mirror/rtic
1
0
Fork 0
mirror of https://github.com/rtic-rs/rtic.git synced 2024-11-23 20:22:51 +01:00
Code Issues Projects Releases Packages Wiki Activity

Removed Priority, simplified lifetime handling

Browse source
This commit is contained in:
Emil Fresk 2023-01-07 11:24:13 +01:00 committed by Henrik Tjäder
parent 53f3d397e7
commit 714020a624
15 changed files with 99 additions and 236 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

26
examples/async-task.rs
View file

@ -15,7 +15,9 @@ mod app {
use cortex_m_semihosting::{debug, hprintln};
#[shared]
struct Shared {}
struct Shared {
a: u32,
}
#[local]
struct Local {}
@ -25,11 +27,12 @@ mod app {
hprintln!("init").unwrap();
async_task::spawn().unwrap();
async_task2::spawn().unwrap();
(Shared {}, Local {})
(Shared { a: 0 }, Local {})
}
#[idle]
#[idle(shared = [a])]
fn idle(_: idle::Context) -> ! {
// debug::exit(debug::EXIT_SUCCESS);
loop {
@ -38,10 +41,23 @@ mod app {
}
}
#[task]
async fn async_task(_cx: async_task::Context) {
#[task(binds = UART1, shared = [a])]
fn hw_task(cx: hw_task::Context) {
let hw_task::SharedResources { a } = cx.shared;
hprintln!("hello from hw").ok();
}
#[task(shared = [a])]
async fn async_task(cx: async_task::Context) {
let async_task::SharedResources { a } = cx.shared;
hprintln!("hello from async").ok();
debug::exit(debug::EXIT_SUCCESS);
}
#[task(priority = 2, shared = [a])]
async fn async_task2(cx: async_task2::Context) {
let async_task2::SharedResources { a } = cx.shared;
hprintln!("hello from async2").ok();
}
}

1
macros/src/bindings.rs
View file

@ -0,0 +1 @@

4
macros/src/codegen.rs
View file

@ -19,6 +19,10 @@ mod shared_resources_struct;
mod software_tasks;
mod util;
// TODO: organize codegen to actual parts of code
// so `main::codegen` generates ALL the code for `fn main`,
// `software_tasks::codegen` generates ALL the code for software tasks etc...
#[allow(clippy::too_many_lines)]
pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
let mut mod_app = vec![];

17
macros/src/codegen/async_dispatchers.rs
View file

@ -13,7 +13,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
for (name, _) in app.software_tasks.iter() {
let type_name = util::internal_task_ident(name, "F");
let exec_name = util::internal_task_ident(name, "EXEC");
let prio_name = util::internal_task_ident(name, "PRIORITY");
items.push(quote!(
#[allow(non_camel_case_types)]
@ -22,12 +21,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
static #exec_name:
rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
// The executors priority, this can be any value - we will overwrite it when we
// start a task
#[allow(non_upper_case_globals)]
static #prio_name: rtic::RacyCell<rtic::export::Priority> =
unsafe { rtic::RacyCell::new(rtic::export::Priority::new(0)) };
));
}
@ -39,7 +32,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
for name in channel.tasks.iter() {
let exec_name = util::internal_task_ident(name, "EXEC");
let prio_name = util::internal_task_ident(name, "PRIORITY");
// let task = &app.software_tasks[name];
// let cfgs = &task.cfgs;
let executor_run_ident = util::executor_run_ident(name);
@ -57,14 +49,9 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
if !(&*#exec_name.get()).is_running() {
// TODO Fix this to be compare and swap
if #rq.load(core::sync::atomic::Ordering::Relaxed) {
#rq.store(false, core::sync::atomic::Ordering::Relaxed);
#rq.store(false, core::sync::atomic::Ordering::Relaxed);
// The async executor needs a static priority
#prio_name.get_mut().write(rtic::export::Priority::new(PRIORITY));
let priority: &'static _ = &*#prio_name.get();
(&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new(priority)));
(&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new()));
#executor_run_ident.store(true, core::sync::atomic::Ordering::Relaxed);
}
}

