diff --git a/Cargo.toml b/Cargo.toml
index 112e624a8b..5e9d548338 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,6 +12,35 @@ name = "cortex-m-rtfm"
repository = "https://github.com/japaric/cortex-m-rtfm"
version = "0.3.2"
+[[example]]
+name = "async-after"
+required-features = ["timer-queue"]
+
+[[example]]
+name = "async"
+
+[[example]]
+name = "empty"
+
+[[example]]
+name = "interrupt"
+
+[[example]]
+name = "periodic-payload"
+required-features = ["timer-queue"]
+
+[[example]]
+name = "periodic-preemption-payload"
+required-features = ["timer-queue"]
+
+[[example]]
+name = "periodic-preemption"
+required-features = ["timer-queue"]
+
+[[example]]
+name = "periodic"
+required-features = ["timer-queue"]
+
[dependencies]
cortex-m = "0.4.0"
cortex-m-rtfm-macros = { path = "macros", version = "0.3.1" }
@@ -32,6 +61,7 @@ version = "0.9.0"
[features]
cm7-r0p1 = ["cortex-m/cm7-r0p1"]
+timer-queue = ["cortex-m-rtfm-macros/timer-queue"]
[profile.release]
lto = true
diff --git a/macros/Cargo.toml b/macros/Cargo.toml
index fd38f32966..4161ed3448 100644
--- a/macros/Cargo.toml
+++ b/macros/Cargo.toml
@@ -20,3 +20,6 @@ either = "1.5.0"
[lib]
proc-macro = true
+
+[features]
+timer-queue = []
\ No newline at end of file
diff --git a/macros/src/check.rs b/macros/src/check.rs
index 424c3e8bc5..300eac82c6 100644
--- a/macros/src/check.rs
+++ b/macros/src/check.rs
@@ -1,7 +1,15 @@
use syntax::check::App;
use syntax::Result;
-pub fn app(_app: &App) -> Result<()> {
- // TODO ???
+pub fn app(app: &App) -> Result<()> {
+ if !cfg!(feature = "timer-queue") {
+ if !app.init.async_after.is_empty()
+ || app.tasks.values().any(|task| !task.async_after.is_empty())
+ {
+ return Err(format_err!(
+ "async_after is not supported. Enable the 'timer-queue' feature to use it"
+ ));
+ }
+ }
Ok(())
}
diff --git a/macros/src/trans.rs b/macros/src/trans.rs
index 612d9e5876..ec36d10f8b 100644
--- a/macros/src/trans.rs
+++ b/macros/src/trans.rs
@@ -108,28 +108,51 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
// primitive type and there's no way to import that type into a module (we don't know its
// full path). So instead we just assume that `#input` has been imported in the root; this
// forces us to put anything that refers to `#input` in the root.
- root.push(quote! {
- pub struct #__context<#lifetime> {
- pub async: #name::Async,
- pub baseline: u32,
- pub input: #input,
- pub resources: #name::Resources<#lifetime>,
- pub threshold: #hidden::#krate::Threshold<#name::Priority>,
- }
+ if cfg!(feature = "timer-queue") {
+ root.push(quote! {
+ pub struct #__context<#lifetime> {
+ pub async: #name::Async,
+ pub baseline: u32,
+ pub input: #input,
+ pub resources: #name::Resources<#lifetime>,
+ pub threshold: #hidden::#krate::Threshold<#name::Priority>,
+ }
- #[allow(unsafe_code)]
- impl<#lifetime> #__context<#lifetime> {
- pub unsafe fn new(bl: #hidden::#krate::Instant, payload: #input) -> Self {
- #__context {
- async: #name::Async::new(bl),
- baseline: bl.into(),
- input: payload,
- resources: #name::Resources::new(),
- threshold: #hidden::#krate::Threshold::new(),
+ #[allow(unsafe_code)]
+ impl<#lifetime> #__context<#lifetime> {
+ pub unsafe fn new(bl: #hidden::#krate::Instant, payload: #input) -> Self {
+ #__context {
+ async: #name::Async::new(bl),
+ baseline: bl.into(),
+ input: payload,
+ resources: #name::Resources::new(),
+ threshold: #hidden::#krate::Threshold::new(),
+ }
}
}
- }
- });
+ });
+ } else {
+ root.push(quote! {
+ pub struct #__context<#lifetime> {
+ pub async: #name::Async,
