mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-11-23 20:22:51 +01:00
Merge branch 'master' into spawn_experiment
This commit is contained in:
commit
6808cc7cdf
10 changed files with 443 additions and 3 deletions
|
@ -119,10 +119,13 @@ The static priority of each handler can be declared in the `task` attribute
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using the `priority` argument. Tasks can have priorities in the range `1..=(1 <<
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NVIC_PRIO_BITS)` where `NVIC_PRIO_BITS` is a constant defined in the `device`
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crate. When the `priority` argument is omitted, the priority is assumed to be
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`1`. The `idle` task has a non-configurable static priority of `0`, the lowest
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priority.
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`1`. The `idle` task has a non-configurable static priority of `0`, the lowest priority.
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When several tasks are ready to be executed the one with *highest* static
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> A higher number means a higher priority in RTIC, which is the opposite from what
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> Cortex-M does in the NVIC peripheral.
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> Explicitly, this means that number `10` has a **higher** priority than number `9`.
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When several tasks are ready to be executed the one with highest static
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priority will be executed first. Task prioritization can be observed in the
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following scenario: an interrupt signal arrives during the execution of a low
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priority task; the signal puts the higher priority task in the pending state.
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|
59
examples/static.rs
Normal file
59
examples/static.rs
Normal file
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@ -0,0 +1,59 @@
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//! examples/static.rs
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![no_main]
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#![no_std]
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use cortex_m_semihosting::{debug, hprintln};
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use heapless::{
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consts::*,
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i,
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spsc::{Consumer, Producer, Queue},
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};
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use lm3s6965::Interrupt;
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use panic_semihosting as _;
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#[rtic::app(device = lm3s6965)]
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mod app {
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use crate::U4;
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use crate::{Consumer, Producer};
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// Late resources
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#[resources]
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struct Resources {
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p: Producer<'static, u32, U4>,
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c: Consumer<'static, u32, U4>,
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}
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#[init]
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fn init(_: init::Context) -> init::LateResources {
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static mut Q: Queue<u32, U4> = Queue(i::Queue::new());
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let (p, c) = Q.split();
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// Initialization of late resources
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init::LateResources { p, c }
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}
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#[idle(resources = [c])]
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fn idle(c: idle::Context) -> ! {
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loop {
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if let Some(byte) = c.resources.c.dequeue() {
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hprintln!("received message: {}", byte).unwrap();
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debug::exit(debug::EXIT_SUCCESS);
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} else {
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rtic::pend(Interrupt::UART0);
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}
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}
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}
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#[task(binds = UART0, resources = [p])]
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fn uart0(c: uart0::Context) {
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static mut KALLE: u32 = 0;
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*KALLE += 1;
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c.resources.p.enqueue(42).unwrap();
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}
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}
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33
examples/task-local-minimal.rs
Normal file
33
examples/task-local-minimal.rs
Normal file
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@ -0,0 +1,33 @@
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//! examples/task-local_minimal.rs
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![no_main]
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#![no_std]
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use cortex_m_semihosting::{debug, hprintln};
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use panic_semihosting as _;
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#[rtic::app(device = lm3s6965)]
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mod app {
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#[resources]
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struct Resources {
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// A local (move), late resource