31
macros/src/codegen/hardware_tasks.rs
View file

@ -41,22 +41,16 @@ pub fn codegen(
rtic::export::run(PRIORITY, || {
#name(
#name::Context::new(&rtic::export::Priority::new(PRIORITY))
#name::Context::new()
)
});
}
));
let mut shared_needs_lt = false;
let mut local_needs_lt = false;
// `${task}Locals`
if !task.args.local_resources.is_empty() {
let (item, constructor) = local_resources_struct::codegen(
Context::HardwareTask(name),
&mut local_needs_lt,
app,
);
let (item, constructor) =
local_resources_struct::codegen(Context::HardwareTask(name), app);
root.push(item);
@ -65,24 +59,19 @@ pub fn codegen(
// `${task}Resources`
if !task.args.shared_resources.is_empty() {
let (item, constructor) = shared_resources_struct::codegen(
Context::HardwareTask(name),
&mut shared_needs_lt,
app,
);
let (item, constructor) =
shared_resources_struct::codegen(Context::HardwareTask(name), app);
root.push(item);
mod_app.push(constructor);
}
root.push(module::codegen(
Context::HardwareTask(name),
shared_needs_lt,
local_needs_lt,
app,
analysis,
));
// Module generation...
root.push(module::codegen(Context::HardwareTask(name), app, analysis));
// End module generation
if !task.is_extern {
let attrs = &task.attrs;

18
macros/src/codegen/idle.rs
View file

@ -24,37 +24,27 @@ pub fn codegen(
TokenStream2,
) {
if let Some(idle) = &app.idle {
let mut shared_needs_lt = false;
let mut local_needs_lt = false;
let mut mod_app = vec![];
let mut root_idle = vec![];
let name = &idle.name;
if !idle.args.shared_resources.is_empty() {
let (item, constructor) =
shared_resources_struct::codegen(Context::Idle, &mut shared_needs_lt, app);
let (item, constructor) = shared_resources_struct::codegen(Context::Idle, app);
root_idle.push(item);
mod_app.push(constructor);
}
if !idle.args.local_resources.is_empty() {
let (item, constructor) =
local_resources_struct::codegen(Context::Idle, &mut local_needs_lt, app);
let (item, constructor) = local_resources_struct::codegen(Context::Idle, app);
root_idle.push(item);
mod_app.push(constructor);
}
root_idle.push(module::codegen(
Context::Idle,
shared_needs_lt,
local_needs_lt,
app,
analysis,
));
root_idle.push(module::codegen(Context::Idle, app, analysis));
let attrs = &idle.attrs;
let context = &idle.context;
@ -71,7 +61,7 @@ pub fn codegen(
));
let call_idle = quote!(#name(
#name::Context::new(&rtic::export::Priority::new(0))
#name::Context::new()
));
(mod_app, root_idle, user_idle, call_idle)

11
macros/src/codegen/init.rs
View file

@ -91,8 +91,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> CodegenResult {
// `${task}Locals`
if !init.args.local_resources.is_empty() {
let (item, constructor) =
local_resources_struct::codegen(Context::Init, &mut local_needs_lt, app);
let (item, constructor) = local_resources_struct::codegen(Context::Init, app);
root_init.push(item);
@ -103,13 +102,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> CodegenResult {
let (shared_resources, local_resources) = #name(#name::Context::new(core.into()));
};
root_init.push(module::codegen(
Context::Init,
false,
local_needs_lt,
app,
analysis,
));
root_init.push(module::codegen(Context::Init, app, analysis));
(mod_app, root_init, user_init, call_init)
}

8
macros/src/codegen/local_resources_struct.rs
View file

@ -8,7 +8,7 @@ use quote::quote;
use crate::codegen::util;
/// Generates local resources structs
pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2, TokenStream2) {
pub fn codegen(ctxt: Context, app: &App) -> (TokenStream2, TokenStream2) {
let mut lt = None;
let resources = match ctxt {
@ -74,16 +74,14 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
}
if lt.is_some() {
*needs_lt = true;
// The struct could end up empty due to `cfg`s leading to an error due to `'a` being unused
if has_cfgs {
fields.push(quote!(
#[doc(hidden)]
pub __marker__: core::marker::PhantomData<&'a ()>
pub __rtic_internal_marker: ::core::marker::PhantomData<&'a ()>
));
values.push(quote!(__marker__: core::marker::PhantomData));
values.push(quote!(__rtic_internal_marker: ::core::marker::PhantomData));
}
}

