rtfm-syntax refactor + heterogeneous multi-core support

examples/baseline.rs

@@ -5,13 +5,12 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 // NOTE: does NOT properly work on QEMU
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(spawn = [foo])]
     fn init(c: init::Context) {

examples/binds.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 // `examples/interrupt.rs` rewritten to use `binds`
 #[rtfm::app(device = lm3s6965)]

examples/capacity.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/cfg.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 #[cfg(debug_assertions)]
 use cortex_m_semihosting::hprintln;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -21,12 +20,12 @@ const APP: () = {
     }
 
     #[task(priority = 3, resources = [COUNT], spawn = [log])]
-    fn foo(c: foo::Context) {
+    fn foo(_c: foo::Context) {
         #[cfg(debug_assertions)]
         {
-            *c.resources.COUNT += 1;
+            *_c.resources.COUNT += 1;
 
-            c.spawn.log(*c.resources.COUNT).ok();
+            _c.spawn.log(*_c.resources.COUNT).ok();
         }
 
         // this wouldn't compile in `release` mode

examples/generics.rs

@@ -5,11 +5,10 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
-use rtfm::Mutex;
+use panic_semihosting as _;
+use rtfm::{Exclusive, Mutex};
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -35,17 +34,15 @@ const APP: () = {
     }
 
     #[interrupt(priority = 2, resources = [SHARED])]
-    fn UART1(mut c: UART1::Context) {
+    fn UART1(c: UART1::Context) {
         static mut STATE: u32 = 0;
 
         hprintln!("UART1(STATE = {})", *STATE).unwrap();
 
-        // just to show that `SHARED` can be accessed directly and ..
+        // just to show that `SHARED` can be accessed directly
         *c.resources.SHARED += 0;
-        // .. also through a (no-op) `lock`
-        c.resources.SHARED.lock(|shared| *shared += 0);
 
-        advance(STATE, c.resources.SHARED);
+        advance(STATE, Exclusive(c.resources.SHARED));
     }
 };
 

examples/idle.rs

@@ -5,9 +5,8 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/init.rs

@@ -5,18 +5,17 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, peripherals = true)]
 const APP: () = {
     #[init]
     fn init(c: init::Context) {
         static mut X: u32 = 0;
 
         // Cortex-M peripherals
-        let _core: rtfm::Peripherals = c.core;
+        let _core: cortex_m::Peripherals = c.core;
 
         // Device specific peripherals
         let _device: lm3s6965::Peripherals = c.device;

examples/interrupt.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/late.rs

@@ -5,20 +5,21 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use heapless::{
     consts::*,
     spsc::{Consumer, Producer, Queue},
 };
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
     // Late resources
-    static mut P: Producer<'static, u32, U4> = ();
-    static mut C: Consumer<'static, u32, U4> = ();
+    extern "C" {
+        static mut P: Producer<'static, u32, U4>;
+        static mut C: Consumer<'static, u32, U4>;
+    }
 
     #[init]
     fn init(_: init::Context) -> init::LateResources {

examples/lock.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -46,7 +45,7 @@ const APP: () = {
     }
 
     #[interrupt(priority = 2, resources = [SHARED])]
-    fn GPIOB(mut c: GPIOB::Context) {
+    fn GPIOB(c: GPIOB::Context) {
         // the higher priority task does *not* need a critical section
         *c.resources.SHARED += 1;
 

examples/message.rs

@@ -5,9 +5,8 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/not-send.rs

@@ -5,11 +5,10 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_halt;
-
 use core::marker::PhantomData;
 
 use cortex_m_semihosting::debug;
+use panic_halt as _;
 use rtfm::app;
 
 pub struct NotSend {
@@ -38,13 +37,13 @@ const APP: () = {
     }
 
     #[task(priority = 2, resources = [SHARED])]
-    fn baz(mut c: baz::Context) {
+    fn baz(c: baz::Context) {
         // scenario 2: resource shared between tasks that run at the same priority
         *c.resources.SHARED = Some(NotSend { _0: PhantomData });
     }
 
