mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-12-24 19:09:33 +01:00
add "nightly" feature
This commit is contained in:
Jorge Aparicio
parent
c91b14bcd4
commit
88078e7770
5 changed files with 248 additions and 87 deletions
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@ -51,6 +51,7 @@ 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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@ -28,3 +28,4 @@ version = "0.5.5"
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[features]
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timer-queue = []
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nightly = []
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@ -283,7 +283,7 @@ fn resources(ctxt: &mut Context, app: &App, analysis: &Analysis) -> proc_macro2:
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if let Some(Ownership::Shared { ceiling }) = analysis.ownerships.get(name) {
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if res.mutability.is_some() {
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let ptr = if res.expr.is_none() {
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quote!(unsafe { #alias.get_mut() })
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quote!(unsafe { &mut *#alias.as_mut_ptr() })
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} else {
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quote!(unsafe { &mut #alias })
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};
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@ -494,8 +494,10 @@ fn post_init(ctxt: &Context, app: &App, analysis: &Analysis) -> proc_macro2::Tok
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// Enable and start the system timer
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if !analysis.timer_queue.tasks.is_empty() {
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let tq = &ctxt.timer_queue;
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exprs.push(quote!(#tq.get_mut().syst.set_clock_source(rtfm::export::SystClkSource::Core)));
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exprs.push(quote!(#tq.get_mut().syst.enable_counter()));
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exprs.push(
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quote!((*#tq.as_mut_ptr()).syst.set_clock_source(rtfm::export::SystClkSource::Core)),
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);
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exprs.push(quote!((*#tq.as_mut_ptr()).syst.enable_counter()));
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}
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// Enable cycle counter
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@ -903,21 +905,21 @@ fn prelude(
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));
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}
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} else {
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let method = if mut_.is_some() {
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quote!(get_mut)
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let expr = if mut_.is_some() {
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quote!(&mut *#alias.as_mut_ptr())
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} else {
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quote!(get_ref)
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quote!(&*#alias.as_ptr())
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};
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if exclusive {
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exprs.push(quote!(
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#(#cfgs)*
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#name: rtfm::Exclusive(#alias.#method())
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#name: rtfm::Exclusive(#expr)
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));
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} else {
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exprs.push(quote!(
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#(#cfgs)*
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#name: #alias.#method()
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#name: #expr
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));
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}
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}
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@ -1254,8 +1256,9 @@ fn tasks(ctxt: &mut Context, app: &App, analysis: &Analysis) -> proc_macro2::Tok
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let ty = tuple_ty(inputs);
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let capacity_lit = mk_capacity_literal(analysis.capacities[name]);
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let capacity_ty = mk_typenum_capacity(analysis.capacities[name], true);
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let capacity = analysis.capacities[name];
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let capacity_lit = mk_capacity_literal(capacity);
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let capacity_ty = mk_typenum_capacity(capacity, true);
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let resource = mk_resource(
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ctxt,
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@ -1263,7 +1266,11 @@ fn tasks(ctxt: &mut Context, app: &App, analysis: &Analysis) -> proc_macro2::Tok
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&free_alias,
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quote!(rtfm::export::FreeQueue<#capacity_ty>),
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*analysis.free_queues.get(name).unwrap_or(&0),
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quote!(#free_alias.get_mut()),
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if cfg!(feature = "nightly") {
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quote!(&mut #free_alias)
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} else {
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quote!(#free_alias.get_mut())
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},
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app,
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None,
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);
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@ -1273,12 +1280,24 @@ fn tasks(ctxt: &mut Context, app: &App, analysis: &Analysis) -> proc_macro2::Tok
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() => {
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let scheduleds_symbol = format!("{}::SCHEDULED_TIMES::{}", name, scheduleds_alias);
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quote!(
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#[doc = #scheduleds_symbol]
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static mut #scheduleds_alias:
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rtfm::export::MaybeUninit<[rtfm::Instant; #capacity_lit]> =
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rtfm::export::MaybeUninit::uninitialized();
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)