50
macros/src/codegen/module.rs
View file

@ -4,13 +4,7 @@ use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
#[allow(clippy::too_many_lines)]
pub fn codegen(
ctxt: Context,
shared_resources_tick: bool,
local_resources_tick: bool,
app: &App,
analysis: &Analysis,
) -> TokenStream2 {
pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
let mut items = vec![];
let mut module_items = vec![];
let mut fields = vec![];
@ -20,7 +14,6 @@ pub fn codegen(
let name = ctxt.ident(app);
let mut lt = None;
match ctxt {
Context::Init => {
fields.push(quote!(
@ -39,10 +32,9 @@ pub fn codegen(
values.push(quote!(device: #device::Peripherals::steal()));
}
lt = Some(quote!('a));
fields.push(quote!(
/// Critical section token for init
pub cs: rtic::export::CriticalSection<#lt>
pub cs: rtic::export::CriticalSection<'a>
));
values.push(quote!(cs: rtic::export::CriticalSection::new()));
@ -55,12 +47,6 @@ pub fn codegen(
if ctxt.has_local_resources(app) {
let ident = util::local_resources_ident(ctxt, app);
let lt = if local_resources_tick {
lt = Some(quote!('a));
Some(quote!('a))
} else {
None
};
module_items.push(quote!(
#[doc(inline)]
@ -69,7 +55,7 @@ pub fn codegen(
fields.push(quote!(
/// Local Resources this task has access to
pub local: #name::LocalResources<#lt>
pub local: #name::LocalResources<'a>
));
values.push(quote!(local: #name::LocalResources::new()));
@ -77,12 +63,6 @@ pub fn codegen(
if ctxt.has_shared_resources(app) {
let ident = util::shared_resources_ident(ctxt, app);
let lt = if shared_resources_tick {
lt = Some(quote!('a));
Some(quote!('a))
} else {
None
};
module_items.push(quote!(
#[doc(inline)]
@ -91,15 +71,10 @@ pub fn codegen(
fields.push(quote!(
/// Shared Resources this task has access to
pub shared: #name::SharedResources<#lt>
pub shared: #name::SharedResources<'a>
));
let priority = if ctxt.is_init() {
None
} else {
Some(quote!(priority))
};
values.push(quote!(shared: #name::SharedResources::new(#priority)));
values.push(quote!(shared: #name::SharedResources::new()));
}
let doc = match ctxt {
@ -122,12 +97,6 @@ pub fn codegen(
None
};
let priority = if ctxt.is_init() {
None
} else {
Some(quote!(priority: &#lt rtic::export::Priority))
};
let internal_context_name = util::internal_task_ident(name, "Context");
items.push(quote!(
@ -135,15 +104,18 @@ pub fn codegen(
/// Execution context
#[allow(non_snake_case)]
#[allow(non_camel_case_types)]
pub struct #internal_context_name<#lt> {
pub struct #internal_context_name<'a> {
#[doc(hidden)]
__rtic_internal_p: ::core::marker::PhantomData<&'a ()>,
#(#fields,)*
}
#(#cfgs)*
impl<#lt> #internal_context_name<#lt> {
impl<'a> #internal_context_name<'a> {
#[inline(always)]
pub unsafe fn new(#core #priority) -> Self {
pub unsafe fn new(#core) -> Self {
#internal_context_name {
__rtic_internal_p: ::core::marker::PhantomData,
#(#values,)*
}
}

