
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cortex-m-rt = "0.6.7"
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cortex-m-rtfm-macros = { path = "macros", version = "0.5.0-alpha.1" }
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[dependencies.heapless]
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features = ["smaller-atomics", "min-const-fn"]
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version = "0.4.3"
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heapless = "0.5.0-alpha.1"
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[dev-dependencies]
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cortex-m-semihosting = "0.3.2"
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@ -58,7 +55,6 @@ features = ["exit"]
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version = "0.5.1"
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[features]
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nightly = ["cortex-m-rtfm-macros/nightly", "heapless/const-fn"]
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timer-queue = ["cortex-m-rtfm-macros/timer-queue"]
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[target.x86_64-unknown-linux-gnu.dev-dependencies]
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53
ci/script.sh
53
ci/script.sh
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@ -33,25 +33,18 @@ arm_example() {
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main() {
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local T=$TARGET
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local nightly=""
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if [ $TRAVIS_RUST_VERSION = nightly ]; then
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nightly="nightly"
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fi
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mkdir -p ci/builds
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if [ $T = x86_64-unknown-linux-gnu ]; then
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# compile-fail and compile-pass tests
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case $TRAVIS_RUST_VERSION in
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nightly*)
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# TODO how to run a subset of these tests when timer-queue is disabled?
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cargo test --features "$nightly,timer-queue" --test compiletest --target $T
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esac
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# TODO how to run a subset of these tests when timer-queue is disabled?
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cargo test --features "timer-queue" --test compiletest --target $T
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cargo check --target $T
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if [ $TARGET != thumbv6m-none-eabi ]; then
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cargo check --features "$nightly,timer-queue" --target $T
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cargo check --features "timer-queue" --target $T
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fi
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if [ $TRAVIS_RUST_VERSION != nightly ]; then
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@ -81,9 +74,9 @@ main() {
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return
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fi
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cargo check --features "$nightly" --target $T --examples
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cargo check --target $T --examples
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if [ $TARGET != thumbv6m-none-eabi ]; then
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cargo check --features "$nightly,timer-queue" --target $T --examples
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cargo check --features "timer-queue" --target $T --examples
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fi
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# run-pass tests
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@ -124,7 +117,7 @@ main() {
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if [ $TARGET != thumbv6m-none-eabi ]; then
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local td=$(mktemp -d)
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local features="$nightly,timer-queue"
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local features="timer-queue"
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cargo run --example $ex --target $TARGET --features $features >\
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$td/pool.run
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grep 'foo(0x2' $td/pool.run
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@ -146,13 +139,13 @@ main() {
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fi
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if [ $ex != types ]; then
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arm_example "run" $ex "debug" "$nightly" "1"
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arm_example "run" $ex "release" "$nightly" "1"
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arm_example "run" $ex "debug" "" "1"
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arm_example "run" $ex "release" "" "1"
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fi
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if [ $TARGET != thumbv6m-none-eabi ]; then
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arm_example "run" $ex "debug" "$nightly,timer-queue" "1"
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arm_example "run" $ex "release" "$nightly,timer-queue" "1"
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arm_example "run" $ex "debug" "timer-queue" "1"
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arm_example "run" $ex "release" "timer-queue" "1"
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fi
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done
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@ -165,23 +158,23 @@ main() {
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fi
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if [ $ex != types ] && [ $ex != pool ]; then
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arm_example "build" $ex "debug" "$nightly" "2"
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cmp ci/builds/${ex}_${nightly/nightly/nightly_}debug_1.hex \
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ci/builds/${ex}_${nightly/nightly/nightly_}debug_2.hex
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arm_example "build" $ex "release" "$nightly" "2"
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cmp ci/builds/${ex}_${nightly/nightly/nightly_}release_1.hex \
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ci/builds/${ex}_${nightly/nightly/nightly_}release_2.hex
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arm_example "build" $ex "debug" "" "2"
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cmp ci/builds/${ex}_debug_1.hex \
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ci/builds/${ex}_debug_2.hex
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arm_example "build" $ex "release" "" "2"
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cmp ci/builds/${ex}_release_1.hex \
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ci/builds/${ex}_release_2.hex
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built+=( $ex )
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fi
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if [ $TARGET != thumbv6m-none-eabi ]; then