     #[task(priority = 2, resources = [SHARED])]
-    fn quux(mut c: quux::Context) {
+    fn quux(c: quux::Context) {
         // scenario 2
         let _not_send = c.resources.SHARED.take().unwrap();
 

examples/not-sync.rs

@@ -5,11 +5,10 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_halt;
-
 use core::marker::PhantomData;
 
 use cortex_m_semihosting::debug;
+use panic_halt as _;
 
 pub struct NotSync {
     _0: PhantomData<*const ()>,

examples/periodic.rs

@@ -5,15 +5,14 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::hprintln;
-use rtfm::Instant;
+use panic_semihosting as _;
+use rtfm::cyccnt::{Instant, U32Ext};
 
 const PERIOD: u32 = 8_000_000;
 
 // NOTE: does NOT work on QEMU!
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(schedule = [foo])]
     fn init(c: init::Context) {

examples/pool.rs

@@ -5,14 +5,13 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use heapless::{
     pool,
     pool::singleton::{Box, Pool},
 };
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 use rtfm::app;
 
 // Declare a pool of 128-byte memory blocks

examples/ramfunc.rs

@@ -5,9 +5,8 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/resource.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
@@ -33,7 +32,7 @@ const APP: () = {
 
     // `SHARED` can be access from this context
     #[interrupt(resources = [SHARED])]
-    fn UART0(mut c: UART0::Context) {
+    fn UART0(c: UART0::Context) {
         *c.resources.SHARED += 1;
 
         hprintln!("UART0: SHARED = {}", c.resources.SHARED).unwrap();
@@ -41,7 +40,7 @@ const APP: () = {
 
     // `SHARED` can be access from this context
     #[interrupt(resources = [SHARED])]
-    fn UART1(mut c: UART1::Context) {
+    fn UART1(c: UART1::Context) {
         *c.resources.SHARED += 1;
 
         hprintln!("UART1: SHARED = {}", c.resources.SHARED).unwrap();

examples/schedule.rs

@@ -5,13 +5,12 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::hprintln;
-use rtfm::Instant;
+use panic_halt as _;
+use rtfm::cyccnt::{Instant, U32Ext as _};
 
 // NOTE: does NOT work on QEMU!
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     #[init(schedule = [foo, bar])]
     fn init(c: init::Context) {

examples/shared-with-init.rs

@@ -5,10 +5,9 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_halt;
-
 use cortex_m_semihosting::debug;
 use lm3s6965::Interrupt;
+use panic_halt as _;
 use rtfm::app;
 
 pub struct MustBeSend;

examples/smallest.rs

@@ -5,13 +5,8 @@
 #![no_main]
 #![no_std]
 
-// panic-handler crate
-extern crate panic_semihosting;
-
+use panic_semihosting as _; // panic handler
 use rtfm::app;
 
 #[app(device = lm3s6965)]
-const APP: () = {
-    #[init]
-    fn init(_: init::Context) {}
-};
+const APP: () = {};

examples/static.rs

@@ -5,14 +5,15 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
 use lm3s6965::Interrupt;
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {
-    static KEY: u32 = ();
+    extern "C" {
+        static KEY: u32;
+    }
 
     #[init]
     fn init(_: init::Context) -> init::LateResources {

examples/t-binds.rs

@@ -0,0 +1,30 @@
+//! [compile-pass] Check that `binds` works as advertised
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(device = lm3s6965)]
+const APP: () = {
+    #[init]
+    fn init(_: init::Context) {}
+
+    #[exception(binds = SVCall)]
+    fn foo(c: foo::Context) {
+        foo_trampoline(c)
+    }
+
+    #[interrupt(binds = UART0)]
+    fn bar(c: bar::Context) {
+        bar_trampoline(c)
+    }
+};
+
+#[allow(dead_code)]
+fn foo_trampoline(_: foo::Context) {}
+
+#[allow(dead_code)]
+fn bar_trampoline(_: bar::Context) {}

examples/t-cfg.rs

@@ -0,0 +1,47 @@
+//! [compile-pass] check that `#[cfg]` attributes are respected
+
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
+const APP: () = {
+    #[cfg(never)]
+    static mut FOO: u32 = 0;
+
+    #[init]
+    fn init(_: init::Context) {
+        #[cfg(never)]
+        static mut BAR: u32 = 0;
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        #[cfg(never)]
+        static mut BAR: u32 = 0;
+
+        loop {}
+    }
+
+    #[task(resources = [FOO], schedule = [quux], spawn = [quux])]
+    fn foo(_: foo::Context) {
+        #[cfg(never)]
+        static mut BAR: u32 = 0;
+    }
+
+    #[task(priority = 3, resources = [FOO], schedule = [quux], spawn = [quux])]
+    fn bar(_: bar::Context) {
+        #[cfg(never)]
+        static mut BAR: u32 = 0;
+    }
+
+    #[cfg(never)]
+    #[task]
+    fn quux(_: quux::Context) {}
+
+    extern "C" {
+        fn UART0();
+        fn UART1();
+    }
+};