+ pub input: #input,
+ pub resources: #name::Resources<#lifetime>,
+ pub threshold: #hidden::#krate::Threshold<#name::Priority>,
+ }
+
+ #[allow(unsafe_code)]
+ impl<#lifetime> #__context<#lifetime> {
+ pub unsafe fn new(payload: #input) -> Self {
+ #__context {
+ async: #name::Async::new(),
+ input: payload,
+ resources: #name::Resources::new(),
+ threshold: #hidden::#krate::Threshold::new(),
+ }
+ }
+ }
+ });
+ }
let res_fields = task.resources
.iter()
@@ -163,7 +186,13 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
let async_exprs = task.async
.iter()
- .map(|task| quote!(#task: ::__async::#task::new(_bl)))
+ .map(|task| {
+ if cfg!(feature = "timer-queue") {
+ quote!(#task: ::__async::#task::new(_bl))
+ } else {
+ quote!(#task: ::__async::#task::new())
+ }
+ })
.chain(
task.async_after
.iter()
@@ -189,15 +218,6 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
#(#async_fields,)*
}
- #[allow(unsafe_code)]
- impl Async {
- pub unsafe fn new(_bl: #krate::Instant) -> Self {
- Async {
- #(#async_exprs,)*
- }
- }
- }
-
#[allow(non_snake_case)]
pub struct Resources<#lifetime> {
#(#res_fields,)*
@@ -213,18 +233,49 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
}
});
+ if cfg!(feature = "timer-queue") {
+ mod_.push(quote! {
+ #[allow(unsafe_code)]
+ impl Async {
+ pub unsafe fn new(_bl: #krate::Instant) -> Self {
+ Async {
+ #(#async_exprs,)*
+ }
+ }
+ }
+
+ });
+ } else {
+ mod_.push(quote! {
+ #[allow(unsafe_code)]
+ impl Async {
+ pub unsafe fn new() -> Self {
+ Async {
+ #(#async_exprs,)*
+ }
+ }
+ }
+
+ });
+ }
+
match task.interrupt_or_capacity {
Either::Left(interrupt) => {
let export_name = interrupt.as_ref();
let fn_name = Ident::from(format!("__{}", interrupt));
+ let bl = if cfg!(feature = "timer-queue") {
+ Some(quote!(#hidden::#krate::Instant::now(),))
+ } else {
+ None
+ };
root.push(quote! {
#[allow(non_snake_case)]
#[allow(unsafe_code)]
#[export_name = #export_name]
pub unsafe extern "C" fn #fn_name() {
let _ = #device::Interrupt::#interrupt; // verify that the interrupt exists
- #name::HANDLER(#name::Context::new(#hidden::#krate::Instant::now(), ()))
+ #name::HANDLER(#name::Context::new(#bl ()))
}
});
}
@@ -293,44 +344,90 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
));
let qc = Ident::from(format!("U{}", ctxt.ceilings.dispatch_queues()[&priority]));
- quote! {
- #[allow(non_camel_case_types)]
- pub struct #name { baseline: #krate::Instant }
+ if cfg!(feature = "timer-queue") {
+ quote! {
+ #[allow(non_camel_case_types)]
+ pub struct #name { baseline: #krate::Instant }
- #[allow(unsafe_code)]
- impl #name {
- pub unsafe fn new(bl: #krate::Instant) -> Self {
- #name { baseline: bl }
+ #[allow(unsafe_code)]
+ impl #name {
+ pub unsafe fn new(bl: #krate::Instant) -> Self {
+ #name { baseline: bl }
+ }
+
+ // XXX or take `self`?
+ #[inline]
+ pub fn post(
+ &self,
+ t: &mut #krate::Threshold
,
+ payload: #ty,
+ ) -> Result<(), #ty>
+ where
+ P: #krate::Unsigned +
+ #krate::Max<#krate::#sqc> +
+ #krate::Max<#krate::#qc>,
+ #krate::Maximum: #krate::Unsigned,
+ #krate::Maximum: #krate::Unsigned,
+ {
+ unsafe {
+ if let Some(slot) =
+ ::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue()) {
+ let tp = slot
+ .write(self.baseline, payload)
+ .tag(::#__priority::Task::#name);
+
+ ::#__priority::Q::new().claim_mut(t, |q, _| {
+ q.split().0.enqueue_unchecked(tp);
+ });
+
+ Ok(())
+ } else {
+ Err(payload)
+ }
+ }
+ }
}
+ }
+ } else {
+ quote! {
+ #[allow(non_camel_case_types)]
+ pub struct #name {}
- // XXX or take `self`?