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#[task_local]
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l: u32,
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}
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#[init]
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fn init(_: init::Context) -> init::LateResources {
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init::LateResources { l: 42 }
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}
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// l is task_local
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#[idle(resources =[l])]
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fn idle(cx: idle::Context) -> ! {
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hprintln!("IDLE:l = {}", cx.resources.l).unwrap();
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debug::exit(debug::EXIT_SUCCESS);
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loop {
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cortex_m::asm::nop();
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}
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}
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}
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82
examples/task-local.rs
Normal file
82
examples/task-local.rs
Normal file
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@ -0,0 +1,82 @@
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//! examples/task-local.rs
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![no_main]
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#![no_std]
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use cortex_m_semihosting::{debug, hprintln};
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use lm3s6965::Interrupt;
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use panic_semihosting as _;
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#[rtic::app(device = lm3s6965)]
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mod app {
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#[resources]
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struct Resources {
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// An early resource
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#[init(0)]
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shared: u32,
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// A local (move), early resource
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#[task_local]
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#[init(1)]
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l1: u32,
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// An exclusive, early resource
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#[lock_free]
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#[init(1)]
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e1: u32,
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// A local (move), late resource
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#[task_local]
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l2: u32,
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// An exclusive, late resource
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#[lock_free]
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e2: u32,
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}
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#[init]
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fn init(_: init::Context) -> init::LateResources {
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rtic::pend(Interrupt::UART0);
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rtic::pend(Interrupt::UART1);
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init::LateResources { e2: 2, l2: 2 }
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}
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// `shared` cannot be accessed from this context
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// l1 ok (task_local)
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// e2 ok (lock_free)
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#[idle(resources =[l1, e2])]
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fn idle(cx: idle::Context) -> ! {
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hprintln!("IDLE:l1 = {}", cx.resources.l1).unwrap();
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hprintln!("IDLE:e2 = {}", cx.resources.e2).unwrap();
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debug::exit(debug::EXIT_SUCCESS);
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loop {
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cortex_m::asm::nop();
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}
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}
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// `shared` can be accessed from this context
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// l2 ok (task_local)
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// e1 ok (lock_free)
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#[task(priority = 1, binds = UART0, resources = [shared, l2, e1])]
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fn uart0(cx: uart0::Context) {
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let shared: &mut u32 = cx.resources.shared;
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*shared += 1;
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*cx.resources.e1 += 10;
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hprintln!("UART0: shared = {}", shared).unwrap();
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hprintln!("UART0:l2 = {}", cx.resources.l2).unwrap();
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hprintln!("UART0:e1 = {}", cx.resources.e1).unwrap();
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}
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// `shared` can be accessed from this context
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// e1 ok (lock_free)
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#[task(priority = 1, binds = UART1, resources = [shared, e1])]
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fn uart1(cx: uart1::Context) {
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let shared: &mut u32 = cx.resources.shared;
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*shared += 1;
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hprintln!("UART1: shared = {}", shared).unwrap();
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hprintln!("UART1:e1 = {}", cx.resources.e1).unwrap();