13
macros/src/codegen/shared_resources.rs
View file

@ -57,19 +57,14 @@ pub fn codegen(
#[allow(non_camel_case_types)]
#(#cfgs)*
pub struct #shared_name<'a> {
priority: &'a Priority,
__rtic_internal_p: ::core::marker::PhantomData<&'a ()>,
}
#(#cfgs)*
impl<'a> #shared_name<'a> {
#[inline(always)]
pub unsafe fn new(priority: &'a Priority) -> Self {
#shared_name { priority }
}
#[inline(always)]
pub unsafe fn priority(&self) -> &Priority {
self.priority
pub unsafe fn new() -> Self {
#shared_name { __rtic_internal_p: ::core::marker::PhantomData }
}
}
));
@ -104,8 +99,6 @@ pub fn codegen(
quote!()
} else {
quote!(mod shared_resources {
use rtic::export::Priority;
#(#mod_resources)*
})
};

13
macros/src/codegen/shared_resources_struct.rs
View file

@ -5,7 +5,7 @@ use quote::quote;
use crate::codegen::util;
/// Generate shared resources structs
pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2, TokenStream2) {
pub fn codegen(ctxt: Context, app: &App) -> (TokenStream2, TokenStream2) {
let mut lt = None;
let resources = match ctxt {
@ -72,7 +72,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
values.push(quote!(
#(#cfgs)*
#name: shared_resources::#shared_name::new(priority)
#name: shared_resources::#shared_name::new()
));
@ -93,8 +93,6 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
}
if lt.is_some() {
*needs_lt = true;
// The struct could end up empty due to `cfg`s leading to an error due to `'a` being unused
if has_cfgs {
fields.push(quote!(
@ -117,15 +115,10 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
}
);
let arg = if ctxt.is_init() {
None
} else {
Some(quote!(priority: &#lt rtic::export::Priority))
};
let constructor = quote!(
impl<#lt> #ident<#lt> {
#[inline(always)]
pub unsafe fn new(#arg) -> Self {
pub unsafe fn new() -> Self {
#ident {
#(#values,)*
}

31
macros/src/codegen/software_tasks.rs
View file

@ -36,16 +36,11 @@ pub fn codegen(
));
// `${task}Resources`
let mut shared_needs_lt = false;
let mut local_needs_lt = false;
// `${task}Locals`
if !task.args.local_resources.is_empty() {
let (item, constructor) = local_resources_struct::codegen(
Context::SoftwareTask(name),
&mut local_needs_lt,
app,
);
let (item, constructor) =
local_resources_struct::codegen(Context::SoftwareTask(name), app);
root.push(item);
@ -53,11 +48,8 @@ pub fn codegen(
}
if !task.args.shared_resources.is_empty() {
let (item, constructor) = shared_resources_struct::codegen(
Context::SoftwareTask(name),
&mut shared_needs_lt,
app,
);
let (item, constructor) =
shared_resources_struct::codegen(Context::SoftwareTask(name), app);
root.push(item);
@ -69,17 +61,12 @@ pub fn codegen(
let attrs = &task.attrs;
let cfgs = &task.cfgs;
let stmts = &task.stmts;
let context_lifetime = if shared_needs_lt || local_needs_lt {
quote!(<'static>)
} else {
quote!()
};
user_tasks.push(quote!(
#(#attrs)*
#(#cfgs)*
#[allow(non_snake_case)]
async fn #name(#context: #name::Context #context_lifetime) {
async fn #name(#context: #name::Context<'static>) {
use rtic::Mutex as _;
use rtic::mutex::prelude::*;
@ -88,13 +75,7 @@ pub fn codegen(
));
}
root.push(module::codegen(
Context::SoftwareTask(name),
shared_needs_lt,
local_needs_lt,
app,
analysis,
));
root.push(module::codegen(Context::SoftwareTask(name), app, analysis));
}
(mod_app, root, user_tasks)

7
macros/src/codegen/util.rs
View file

@ -17,10 +17,10 @@ pub fn impl_mutex(
ceiling: u8,
ptr: &TokenStream2,
) -> TokenStream2 {
let (path, priority) = if resources_prefix {
(quote!(shared_resources::#name), quote!(self.priority()))
let path = if resources_prefix {
quote!(shared_resources::#name)
} else {
(quote!(#name), quote!(self.priority))
quote!(#name)
};
let device = &app.args.device;
@ -38,7 +38,6 @@ pub fn impl_mutex(
unsafe {
rtic::export::lock(
#ptr,
#priority,
CEILING,
#device::NVIC_PRIO_BITS,
&#masks_name,