- #[inline]
- pub fn post(
- &self,
- t: &mut #krate::Threshold
,
- payload: #ty,
- ) -> Result<(), #ty>
- where
- P: #krate::Unsigned +
- #krate::Max<#krate::#sqc> +
- #krate::Max<#krate::#qc>,
- #krate::Maximum: #krate::Unsigned,
- #krate::Maximum: #krate::Unsigned,
- {
- unsafe {
- if let Some(slot) =
- ::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue()) {
- let tp = slot
- .write(self.baseline, payload)
- .tag(::#__priority::Task::#name);
+ #[allow(unsafe_code)]
+ impl #name {
+ pub unsafe fn new() -> Self {
+ #name {}
+ }
- ::#__priority::Q::new().claim_mut(t, |q, _| {
- q.split().0.enqueue_unchecked(tp);
- });
+ // XXX or take `self`?
+ #[inline]
+ pub fn post(
+ &self,
+ t: &mut #krate::Threshold
,
+ payload: #ty,
+ ) -> Result<(), #ty>
+ where
+ P: #krate::Unsigned +
+ #krate::Max<#krate::#sqc> +
+ #krate::Max<#krate::#qc>,
+ #krate::Maximum: #krate::Unsigned,
+ #krate::Maximum: #krate::Unsigned,
+ {
+ unsafe {
+ if let Some(slot) =
+ ::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue()) {
+ let tp = slot
+ .write(payload)
+ .tag(::#__priority::Task::#name);
- Ok(())
- } else {
- Err(payload)
+ ::#__priority::Q::new().claim_mut(t, |q, _| {
+ q.split().0.enqueue_unchecked(tp);
+ });
+
+ Ok(())
+ } else {
+ Err(payload)
+ }
}
}
}
@@ -537,14 +634,27 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
.tasks()
.iter()
.map(|name| {
- quote! {
+ // NOTE(get) this is the only `Slot` producer because a task can only be
+ // dispatched at one priority
+ if cfg!(feature = "timer-queue") {
+ quote! {
#__priority::Task::#name => {
let (bl, payload, slot) = payload.coerce().read();
- // NOTE(get) only `Slot` producer because a task can only be dispatched at one
// priority
#name::SQ::get().split().0.enqueue_unchecked(slot);
#name::HANDLER(#name::Context::new(bl, payload));
}
+
+ }
+ } else {
+ quote! {
+ #__priority::Task::#name => {
+ let (payload, slot) = payload.coerce().read();
+ // priority
+ #name::SQ::get().split().0.enqueue_unchecked(slot);
+ #name::HANDLER(#name::Context::new(payload));
+ }
+ }
}
})
.collect::>();
@@ -640,7 +750,11 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
let async_exprs = app.init
.async
.iter()
- .map(|task| quote!(#task: ::__async::#task::new(_bl)))
+ .map(|task| if cfg!(feature = "timer-queue") {
+ quote!(#task: ::__async::#task::new(_bl))
+ } else {
+ quote!(#task: ::__async::#task::new())
+ })
.chain(
app.init
.async_after
@@ -661,6 +775,21 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
})
.collect::>();
+ let bl = if cfg!(feature = "timer-queue") {
+ Some(quote!(let _bl = #krate::Instant::new(0);))
+ } else {
+ None
+ };
+ let baseline_field = if cfg!(feature = "timer-queue") {
+ Some(quote!(pub baseline: u32,))
+ } else {
+ None
+ };
+ let baseline_expr = if cfg!(feature = "timer-queue") {
+ Some(quote!(baseline: 0,))
+ } else {
+ None
+ };
root.push(quote! {
#[allow(non_snake_case)]
pub struct _ZN4init13LateResourcesE {
@@ -678,7 +807,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
pub struct Context {
pub async: Async,
- pub baseline: u32,
+ #baseline_field
pub core: #krate::Core,
