mirror of
https://github.com/rtic-rs/rtic.git
synced 2025-12-18 22:05:37 +01:00
Monotonic codegen now passing compile stage
This commit is contained in:
Emil Fresk
parent
97a48983d2
commit
8e8ec9b7b8
8 changed files with 189 additions and 219 deletions
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@ -3,7 +3,7 @@ use core::{
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sync::atomic::{AtomicBool, Ordering},
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};
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// pub use crate::tq::{NotReady, TimerQueue};
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pub use crate::tq::{NotReady, TimerQueue};
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pub use bare_metal::CriticalSection;
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#[cfg(armv7m)]
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pub use cortex_m::register::basepri;
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@ -35,12 +35,10 @@
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// #![deny(warnings)]
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#![no_std]
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use core::ops::Sub;
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use cortex_m::{interrupt::Nr, peripheral::NVIC};
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pub use cortex_m_rtic_macros::app;
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pub use rtic_core::{
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monotonic::{Clock, Instant, Monotonic},
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monotonic::{self, Clock, Duration, Instant, Monotonic},
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prelude as mutex_prelude, Exclusive, Mutex,
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};
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307
src/tq.rs
307
src/tq.rs
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@ -1,156 +1,151 @@
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// use core::{
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// cmp::{self, Ordering},
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// convert::TryInto,
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// mem,
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// ops::Sub,
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// };
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//
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// use cortex_m::peripheral::{SCB, SYST};
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// use heapless::{binary_heap::Min, ArrayLength, BinaryHeap};
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//
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// use crate::Monotonic;
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//
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// pub struct TimerQueue<M, T, N>(pub BinaryHeap<NotReady<M, T>, N, Min>)
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// where
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// M: Monotonic,
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// <M::Instant as Sub>::Output: TryInto<u32>,
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// N: ArrayLength<NotReady<M, T>>,
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// T: Copy;
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//
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// impl<M, T, N> TimerQueue<M, T, N>
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// where
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// M: Monotonic,
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// <M::Instant as Sub>::Output: TryInto<u32>,
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// N: ArrayLength<NotReady<M, T>>,
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// T: Copy,
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// {
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// /// # Safety
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// ///
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// /// Writing to memory with a transmute in order to enable
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// /// interrupts of the SysTick timer
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// ///
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// /// Enqueue a task without checking if it is full
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// #[inline]
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// pub unsafe fn enqueue_unchecked(&mut self, nr: NotReady<M, T>) {
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// let mut is_empty = true;
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// // Check if the top contains a non-empty element and if that element is
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// // greater than nr
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// let if_heap_max_greater_than_nr = self
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// .0
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// .peek()
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// .map(|head| {
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// is_empty = false;
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// nr.instant < head.instant
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// })
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// .unwrap_or(true);
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// if if_heap_max_greater_than_nr {
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// if is_empty {
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// mem::transmute::<_, SYST>(()).enable_interrupt();
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// }
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//
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// // Set SysTick pending
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// SCB::set_pendst();
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// }
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//
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// self.0.push_unchecked(nr);
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// }
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//
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// /// Dequeue a task from the TimerQueue
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// #[inline]
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// pub fn dequeue(&mut self) -> Option<(T, u8)> {
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// unsafe {
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// if let Some(instant) = self.0.peek().map(|p| p.instant) {
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// let now = M::now();
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//
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// if instant < now {
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// // task became ready
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// let nr = self.0.pop_unchecked();
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//
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// Some((nr.task, nr.index))
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// } else {
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// // set a new timeout
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// const MAX: u32 = 0x00ffffff;
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//
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// let ratio = M::ratio();
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// let dur = match (instant - now).try_into().ok().and_then(|x| {
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// x.checked_mul(ratio.numerator)
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// .map(|x| x / ratio.denominator)
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// }) {
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// None => MAX,
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//
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// // ARM Architecture Reference Manual says:
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// // "Setting SYST_RVR to zero has the effect of
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// // disabling the SysTick counter independently
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// // of the counter enable bit."