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if cfg!(feature = "nightly") {
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let inits =
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(0..capacity).map(|_| quote!(rtfm::export::MaybeUninit::uninitialized()));
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quote!(
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#[doc = #scheduleds_symbol]
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static mut #scheduleds_alias:
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[rtfm::export::MaybeUninit<rtfm::Instant>; #capacity_lit] =
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[#(#inits),*];
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)
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} else {
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quote!(
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#[doc = #scheduleds_symbol]
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static mut #scheduleds_alias:
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rtfm::export::MaybeUninit<[rtfm::Instant; #capacity_lit]> =
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rtfm::export::MaybeUninit::uninitialized();
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)
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}
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}
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#[cfg(not(feature = "timer-queue"))]
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() => quote!(),
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@ -1286,20 +1305,36 @@ fn tasks(ctxt: &mut Context, app: &App, analysis: &Analysis) -> proc_macro2::Tok
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let inputs_symbol = format!("{}::INPUTS::{}", name, inputs_alias);
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let free_symbol = format!("{}::FREE_QUEUE::{}", name, free_alias);
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items.push(quote!(
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// FIXME(MaybeUninit) MaybeUninit won't be necessary when core::mem::MaybeUninit
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// stabilizes because heapless constructors will work in const context
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#[doc = #free_symbol]
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static mut #free_alias: rtfm::export::MaybeUninit<
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if cfg!(feature = "nightly") {
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let inits = (0..capacity).map(|_| quote!(rtfm::export::MaybeUninit::uninitialized()));
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items.push(quote!(
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#[doc = #free_symbol]
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static mut #free_alias: rtfm::export::FreeQueue<#capacity_ty> = unsafe {
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rtfm::export::FreeQueue::new_sc()
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};
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#[doc = #inputs_symbol]
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static mut #inputs_alias: [rtfm::export::MaybeUninit<#ty>; #capacity_lit] =
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[#(#inits),*];
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));
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} else {
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items.push(quote!(
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#[doc = #free_symbol]
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static mut #free_alias: rtfm::export::MaybeUninit<
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rtfm::export::FreeQueue<#capacity_ty>
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> = rtfm::export::MaybeUninit::uninitialized();
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> = rtfm::export::MaybeUninit::uninitialized();
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#[doc = #inputs_symbol]
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static mut #inputs_alias: rtfm::export::MaybeUninit<[#ty; #capacity_lit]> =
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rtfm::export::MaybeUninit::uninitialized();
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));
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}
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items.push(quote!(
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#resource
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#[doc = #inputs_symbol]
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static mut #inputs_alias: rtfm::export::MaybeUninit<[#ty; #capacity_lit]> =
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rtfm::export::MaybeUninit::uninitialized();
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#scheduleds_static
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));
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@ -1428,18 +1463,31 @@ fn dispatchers(
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&ready_alias,
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ty.clone(),
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ceiling,
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quote!(#ready_alias.get_mut()),
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if cfg!(feature = "nightly") {
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quote!(&mut #ready_alias)
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} else {
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quote!(#ready_alias.get_mut())
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},
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app,
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None,
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);
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if cfg!(feature = "nightly") {
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data.push(quote!(
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#[doc = #symbol]
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static mut #ready_alias: #ty = unsafe { #e::ReadyQueue::new_sc() };
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));
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} else {
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data.push(quote!(
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#[doc = #symbol]
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static mut #ready_alias: #e::MaybeUninit<#ty> = #e::MaybeUninit::uninitialized();
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));
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}
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data.push(quote!(
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#[allow(dead_code)]
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#[allow(non_camel_case_types)]
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enum #enum_alias { #(#variants,)* }
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#[doc = #symbol]
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static mut #ready_alias: #e::MaybeUninit<#ty> = #e::MaybeUninit::uninitialized();