pub device: Device,
pub resources: Resources,
@@ -690,7 +819,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
pub unsafe fn new(core: #krate::Core) -> Self {
Context {
async: Async::new(),
- baseline: 0,
+ #baseline_expr
core,
device: Device::steal(),
resources: Resources::new(),
@@ -706,7 +835,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
#[allow(unsafe_code)]
impl Async {
unsafe fn new() -> Self {
- let _bl = #krate::Instant::new(0);
+ #bl
Async {
#(#async_exprs,)*
diff --git a/src/lib.rs b/src/lib.rs
index d6fd0b4c00..e60c915d21 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -15,6 +15,7 @@ extern crate typenum;
mod instant;
mod node;
mod resource;
+#[cfg(feature = "timer-queue")]
mod tq;
use core::mem;
@@ -38,6 +39,7 @@ pub use instant::Instant;
pub use node::Node;
use node::{Slot, TaggedPayload};
pub use resource::{Resource, Threshold};
+#[cfg(feature = "timer-queue")]
pub use tq::{dispatch, TimerQueue};
pub type PayloadQueue = RingBuffer, N, u8>;
diff --git a/src/node.rs b/src/node.rs
index 9fe1bff283..42f336e76d 100644
--- a/src/node.rs
+++ b/src/node.rs
@@ -9,24 +9,29 @@ pub struct Node
where
T: 'static,
{
+ #[cfg(feature = "timer-queue")]
baseline: Instant,
payload: T,
}
+#[cfg(feature = "timer-queue")]
impl Eq for Node {}
+#[cfg(feature = "timer-queue")]
impl Ord for Node {
fn cmp(&self, rhs: &Self) -> Ordering {
self.baseline.cmp(&rhs.baseline)
}
}
+#[cfg(feature = "timer-queue")]
impl PartialEq for Node {
fn eq(&self, rhs: &Self) -> bool {
self.baseline.eq(&rhs.baseline)
}
}
+#[cfg(feature = "timer-queue")]
impl PartialOrd for Node {
fn partial_cmp(&self, rhs: &Self) -> Option {
Some(self.cmp(rhs))
@@ -42,11 +47,18 @@ where
}
impl Slot {
+ #[cfg(feature = "timer-queue")]
pub fn write(self, bl: Instant, data: T) -> Payload {
self.node.baseline = bl;
unsafe { ptr::write(&mut self.node.payload, data) }
Payload { node: self.node }
}
+
+ #[cfg(not(feature = "timer-queue"))]
+ pub fn write(self, data: T) -> Payload {
+ unsafe { ptr::write(&mut self.node.payload, data) }
+ Payload { node: self.node }
+ }
}
impl Into> for &'static mut Node {
@@ -64,11 +76,18 @@ where
}
impl Payload {
+ #[cfg(feature = "timer-queue")]
pub fn read(self) -> (Instant, T, Slot) {
let data = unsafe { ptr::read(&self.node.payload) };
(self.node.baseline, data, Slot { node: self.node })
}
+ #[cfg(not(feature = "timer-queue"))]
+ pub fn read(self) -> (T, Slot) {
+ let data = unsafe { ptr::read(&self.node.payload) };
+ (data, Slot { node: self.node })
+ }
+
pub fn tag(self, tag: A) -> TaggedPayload
where
A: Copy,
@@ -97,6 +116,7 @@ where
mem::transmute(self.payload)
}
+ #[cfg(feature = "timer-queue")]
pub fn baseline(&self) -> Instant {
self.payload.node.baseline
}
@@ -116,12 +136,14 @@ where
}
}
+#[cfg(feature = "timer-queue")]
impl Eq for TaggedPayload
where
T: Copy,
{
}
+#[cfg(feature = "timer-queue")]
impl Ord for TaggedPayload
where
T: Copy,
@@ -131,6 +153,7 @@ where
}
}
+#[cfg(feature = "timer-queue")]
impl PartialEq for TaggedPayload
where
T: Copy,
@@ -140,6 +163,7 @@ where
}
}
+#[cfg(feature = "timer-queue")]
impl PartialOrd for TaggedPayload
where
T: Copy,