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}
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}
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@ -19,6 +19,7 @@ proc-macro = true
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[dependencies]
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proc-macro2 = "1"
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proc-macro-error = "1"
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quote = "1"
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syn = "1"
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rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax", branch = "master", version = "0.5.0-alpha.0" }
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||||
|
|
|
@ -117,6 +117,19 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
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let name = &app.name;
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let device = extra.device;
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// Get the list of all tasks
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// Currently unused, might be useful
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let task_list = analysis.tasks.clone();
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let mut tasks = vec![];
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if !task_list.is_empty() {
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tasks.push(quote!(
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enum Tasks {
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#(#task_list),*
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}
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));
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}
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quote!(
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#(#user)*
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|
@ -132,6 +145,9 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
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#(#root_software_tasks)*
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/// Unused
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#(#tasks)*
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|
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/// Implementation details
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mod #name {
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/// Always include the device crate which contains the vector table
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|
|
66
ui/single/local-cfg-task-local-err.rs
Normal file
66
ui/single/local-cfg-task-local-err.rs
Normal file
|
@ -0,0 +1,66 @@
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//! examples/local-cfg-task-local.rs
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#![deny(unsafe_code)]
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//#![deny(warnings)]
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#![no_main]
|
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#![no_std]
|
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|
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use cortex_m_semihosting::debug;
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use cortex_m_semihosting::hprintln;
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use lm3s6965::Interrupt;
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use panic_semihosting as _;
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|
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#[rtic::app(device = lm3s6965)]
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mod app {
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#[resources]
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struct Resources {
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// A local (move), early resource
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#[cfg(feature = "feature_l1")]
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#[task_local]
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#[init(1)]
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l1: u32,
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// A local (move), late resource
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#[task_local]
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l2: u32,
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}
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#[init]
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fn init(_: init::Context) -> init::LateResources {
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rtic::pend(Interrupt::UART0);
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rtic::pend(Interrupt::UART1);
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init::LateResources {
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#[cfg(feature = "feature_l2")]
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l2: 2,
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#[cfg(not(feature = "feature_l2"))]
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l2: 5,
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}
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}
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// l1 ok (task_local)
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#[idle(resources =[#[cfg(feature = "feature_l1")]l1])]
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fn idle(_cx: idle::Context) -> ! {
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#[cfg(feature = "feature_l1")]
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hprintln!("IDLE:l1 = {}", _cx.resources.l1).unwrap();
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debug::exit(debug::EXIT_SUCCESS);
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loop {}
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||||
}
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|
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// l2 ok (task_local)
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#[task(priority = 1, binds = UART0, resources = [
|
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#[cfg(feature = "feature_l2")]l2,
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])]
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fn uart0(_cx: uart0::Context) {
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#[cfg(feature = "feature_l2")]
|
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hprintln!("UART0:l2 = {}", _cx.resources.l2).unwrap();
|
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}