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#resource
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));
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@ -1462,9 +1510,14 @@ fn dispatchers(
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#[cfg(feature = "timer-queue")]
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() => {
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let scheduleds = &task_.scheduleds;
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let scheduled = if cfg!(feature = "nightly") {
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quote!(#scheduleds.get_unchecked(usize::from(index)).as_ptr())
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} else {
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quote!(#scheduleds.get_ref().get_unchecked(usize::from(index)))
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};
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baseline_let = quote!(
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let baseline =
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ptr::read(#scheduleds.get_ref().get_unchecked(usize::from(index)));
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let baseline = ptr::read(#scheduled);
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);
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call = quote!(#alias(&baseline, #pats));
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}
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@ -1475,12 +1528,24 @@ fn dispatchers(
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}
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};
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let (free_, input) = if cfg!(feature = "nightly") {
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(
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quote!(#free),
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quote!(#inputs.get_unchecked(usize::from(index)).as_ptr()),
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)
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} else {
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(
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quote!(#free.get_mut()),
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quote!(#inputs.get_ref().get_unchecked(usize::from(index))),
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)
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};
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quote!(
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#(#cfgs)*
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#enum_alias::#task => {
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#baseline_let
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let input = ptr::read(#inputs.get_ref().get_unchecked(usize::from(index)));
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#free.get_mut().split().0.enqueue_unchecked(index);
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let input = ptr::read(#input);
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#free_.split().0.enqueue_unchecked(index);
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let (#pats) = input;
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#call
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}
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@ -1492,6 +1557,11 @@ fn dispatchers(
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let interrupt = &dispatcher.interrupt;
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let symbol = interrupt.to_string();
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let alias = ctxt.ident_gen.mk_ident(None, false);
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let ready_alias_ = if cfg!(feature = "nightly") {
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quote!(#ready_alias)
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} else {
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quote!(#ready_alias.get_mut())
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};
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dispatchers.push(quote!(
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#(#attrs)*
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#[export_name = #symbol]
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@ -1502,7 +1572,7 @@ fn dispatchers(
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let _ = #device::interrupt::#interrupt;
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rtfm::export::run(|| {
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while let Some((task, index)) = #ready_alias.get_mut().split().1.dequeue() {
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while let Some((task, index)) = #ready_alias_.split().1.dequeue() {
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match task {
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#(#arms)*
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}
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@ -1550,12 +1620,21 @@ fn spawn(ctxt: &Context, app: &App, analysis: &Analysis) -> proc_macro2::TokenSt
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#[cfg(feature = "timer-queue")]
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() => {
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let scheduleds = &ctxt.tasks[name].scheduleds;
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quote!(
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ptr::write(
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#scheduleds.get_mut().get_unchecked_mut(usize::from(index)),
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#baseline,
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);
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)
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if cfg!(feature = "nightly") {
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quote!(
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ptr::write(
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#scheduleds.get_unchecked_mut(usize::from(index)).as_mut_ptr(),
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#baseline,
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);
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)
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} else {
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quote!(
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ptr::write(
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#scheduleds.get_mut().get_unchecked_mut(usize::from(index)),
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#baseline,
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);
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)
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}
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}
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#[cfg(not(feature = "timer-queue"))]
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() => quote!(),
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@ -1568,6 +1647,11 @@ fn spawn(ctxt: &Context, app: &App, analysis: &Analysis) -> proc_macro2::TokenSt