2
rust-toolchain.toml
View file

@ -1,4 +1,4 @@
[toolchain]
channel = "nightly"
components = [ "rust-src", "rustfmt", "llvm-tools-preview" ]
targets = [ "thumbv7em-none-eabihf" ]
targets = [ "thumbv6m-none-eabi", "thumbv7m-none-eabi" ]

103
src/export.rs
View file

@ -163,38 +163,6 @@ impl Barrier {
}
}
// Newtype over `Cell` that forbids mutation through a shared reference
pub struct Priority {
inner: Cell<u8>,
}
impl Priority {
/// Create a new Priority
///
/// # Safety
///
/// Will overwrite the current Priority
#[inline(always)]
pub const unsafe fn new(value: u8) -> Self {
Priority {
inner: Cell::new(value),
}
}
/// Change the current priority to `value`
// These two methods are used by `lock` (see below) but can't be used from the RTIC application
#[inline(always)]
fn set(&self, value: u8) {
self.inner.set(value);
}
/// Get the current priority
#[inline(always)]
fn get(&self) -> u8 {
self.inner.get()
}
}
/// Const helper to check architecture
pub const fn have_basepri() -> bool {
#[cfg(have_basepri)]
@ -260,30 +228,20 @@ where
#[inline(always)]
pub unsafe fn lock<T, R, const M: usize>(
ptr: *mut T,
priority: &Priority,
ceiling: u8,
nvic_prio_bits: u8,
_mask: &[Mask<M>; 3],
f: impl FnOnce(&mut T) -> R,
) -> R {
let current = priority.get();
if current < ceiling {
if ceiling == (1 << nvic_prio_bits) {
priority.set(u8::max_value());
let r = interrupt::free(|_| f(&mut *ptr));
priority.set(current);
r
} else {
priority.set(ceiling);
basepri::write(logical2hw(ceiling, nvic_prio_bits));
let r = f(&mut *ptr);
basepri::write(logical2hw(current, nvic_prio_bits));
priority.set(current);
r
}
if ceiling == (1 << nvic_prio_bits) {
let r = interrupt::free(|_| f(&mut *ptr));
r
} else {
f(&mut *ptr)
let current = basepri::read();
basepri::write(logical2hw(ceiling, nvic_prio_bits));
let r = f(&mut *ptr);
basepri::write(logical2hw(current, nvic_prio_bits));
r
}
}
@ -335,40 +293,29 @@ pub unsafe fn lock<T, R, const M: usize>(
#[inline(always)]
pub unsafe fn lock<T, R, const M: usize>(
ptr: *mut T,
priority: &Priority,
ceiling: u8,
_nvic_prio_bits: u8,
masks: &[Mask<M>; 3],
f: impl FnOnce(&mut T) -> R,
) -> R {
let current = priority.get();
if current < ceiling {
if ceiling >= 4 {
// safe to manipulate outside critical section
priority.set(ceiling);
// execute closure under protection of raised system ceiling
let r = interrupt::free(|_| f(&mut *ptr));
// safe to manipulate outside critical section
priority.set(current);
r
} else {
// safe to manipulate outside critical section
priority.set(ceiling);
let mask = compute_mask(current, ceiling, masks);
clear_enable_mask(mask);
// execute closure under protection of raised system ceiling
let r = f(&mut *ptr);
set_enable_mask(mask);
// safe to manipulate outside critical section
priority.set(current);
r
}
if ceiling >= 4 {
// safe to manipulate outside critical section
// execute closure under protection of raised system ceiling
let r = interrupt::free(|_| f(&mut *ptr));
// safe to manipulate outside critical section
r
} else {
// execute closure without raising system ceiling
f(&mut *ptr)
// safe to manipulate outside critical section
let mask = compute_mask(0, ceiling, masks);
clear_enable_mask(mask);
// execute closure under protection of raised system ceiling
let r = f(&mut *ptr);
set_enable_mask(mask);
// safe to manipulate outside critical section
r
}
}