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arm_example "build" $ex "debug" "$nightly,timer-queue" "2"
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cmp ci/builds/${ex}_${nightly}_timer-queue_debug_1.hex \
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ci/builds/${ex}_${nightly}_timer-queue_debug_2.hex
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arm_example "build" $ex "release" "$nightly,timer-queue" "2"
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cmp ci/builds/${ex}_${nightly}_timer-queue_release_1.hex \
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ci/builds/${ex}_${nightly}_timer-queue_release_2.hex
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arm_example "build" $ex "debug" "timer-queue" "2"
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cmp ci/builds/${ex}_timer-queue_debug_1.hex \
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ci/builds/${ex}_timer-queue_debug_2.hex
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arm_example "build" $ex "release" "timer-queue" "2"
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cmp ci/builds/${ex}_timer-queue_release_1.hex \
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ci/builds/${ex}_timer-queue_release_2.hex
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fi
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done
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@ -24,4 +24,3 @@ version = "0.15.23"
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[features]
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timer-queue = []
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nightly = []
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@ -600,24 +600,13 @@ fn tasks(
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let doc = "Queue version of a free-list that keeps track of empty slots in the previous buffer(s)";
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let fq_ty = quote!(rtfm::export::FreeQueue<#cap_ty>);
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let ptr = if cfg!(feature = "nightly") {
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const_app.push(quote!(
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#[doc = #doc]
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static mut #task_fq: #fq_ty = unsafe {
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rtfm::export::FreeQueue::u8_sc()
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};
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));
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quote!(&mut #task_fq)
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} else {
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const_app.push(quote!(
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#[doc = #doc]
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static mut #task_fq: core::mem::MaybeUninit<#fq_ty> =
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core::mem::MaybeUninit::uninit();
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));
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quote!(#task_fq.as_mut_ptr())
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};
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const_app.push(quote!(
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#[doc = #doc]
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static mut #task_fq: #fq_ty = unsafe {
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rtfm::export::Queue(rtfm::export::i::Queue::u8_sc())
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};
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));
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let ptr = quote!(&mut #task_fq);
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if let Some(ceiling) = analysis.free_queues.get(name) {
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const_app.push(quote!(struct #task_fq<'a> {
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@ -705,24 +694,13 @@ fn dispatchers(app: &App, analysis: &Analysis) -> Vec<proc_macro2::TokenStream>
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level
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);
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let rq_ty = quote!(rtfm::export::ReadyQueue<#t, #cap>);
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let ptr = if cfg!(feature = "nightly") {
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items.push(quote!(
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#[doc = #doc]
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static mut #rq: #rq_ty = unsafe {
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rtfm::export::ReadyQueue::u8_sc()
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};
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));
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quote!(&mut #rq)
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} else {
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items.push(quote!(
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#[doc = #doc]
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static mut #rq: core::mem::MaybeUninit<#rq_ty> =
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core::mem::MaybeUninit::uninit();
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));
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quote!(#rq.as_mut_ptr())
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};
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items.push(quote!(
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#[doc = #doc]
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static mut #rq: #rq_ty = unsafe {
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rtfm::export::Queue(rtfm::export::i::Queue::u8_sc())
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};
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));
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let ptr = quote!(&mut #rq);
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if let Some(ceiling) = analysis.ready_queues.get(&level) {
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items.push(quote!(
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@ -772,11 +750,7 @@ fn dispatchers(app: &App, analysis: &Analysis) -> Vec<proc_macro2::TokenStream>
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let fq = mk_fq_ident(name);
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let input = quote!(#inputs.get_unchecked(usize::from(index)).as_ptr().read());
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let fq = if cfg!(feature = "nightly") {
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quote!(#fq)
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} else {
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quote!((*#fq.as_mut_ptr()))
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};
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let fq = quote!(#fq);
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let (let_instant, _instant) = if cfg!(feature = "timer-queue") {
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let instants = mk_instants_ident(name);
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@ -822,11 +796,7 @@ fn dispatchers(app: &App, analysis: &Analysis) -> Vec<proc_macro2::TokenStream>
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);
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let attrs = &dispatcher.attrs;
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let interrupt = &dispatcher.interrupt;
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let rq = if cfg!(feature = "nightly") {
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quote!((&mut #rq))
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} else {