examples/t-late-not-send.rs

@@ -0,0 +1,36 @@
+//! [compile-pass] late resources don't need to be `Send` if they are owned by `idle`
+
+#![no_main]
+#![no_std]
+
+use core::marker::PhantomData;
+
+use panic_halt as _;
+
+pub struct NotSend {
+    _0: PhantomData<*const ()>,
+}
+
+#[rtfm::app(device = lm3s6965)]
+const APP: () = {
+    extern "C" {
+        static mut X: NotSend;
+    }
+
+    static mut Y: Option<NotSend> = None;
+
+    #[init(resources = [Y])]
+    fn init(c: init::Context) -> init::LateResources {
+        // equivalent to late resource initialization
+        *c.resources.Y = Some(NotSend { _0: PhantomData });
+
+        init::LateResources {
+            X: NotSend { _0: PhantomData },
+        }
+    }
+
+    #[idle(resources = [X, Y])]
+    fn idle(_: idle::Context) -> ! {
+        loop {}
+    }
+};

examples/t-resource.rs

@@ -0,0 +1,77 @@
+//! [compile-pass] Check code generation of resources
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(device = lm3s6965)]
+const APP: () = {
+    static mut O1: u32 = 0; // init
+    static mut O2: u32 = 0; // idle
+    static mut O3: u32 = 0; // EXTI0
+    static O4: u32 = 0; // idle
+    static O5: u32 = 0; // EXTI1
+    static O6: u32 = 0; // init
+
+    static mut S1: u32 = 0; // idle & EXTI0
+    static mut S2: u32 = 0; // EXTI0 & EXTI1
+    static S3: u32 = 0;
+
+    #[init(resources = [O1, O4, O5, O6, S3])]
+    fn init(c: init::Context) {
+        // owned by `init` == `&'static mut`
+        let _: &'static mut u32 = c.resources.O1;
+
+        // owned by `init` == `&'static` if read-only
+        let _: &'static u32 = c.resources.O6;
+
+        // `init` has exclusive access to all resources
+        let _: &mut u32 = c.resources.O4;
+        let _: &mut u32 = c.resources.O5;
+        let _: &mut u32 = c.resources.S3;
+    }
+
+    #[idle(resources = [O2, O4, S1, S3])]
+    fn idle(mut c: idle::Context) -> ! {
+        // owned by `idle` == `&'static mut`
+        let _: &'static mut u32 = c.resources.O2;
+
+        // owned by `idle` == `&'static` if read-only
+        let _: &'static u32 = c.resources.O4;
+
+        // shared with `idle` == `Mutex`
+        c.resources.S1.lock(|_| {});
+
+        // `&` if read-only
+        let _: &u32 = c.resources.S3;
+
+        loop {}
+    }
+
+    #[interrupt(resources = [O3, S1, S2, S3])]
+    fn UART0(c: UART0::Context) {
+        // owned by interrupt == `&mut`
+        let _: &mut u32 = c.resources.O3;
+
+        // no `Mutex` proxy when access from highest priority task
+        let _: &mut u32 = c.resources.S1;
+
+        // no `Mutex` proxy when co-owned by cooperative (same priority) tasks
+        let _: &mut u32 = c.resources.S2;
+
+        // `&` if read-only
+        let _: &u32 = c.resources.S3;
+    }
+
+    #[interrupt(resources = [S2, O5])]
+    fn UART1(c: UART1::Context) {
+        // owned by interrupt == `&` if read-only
+        let _: &u32 = c.resources.O5;
+
+        // no `Mutex` proxy when co-owned by cooperative (same priority) tasks
+        let _: &mut u32 = c.resources.S2;
+    }
+};

