rtfm-syntax refactor + heterogeneous multi-core support

macros/src/codegen/pre_init.rs

@@ -0,0 +1,150 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::ast::{App, HardwareTaskKind};
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+/// Generates code that runs before `#[init]`
+pub fn codegen(
+    core: u8,
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // `const_app_pre_init` -- `static` variables for barriers
+    Vec<TokenStream2>,
+    // `pre_init_stmts`
+    Vec<TokenStream2>,
+) {
+    let mut const_app = vec![];
+    let mut stmts = vec![];
+
+    // disable interrupts -- `init` must run with interrupts disabled
+    stmts.push(quote!(rtfm::export::interrupt::disable();));
+
+    // populate this core `FreeQueue`s
+    for (name, senders) in &analysis.free_queues {
+        let task = &app.software_tasks[name];
+        let cap = task.args.capacity;
+
+        for &sender in senders.keys() {
+            if sender == core {
+                let fq = util::fq_ident(name, sender);
+
+                stmts.push(quote!(
+                    (0..#cap).for_each(|i| #fq.enqueue_unchecked(i));
+                ));
+            }
+        }
+    }
+
+    stmts.push(quote!(
+        let mut core = rtfm::export::Peripherals::steal();
+    ));
+
+    let device = extra.device;
+    let nvic_prio_bits = quote!(#device::NVIC_PRIO_BITS);
+
+    // unmask interrupts and set their priorities
+    for (&priority, name) in analysis
+        .interrupts
+        .get(&core)
+        .iter()
+        .flat_map(|interrupts| *interrupts)
+        .chain(app.hardware_tasks.iter().flat_map(|(name, task)| {
+            if task.kind == HardwareTaskKind::Interrupt {
+                Some((&task.args.priority, task.args.binds(name)))
+            } else {
+                // we do exceptions in another pass
+                None
+            }
+        }))
+    {
+        // compile time assert that this priority is supported by the device
+        stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
+
+        // NOTE this also checks that the interrupt exists in the `Interrupt` enumeration
+        stmts.push(quote!(
+            core.NVIC.set_priority(
+                #device::Interrupt::#name,
+                rtfm::export::logical2hw(#priority, #nvic_prio_bits),
+            );
+        ));
+
+        // NOTE unmask the interrupt *after* setting its priority: changing the priority of a pended
+        // interrupt is implementation defined
+        stmts.push(quote!(core.NVIC.enable(#device::Interrupt::#name);));
+    }
+
+    // cross-spawn barriers: now that priorities have been set and the interrupts have been unmasked
+    // we are ready to receive messages from *other* cores
+    if analysis.spawn_barriers.contains_key(&core) {
+        let sb = util::spawn_barrier(core);
+
+        const_app.push(quote!(
+            #[rtfm::export::shared]
+            static #sb: rtfm::export::Barrier = rtfm::export::Barrier::new();
+        ));
+
+        // unblock cores that may send us a message
+        stmts.push(quote!(
+            #sb.release();
+        ));
+    }
+
+    // set exception priorities
+    for (name, priority) in app.hardware_tasks.iter().filter_map(|(name, task)| {
+        if task.kind == HardwareTaskKind::Exception {
+            Some((task.args.binds(name), task.args.priority))
+        } else {
+            None
+        }
+    }) {
+        // compile time assert that this priority is supported by the device
+        stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
+
+        stmts.push(quote!(core.SCB.set_priority(
+            rtfm::export::SystemHandler::#name,
+            rtfm::export::logical2hw(#priority, #nvic_prio_bits),
+        );));
+    }
+
+    // initialize the SysTick
+    if let Some(tq) = analysis.timer_queues.get(&core) {
+        let priority = tq.priority;
+
+        // compile time assert that this priority is supported by the device
+        stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
+
+        stmts.push(quote!(core.SCB.set_priority(
+            rtfm::export::SystemHandler::SysTick,
+            rtfm::export::logical2hw(#priority, #nvic_prio_bits),
+        );));
+
+        stmts.push(quote!(
+            core.SYST.set_clock_source(rtfm::export::SystClkSource::Core);
+            core.SYST.enable_counter();
+            core.DCB.enable_trace();
+        ));
+    }
+
+    // if there's no user `#[idle]` then optimize returning from interrupt handlers
+    if app.idles.get(&core).is_none() {
+        // Set SLEEPONEXIT bit to enter sleep mode when returning from ISR
+        stmts.push(quote!(core.SCB.scr.modify(|r| r | 1 << 1);));
+    }
+
+    // cross-spawn barriers: wait until other cores are ready to receive messages
+    for (&receiver, senders) in &analysis.spawn_barriers {
+        // only block here if `init` can send messages to `receiver`
+        if senders.get(&core) == Some(&true) {
+            let sb = util::spawn_barrier(receiver);
+
+            stmts.push(quote!(
+                #sb.wait();
+            ));
+        }
+    }
+
+    (const_app, stmts)
+}