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quote!((*#rq.as_mut_ptr()))
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};
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let rq = quote!((&mut #rq));
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items.push(quote!(
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#[doc = #doc]
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#(#attrs)*
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@ -1174,42 +1144,16 @@ fn pre_init(app: &App, analysis: &Analysis) -> Vec<proc_macro2::TokenStream> {
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stmts.push(quote!(rtfm::export::interrupt::disable();));
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// these won't be required once we have better `const fn` on stable (or const generics)
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if !cfg!(feature = "nightly") {
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// initialize `MaybeUninit` `ReadyQueue`s
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for level in analysis.dispatchers.keys() {
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let rq = mk_rq_ident(*level);
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stmts.push(quote!(#rq.as_mut_ptr().write(rtfm::export::ReadyQueue::u8_sc());))
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}
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// populate the `FreeQueue`s
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for name in app.tasks.keys() {
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let fq = mk_fq_ident(name);
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let cap = analysis.capacities[name];
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// initialize `MaybeUninit` `FreeQueue`s
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for name in app.tasks.keys() {
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let fq = mk_fq_ident(name);
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stmts.push(quote!(
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let fq = #fq.as_mut_ptr().write(rtfm::export::FreeQueue::u8_sc());
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));
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// populate the `FreeQueue`s
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let cap = analysis.capacities[name];
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stmts.push(quote!(
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for i in 0..#cap {
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fq.enqueue_unchecked(i);
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}
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));
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}
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} else {
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// populate the `FreeQueue`s
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for name in app.tasks.keys() {
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let fq = mk_fq_ident(name);
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let cap = analysis.capacities[name];
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stmts.push(quote!(
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for i in 0..#cap {
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#fq.enqueue_unchecked(i);
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}
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));
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}
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stmts.push(quote!(
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for i in 0..#cap {
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#fq.enqueue_unchecked(i);
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}
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));
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}
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stmts.push(quote!(
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@ -2262,17 +2206,10 @@ fn mk_spawn_body<'a>(
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let (dequeue, enqueue) = if spawner_is_init {
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// `init` has exclusive access to these queues so we can bypass the resources AND
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// the consumer / producer split
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if cfg!(feature = "nightly") {
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(
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quote!(#fq.dequeue()),
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quote!(#rq.enqueue_unchecked((#t::#name, index));),
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)
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} else {
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(
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quote!((*#fq.as_mut_ptr()).dequeue()),
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quote!((*#rq.as_mut_ptr()).enqueue_unchecked((#t::#name, index));),
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)
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}
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(
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quote!(#fq.dequeue()),
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quote!(#rq.enqueue_unchecked((#t::#name, index));),
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)
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} else {
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(
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quote!((#fq { priority }).lock(|fq| fq.split().1.dequeue())),
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@ -2319,11 +2256,7 @@ fn mk_schedule_body<'a>(scheduler: &Ident, name: &Ident, app: &'a App) -> proc_m
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let (dequeue, enqueue) = if scheduler_is_init {
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// `init` has exclusive access to these queues so we can bypass the resources AND
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// the consumer / producer split
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let dequeue = if cfg!(feature = "nightly") {
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quote!(#fq.dequeue())
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} else {
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quote!((*#fq.as_mut_ptr()).dequeue())
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};
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let dequeue = quote!(#fq.dequeue());
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(dequeue, quote!((*TQ.as_mut_ptr()).enqueue_unchecked(nr);))
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} else {
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@ -8,8 +8,8 @@ pub use cortex_m::{
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asm::wfi, interrupt, peripheral::scb::SystemHandler, peripheral::syst::SystClkSource,
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peripheral::Peripherals,
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};
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pub use heapless::consts;
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use heapless::spsc::{Queue, SingleCore};
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use heapless::spsc::SingleCore;
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pub use heapless::{consts, i, spsc::Queue};
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#[cfg(feature = "timer-queue")]
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pub use crate::tq::{NotReady, TimerQueue};
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