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// l2 error, conflicting with uart0 for l2 (task_local)
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#[task(priority = 1, binds = UART1, resources = [
|
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#[cfg(not(feature = "feature_l2"))]l2
|
||||
])]
|
||||
fn uart1(_cx: uart1::Context) {
|
||||
#[cfg(not(feature = "feature_l2"))]
|
||||
hprintln!("UART0:l2 = {}", _cx.resources.l2).unwrap();
|
||||
}
|
||||
}
|
37
ui/single/local-cfg-task-local-err.stderr
Normal file
37
ui/single/local-cfg-task-local-err.stderr
Normal file
|
@ -0,0 +1,37 @@
|
|||
error: task local resource "l2" is used by multiple tasks
|
||||
--> $DIR/local-cfg-task-local-err.rs:25:9
|
||||
|
|
||||
25 | l2: u32,
|
||||
| ^^
|
||||
|
||||
error: task local resource "l2" is used by task "uart0" with priority 1
|
||||
--> $DIR/local-cfg-task-local-err.rs:51:39
|
||||
|
|
||||
51 | #[cfg(feature = "feature_l2")]l2,
|
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| ^^
|
||||
|
||||
error: task local resource "l2" is used by task "uart1" with priority 1
|
||||
--> $DIR/local-cfg-task-local-err.rs:60:44
|
||||
|
|
||||
60 | #[cfg(not(feature = "feature_l2"))]l2
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||||
| ^^
|
||||
|
||||
warning: unused import: `cortex_m_semihosting::debug`
|
||||
--> $DIR/local-cfg-task-local-err.rs:8:5
|
||||
|
|
||||
8 | use cortex_m_semihosting::debug;
|
||||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
|
||||
= note: `#[warn(unused_imports)]` on by default
|
||||
|
||||
warning: unused import: `cortex_m_semihosting::hprintln`
|
||||
--> $DIR/local-cfg-task-local-err.rs:9:5
|
||||
|
|
||||
9 | use cortex_m_semihosting::hprintln;
|
||||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
warning: unused import: `lm3s6965::Interrupt`
|
||||
--> $DIR/local-cfg-task-local-err.rs:10:5
|
||||
|
|
||||
10 | use lm3s6965::Interrupt;
|
||||
| ^^^^^^^^^^^^^^^^^^^
|
83
ui/single/local-err.rs
Normal file
83
ui/single/local-err.rs
Normal file
|
@ -0,0 +1,83 @@
|
|||
//! examples/local_err.rs
|
||||
|
||||
#![deny(unsafe_code)]
|
||||
#![deny(warnings)]
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
// errors here, since we cannot bail compilation or generate stubs
|
||||
// run cargo expand, then you see the root of the problem...
|
||||
use cortex_m_semihosting::{debug, hprintln};
|
||||
use lm3s6965::Interrupt;
|
||||
use panic_semihosting as _;
|
||||
|
||||
#[rtic::app(device = lm3s6965)]
|
||||
mod app {
|
||||
#[resources]
|
||||
struct Resources {
|
||||
// An early resource
|
||||
#[init(0)]
|
||||
shared: u32,
|
||||
|
||||
// A local (move), early resource
|
||||
#[task_local]
|
||||
#[init(1)]
|
||||
l1: u32,
|
||||
|
||||
// An exclusive, early resource
|
||||
#[lock_free]
|
||||
#[init(1)]
|
||||
e1: u32,
|
||||
|
||||
// A local (move), late resource
|
||||
#[task_local]
|
||||
l2: u32,
|
||||
|
||||
// An exclusive, late resource
|
||||
#[lock_free]
|
||||
e2: u32,
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(_: init::Context) -> init::LateResources {
|
||||
rtic::pend(Interrupt::UART0);
|
||||
rtic::pend(Interrupt::UART1);
|
||||
init::LateResources { e2: 2, l2: 2 }
|
||||
}
|
||||
|
||||
// `shared` cannot be accessed from this context
|
||||
// l1 ok
|
||||
// l2 rejeceted (not task_local)
|
||||
// e2 ok
|
||||
#[idle(resources =[l1, l2, e2])]
|
||||
fn idle(cx: idle::Context) -> ! {
|
||||
hprintln!("IDLE:l1 = {}", cx.resources.l1).unwrap();
|
||||
hprintln!("IDLE:e2 = {}", cx.resources.e2).unwrap();
|
||||
debug::exit(debug::EXIT_SUCCESS);
|
||||
loop {}
|
||||
}
|
||||
|
||||
// `shared` can be accessed from this context
|
||||
// l2 rejected (not task_local)
|
||||
// e1 rejected (not lock_free)
|
||||
#[task(priority = 1, binds = UART0, resources = [shared, l2, e1])]
|
||||
fn uart0(cx: uart0::Context) {
|
||||
let shared: &mut u32 = cx.resources.shared;
|
||||
*shared += 1;
|
||||
*cx.resources.e1 += 10;
|
||||
hprintln!("UART0: shared = {}", shared).unwrap();
|
||||
hprintln!("UART0:l2 = {}", cx.resources.l2).unwrap();
|
||||
hprintln!("UART0:e1 = {}", cx.resources.e1).unwrap();
|
||||
}
|
||||
|
||||
// l2 rejected (not task_local)
|
||||
#[task(priority = 2, binds = UART1, resources = [shared, l2, e1])]
|
||||
fn uart1(cx: uart1::Context) {
|
||||
let shared: &mut u32 = cx.resources.shared;
|
||||
*shared += 1;
|
||||
|
||||
hprintln!("UART1: shared = {}", shared).unwrap();
|
||||
hprintln!("UART1:l2 = {}", cx.resources.l2).unwrap();
|
||||
hprintln!("UART1:e1 = {}", cx.resources.e1).unwrap();
|
||||
}
|
||||
}
|
60
ui/single/local-err.stderr
Normal file
60
ui/single/local-err.stderr
Normal file
|
@ -0,0 +1,60 @@
|
|||
error: task local resource "l2" is used by multiple tasks
|
||||
--> $DIR/local-err.rs:34:9
|
||||
|
|
||||
34 | l2: u32,
|
||||
| ^^
|
||||
|
||||
error: task local resource "l2" is used by task "idle" with priority 0
|
||||
--> $DIR/local-err.rs:52:28
|
||||
|
|
||||
52 | #[idle(resources =[l1, l2, e2])]
|
||||
| ^^
|
||||
|
||||
error: task local resource "l2" is used by task "uart0" with priority 1
|
||||
--> $DIR/local-err.rs:63:62
|
||||
|
|
||||
63 | #[task(priority = 1, binds = UART0, resources = [shared, l2, e1])]
|
||||
| ^^
|
||||
|
||||
error: task local resource "l2" is used by task "uart1" with priority 2
|
||||
--> $DIR/local-err.rs:74:62
|
||||
|
|
||||
74 | #[task(priority = 2, binds = UART1, resources = [shared, l2, e1])]
|
||||
| ^^
|
||||
|
||||
error: Lock free resource "e1" is used by tasks at different priorities
|
||||
--> $DIR/local-err.rs:30:9
|
||||
|
|
||||
30 | e1: u32,
|
||||
| ^^
|
||||
|
||||
error: Resource "e1" is declared lock free but used by tasks at different priorities
|
||||
--> $DIR/local-err.rs:63:66
|
||||
|
|
||||
63 | #[task(priority = 1, binds = UART0, resources = [shared, l2, e1])]
|
||||
| ^^
|
||||
|
||||
error: Resource "e1" is declared lock free but used by tasks at different priorities
|
||||
--> $DIR/local-err.rs:74:66
|
||||
|
|
||||
74 | #[task(priority = 2, binds = UART1, resources = [shared, l2, e1])]
|
||||
| ^^
|
||||
|
||||
error: unused imports: `debug`, `hprintln`
|
||||
--> $DIR/local-err.rs:10:28
|
||||
|
|
||||
10 | use cortex_m_semihosting::{debug, hprintln};
|
||||
| ^^^^^ ^^^^^^^^
|
||||
|
|
||||
note: the lint level is defined here
|
||||
--> $DIR/local-err.rs:4:9
|
||||
|
|
||||
4 | #![deny(warnings)]
|
||||
| ^^^^^^^^
|
||||
= note: `#[deny(unused_imports)]` implied by `#[deny(warnings)]`
|
||||
|
||||
error: unused import: `lm3s6965::Interrupt`
|
||||
--> $DIR/local-err.rs:11:5
|
||||
|
|
||||
11 | use lm3s6965::Interrupt;
|
||||
| ^^^^^^^^^^^^^^^^^^^
|
Loading…
Reference in a new issue