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// Some(0) => 1,
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//
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// Some(x) => cmp::min(MAX, x),
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// };
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// mem::transmute::<_, SYST>(()).set_reload(dur);
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//
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// // Start counting down from the new reload
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// mem::transmute::<_, SYST>(()).clear_current();
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//
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// None
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// }
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// } else {
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// // The queue is empty
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// mem::transmute::<_, SYST>(()).disable_interrupt();
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//
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// None
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// }
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// }
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// }
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// }
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//
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// pub struct NotReady<M, T>
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// where
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// T: Copy,
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// M: Monotonic,
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// <M::Instant as Sub>::Output: TryInto<u32>,
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// {
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// pub index: u8,
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// pub instant: M::Instant,
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// pub task: T,
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// }
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//
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// impl<M, T> Eq for NotReady<M, T>
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// where
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// T: Copy,
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// M: Monotonic,
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// <M::Instant as Sub>::Output: TryInto<u32>,
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// {
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// }
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//
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// impl<M, T> Ord for NotReady<M, T>
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// where
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// T: Copy,
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// M: Monotonic,
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// <M::Instant as Sub>::Output: TryInto<u32>,
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// {
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// fn cmp(&self, other: &Self) -> Ordering {
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// self.instant.cmp(&other.instant)
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// }
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// }
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//
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// impl<M, T> PartialEq for NotReady<M, T>
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// where
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// T: Copy,
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// M: Monotonic,
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// <M::Instant as Sub>::Output: TryInto<u32>,
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// {
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// fn eq(&self, other: &Self) -> bool {
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// self.instant == other.instant
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// }
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// }
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//
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// impl<M, T> PartialOrd for NotReady<M, T>
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// where
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// T: Copy,
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// M: Monotonic,
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// <M::Instant as Sub>::Output: TryInto<u32>,
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// {
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// fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
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// Some(self.cmp(&other))
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// }
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// }
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use crate::{Instant, Monotonic};
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use core::cmp::Ordering;
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use heapless::{binary_heap::Min, ArrayLength, BinaryHeap};
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pub struct TimerQueue<M, T, N>(pub BinaryHeap<NotReady<M, T>, N, Min>)
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where
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M: Monotonic,
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N: ArrayLength<NotReady<M, T>>,
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T: Copy;
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impl<M, T, N> TimerQueue<M, T, N>
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where
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M: Monotonic,
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N: ArrayLength<NotReady<M, T>>,
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T: Copy,
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{
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/// # Safety
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///
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/// Writing to memory with a transmute in order to enable
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/// interrupts of the SysTick timer
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///
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/// Enqueue a task without checking if it is full
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#[inline]
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pub unsafe fn enqueue_unchecked<F1, F2>(
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&mut self,
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nr: NotReady<M, T>,
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enable_interrupt: F1,
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pend_handler: F2,
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) where
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F1: FnOnce(),
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F2: FnOnce(),
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{
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let mut is_empty = true;
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// Check if the top contains a non-empty element and if that element is
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// greater than nr
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let if_heap_max_greater_than_nr = self
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.0
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.peek()
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.map(|head| {
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is_empty = false;
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nr.instant < head.instant
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})
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.unwrap_or(true);
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if if_heap_max_greater_than_nr {
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if is_empty {
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// mem::transmute::<_, SYST>(()).enable_interrupt();
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enable_interrupt();
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}
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// Set SysTick pending
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// SCB::set_pendst();
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pend_handler();
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}
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self.0.push_unchecked(nr);
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}
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/// Check if the timer queue is empty.
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#[inline]
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pub fn is_empty(&self) -> bool {
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self.0.is_empty()
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}
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/// Dequeue a task from the TimerQueue
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#[inline]
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pub fn dequeue<F>(&mut self, disable_interrupt: F) -> Option<(T, u8)>
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where
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F: FnOnce(),
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{
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unsafe {
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M::clear_compare();
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if let Some(instant) = self.0.peek().map(|p| p.instant) {
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let now = M::now();
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match instant.checked_duration_since(&now) {
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None => {
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// instant < now
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// task became ready
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let nr = self.0.pop_unchecked();
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Some((nr.task, nr.index))
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}
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Some(dur) => {
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// TODO: Fix this hack...
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let new_instant = *now.duration_since_epoch().integer() + *dur.integer();
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M::set_compare(new_instant);
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// Start counting down from the new reload
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// mem::transmute::<_, SYST>(()).clear_current();
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None
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}
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}
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} else {
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// The queue is empty
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// mem::transmute::<_, SYST>(()).disable_interrupt();
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disable_interrupt();
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None
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}
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}
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}
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}
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pub struct NotReady<M, T>
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where
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T: Copy,
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M: Monotonic,
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{
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pub index: u8,
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pub instant: Instant<M>,
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pub task: T,
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}
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impl<M, T> Eq for NotReady<M, T>
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where
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T: Copy,
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M: Monotonic,
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{
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}
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impl<M, T> Ord for NotReady<M, T>
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where
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T: Copy,
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M: Monotonic,
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{
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fn cmp(&self, other: &Self) -> Ordering {
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self.instant.cmp(&other.instant)
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}
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}
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impl<M, T> PartialEq for NotReady<M, T>
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where
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T: Copy,
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M: Monotonic,
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{
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fn eq(&self, other: &Self) -> bool {
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self.instant == other.instant
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}
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}
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impl<M, T> PartialOrd for NotReady<M, T>
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where
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T: Copy,
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M: Monotonic,
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{
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fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
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Some(self.cmp(&other))
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}
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}
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