examples/t-schedule.rs

@@ -0,0 +1,59 @@
+//! [compile-pass] Check `schedule` code generation
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+use rtfm::cyccnt::{Instant, U32Ext as _};
+
+#[rtfm::app(device = lm3s6965, monotonic = rtfm::cyccnt::CYCCNT)]
+const APP: () = {
+    #[init(schedule = [foo, bar, baz])]
+    fn init(c: init::Context) {
+        let _: Result<(), ()> = c.schedule.foo(c.start + 10.cycles());
+        let _: Result<(), u32> = c.schedule.bar(c.start + 20.cycles(), 0);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 30.cycles(), 0, 1);
+    }
+
+    #[idle(schedule = [foo, bar, baz])]
+    fn idle(c: idle::Context) -> ! {
+        let _: Result<(), ()> = c.schedule.foo(Instant::now() + 40.cycles());
+        let _: Result<(), u32> = c.schedule.bar(Instant::now() + 50.cycles(), 0);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(Instant::now() + 60.cycles(), 0, 1);
+
+        loop {}
+    }
+
+    #[exception(schedule = [foo, bar, baz])]
+    fn SVCall(c: SVCall::Context) {
+        let _: Result<(), ()> = c.schedule.foo(c.start + 70.cycles());
+        let _: Result<(), u32> = c.schedule.bar(c.start + 80.cycles(), 0);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 90.cycles(), 0, 1);
+    }
+
+    #[interrupt(schedule = [foo, bar, baz])]
+    fn UART0(c: UART0::Context) {
+        let _: Result<(), ()> = c.schedule.foo(c.start + 100.cycles());
+        let _: Result<(), u32> = c.schedule.bar(c.start + 110.cycles(), 0);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 120.cycles(), 0, 1);
+    }
+
+    #[task(schedule = [foo, bar, baz])]
+    fn foo(c: foo::Context) {
+        let _: Result<(), ()> = c.schedule.foo(c.scheduled + 130.cycles());
+        let _: Result<(), u32> = c.schedule.bar(c.scheduled + 140.cycles(), 0);
+        let _: Result<(), (u32, u32)> = c.schedule.baz(c.scheduled + 150.cycles(), 0, 1);
+    }
+
+    #[task]
+    fn bar(_: bar::Context, _x: u32) {}
+
+    #[task]
+    fn baz(_: baz::Context, _x: u32, _y: u32) {}
+
+    extern "C" {
+        fn UART1();
+    }
+};

examples/t-spawn.rs

@@ -0,0 +1,58 @@
+//! [compile-pass] Check code generation of `spawn`
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(device = lm3s6965)]
+const APP: () = {
+    #[init(spawn = [foo, bar, baz])]
+    fn init(c: init::Context) {
+        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+    }
+
+    #[idle(spawn = [foo, bar, baz])]
+    fn idle(c: idle::Context) -> ! {
+        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+
+        loop {}
+    }
+
+    #[exception(spawn = [foo, bar, baz])]
+    fn SVCall(c: SVCall::Context) {
+        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+    }
+
+    #[interrupt(spawn = [foo, bar, baz])]
+    fn UART0(c: UART0::Context) {
+        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+    }
+
+    #[task(spawn = [foo, bar, baz])]
+    fn foo(c: foo::Context) {
+        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+    }
+
+    #[task]
+    fn bar(_: bar::Context, _x: u32) {}
+
+    #[task]
+    fn baz(_: baz::Context, _x: u32, _y: u32) {}
+
+    extern "C" {
+        fn UART1();
+    }
+};

examples/task.rs

@@ -5,9 +5,8 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
 
 #[rtfm::app(device = lm3s6965)]
 const APP: () = {

examples/types.rs

@@ -5,12 +5,11 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
 use cortex_m_semihosting::debug;
-use rtfm::{Exclusive, Instant};
+use panic_semihosting as _;
+use rtfm::cyccnt::Instant;
 
-#[rtfm::app(device = lm3s6965)]
+#[rtfm::app(device = lm3s6965, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
     static mut SHARED: u32 = 0;
 
@@ -43,7 +42,7 @@ const APP: () = {
     #[task(priority = 2, resources = [SHARED], schedule = [foo], spawn = [foo])]
     fn foo(c: foo::Context) {
         let _: Instant = c.scheduled;
-        let _: Exclusive<u32> = c.resources.SHARED;
+        let _: &mut u32 = c.resources.SHARED;
         let _: foo::Resources = c.resources;
         let _: foo::Schedule = c.schedule;
         let _: foo::Spawn = c.spawn;