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() => quote!(),
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};
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let input = if cfg!(feature = "nightly") {
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quote!(#inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr())
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} else {
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quote!(#inputs.get_mut().get_unchecked_mut(usize::from(index)))
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};
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items.push(quote!(
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#[inline(always)]
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#(#cfgs)*
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@ -1581,7 +1665,7 @@ fn spawn(ctxt: &Context, app: &App, analysis: &Analysis) -> proc_macro2::TokenSt
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use rtfm::Mutex;
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if let Some(index) = (#free { #priority }).lock(|f| f.split().1.dequeue()) {
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ptr::write(#inputs.get_mut().get_unchecked_mut(usize::from(index)), (#pats));
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ptr::write(#input, (#pats));
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#scheduleds_write
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#ready { #priority }.lock(|rq| {
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@ -1667,6 +1751,17 @@ fn schedule(ctxt: &Context, app: &App) -> proc_macro2::TokenStream {
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let ty = tuple_ty(args);
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let pats = tuple_pat(args);
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let input = if cfg!(feature = "nightly") {
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quote!(#inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr())
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} else {
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quote!(#inputs.get_mut().get_unchecked_mut(usize::from(index)))
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};
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let scheduled = if cfg!(feature = "nightly") {
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quote!(#scheduleds.get_unchecked_mut(usize::from(index)).as_mut_ptr())
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} else {
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quote!(#scheduleds.get_mut().get_unchecked_mut(usize::from(index)))
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};
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items.push(quote!(
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#[inline(always)]
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#(#cfgs)*
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@ -1680,11 +1775,8 @@ fn schedule(ctxt: &Context, app: &App) -> proc_macro2::TokenStream {
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use rtfm::Mutex;
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if let Some(index) = (#free { #priority }).lock(|f| f.split().1.dequeue()) {
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ptr::write(#inputs.get_mut().get_unchecked_mut(usize::from(index)), (#pats));
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ptr::write(
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#scheduleds.get_mut().get_unchecked_mut(usize::from(index)),
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instant,
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);
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ptr::write(#input, (#pats));
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ptr::write(#scheduled, instant);
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let nr = rtfm::export::NotReady {
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instant,
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@ -1772,12 +1864,20 @@ fn timer_queue(ctxt: &mut Context, app: &App, analysis: &Analysis) -> proc_macro
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let cap = mk_typenum_capacity(analysis.timer_queue.capacity, false);
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let tq = &ctxt.timer_queue;
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let symbol = format!("TIMER_QUEUE::{}", tq);
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items.push(quote!(
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#[doc = #symbol]
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static mut #tq:
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rtfm::export::MaybeUninit<rtfm::export::TimerQueue<#enum_, #cap>> =
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if cfg!(feature = "nightly") {
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items.push(quote!(
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#[doc = #symbol]
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static mut #tq: rtfm::export::MaybeUninit<rtfm::export::TimerQueue<#enum_, #cap>> =
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rtfm::export::MaybeUninit::uninitialized();
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));
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));
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} else {
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items.push(quote!(
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#[doc = #symbol]
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static mut #tq:
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rtfm::export::MaybeUninit<rtfm::export::TimerQueue<#enum_, #cap>> =
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rtfm::export::MaybeUninit::uninitialized();
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));
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}
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items.push(mk_resource(
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ctxt,
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@ -1785,7 +1885,7 @@ fn timer_queue(ctxt: &mut Context, app: &App, analysis: &Analysis) -> proc_macro
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tq,
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quote!(rtfm::export::TimerQueue<#enum_, #cap>),
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analysis.timer_queue.ceiling,
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quote!(#tq.get_mut()),
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quote!(&mut *#tq.as_mut_ptr()),
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app,
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None,
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));
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@ -1842,36 +1942,32 @@ fn timer_queue(ctxt: &mut Context, app: &App, analysis: &Analysis) -> proc_macro
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fn pre_init(ctxt: &Context, app: &App, analysis: &Analysis) -> proc_macro2::TokenStream {
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let mut exprs = vec![];
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// FIXME(MaybeUninit) Because we are using a fake MaybeUninit we need to set the Option tag to
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// Some; otherwise the get_ref and get_mut could result in UB. Also heapless collections can't
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// be constructed in const context; we have to initialize them at runtime (i.e. here).
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if !cfg!(feature = "nightly") {
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// these are `MaybeUninit` arrays
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for task in ctxt.tasks.values() {
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let inputs = &task.inputs;
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exprs.push(quote!(#inputs.set(core::mem::uninitialized());))
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}
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// these are `MaybeUninit` arrays
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for task in ctxt.tasks.values() {
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let inputs = &task.inputs;
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exprs.push(quote!(#inputs.set(core::mem::uninitialized());))
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#[cfg(feature = "timer-queue")]
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for task in ctxt.tasks.values() {
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let scheduleds = &task.scheduleds;
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exprs.push(quote!(#scheduleds.set(core::mem::uninitialized());))
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}
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// these are `MaybeUninit` `ReadyQueue`s
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for dispatcher in ctxt.dispatchers.values() {
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let rq = &dispatcher.ready_queue;
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exprs.push(quote!(#rq.set(rtfm::export::ReadyQueue::new_sc());))
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}
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// these are `MaybeUninit` `FreeQueue`s
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for task in ctxt.tasks.values() {
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let fq = &task.free_queue;
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exprs.push(quote!(#fq.set(rtfm::export::FreeQueue::new_sc());))
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}
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}
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#[cfg(feature = "timer-queue")]
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for task in ctxt.tasks.values() {
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let scheduleds = &task.scheduleds;
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exprs.push(quote!(#scheduleds.set(core::mem::uninitialized());))
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}
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// these are `MaybeUninit` `ReadyQueue`s
|
||||
for dispatcher in ctxt.dispatchers.values() {
|
||||
let rq = &dispatcher.ready_queue;
|
||||
exprs.push(quote!(#rq.set(rtfm::export::ReadyQueue::new_sc());))
|
||||
}
|
||||
|
||||
// these are `MaybeUninit` `FreeQueue`s
|
||||
for task in ctxt.tasks.values() {
|
||||
let fq = &task.free_queue;
|
||||
exprs.push(quote!(#fq.set(rtfm::export::FreeQueue::new_sc());))
|
||||
}
|
||||
|
||||
// end-of-FIXME
|
||||
|
||||
// Initialize the timer queue
|
||||
if !analysis.timer_queue.tasks.is_empty() {
|
||||
let tq = &ctxt.timer_queue;
|
||||
|
|
@ -1881,10 +1977,15 @@ fn pre_init(ctxt: &Context, app: &App, analysis: &Analysis) -> proc_macro2::Toke
|
|||
// Populate the `FreeQueue`s
|
||||
for (name, task) in &ctxt.tasks {
|
||||
let fq = &task.free_queue;
|
||||
let fq_ = if cfg!(feature = "nightly") {
|
||||
quote!(#fq)
|
||||
} else {
|
||||
quote!(#fq.get_mut())
|
||||
};
|
||||
let capacity = analysis.capacities[name];
|
||||
exprs.push(quote!(
|
||||
for i in 0..#capacity {
|
||||
#fq.get_mut().enqueue_unchecked(i);
|
||||
#fq_.enqueue_unchecked(i);
|
||||
}
|
||||
))
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,8 +1,10 @@
|
|||
//! IMPLEMENTATION DETAILS. DO NOT USE ANYTHING IN THIS MODULE
|
||||
|
||||
#[cfg(not(debug_assertions))]
|
||||
#[cfg(all(not(feature = "nightly"), not(debug_assertions)))]
|
||||
use core::hint;
|
||||
use core::{cell::Cell, ptr, u8};
|
||||
#[cfg(not(feature = "nightly"))]
|
||||
use core::ptr;
|
||||
use core::{cell::Cell, u8};
|
||||
|
||||
#[cfg(armv7m)]
|
||||
use cortex_m::register::basepri;
|
||||
|
|
@ -64,17 +66,72 @@ impl Priority {
|
|||
}
|
||||
}
|
||||
|
||||
// TODO(MaybeUninit) Until core::mem::MaybeUninit is stabilized we use our own (inefficient)
|
||||
// implementation
|
||||
#[cfg(feature = "nightly")]
|
||||
pub struct MaybeUninit<T> {
|
||||
// we newtype so the end-user doesn't need `#![feature(maybe_uninit)]` in their code
|
||||
inner: core::mem::MaybeUninit<T>,
|
||||
}
|
||||
|
||||
#[cfg(feature = "nightly")]
|
||||
impl<T> MaybeUninit<T> {
|
||||
pub const fn uninitialized() -> Self {
|
||||
MaybeUninit {
|
||||
inner: core::mem::MaybeUninit::uninitialized(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn as_ptr(&self) -> *const T {
|
||||
self.inner.as_ptr()
|
||||
}
|
||||
|
||||
pub fn as_mut_ptr(&mut self) -> *mut T {
|
||||
self.inner.as_mut_ptr()
|
||||
}
|
||||
|
||||
pub fn set(&mut self, value: T) -> &mut T {
|
||||
self.inner.set(value)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(not(feature = "nightly"))]
|
||||
pub struct MaybeUninit<T> {
|
||||
value: Option<T>,
|
||||
}
|
||||
|
||||
#[cfg(not(feature = "nightly"))]
|
||||
impl<T> MaybeUninit<T> {
|
||||
pub const fn uninitialized() -> Self {
|
||||
MaybeUninit { value: None }
|
||||
}
|
||||
|
||||
pub fn as_ptr(&self) -> *const T {
|
||||
if let Some(x) = self.value.as_ref() {
|
||||
x
|
||||
} else {
|
||||
match () {
|
||||
// Try to catch UB when compiling in release with debug assertions enabled
|
||||
#[cfg(debug_assertions)]
|
||||
() => unreachable!(),
|
||||
#[cfg(not(debug_assertions))]
|
||||
() => unsafe { hint::unreachable_unchecked() },
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn as_mut_ptr(&mut self) -> *mut T {
|
||||
if let Some(x) = self.value.as_mut() {
|
||||
x
|
||||
} else {
|
||||
match () {
|
||||
// Try to catch UB when compiling in release with debug assertions enabled
|
||||
#[cfg(debug_assertions)]
|
||||
() => unreachable!(),
|
||||
#[cfg(not(debug_assertions))]
|
||||
() => unsafe { hint::unreachable_unchecked() },
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub unsafe fn get_ref(&self) -> &T {
|
||||
if let Some(x) = self.value.as_ref() {
|
||||
x
|
||||
|
|
|
|||
|
|
@ -36,6 +36,7 @@
|
|||
//! [`Instant`]: struct.Instant.html
|
||||
//! [`Duration`]: struct.Duration.html
|
||||
|
||||
#![cfg_attr(feature = "nightly", feature(maybe_uninit))]
|
||||
#![deny(missing_docs)]
|
||||
#![deny(warnings)]
|
||||
#![no_std]
|
||||
|
|
|
|||
Loading…
Reference in a new issue