add homogeneous multi-core support

heterogeneous/examples/smallest.rs

@@ -0,0 +1,7 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous)]
+const APP: () = {};

heterogeneous/examples/x-init-2.rs

@@ -0,0 +1,39 @@
+//! [compile-pass] Cross initialization of late resources
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous)]
+const APP: () = {
+    extern "C" {
+        // owned by core #1 but initialized by core #0
+        static mut X: u32;
+
+        // owned by core #0 but initialized by core #1
+        static mut Y: u32;
+    }
+
+    #[init(core = 0, late = [X])]
+    fn a(_: a::Context) -> a::LateResources {
+        a::LateResources { X: 0 }
+    }
+
+    #[idle(core = 0, resources = [Y])]
+    fn b(_: b::Context) -> ! {
+        loop {}
+    }
+
+    #[init(core = 1)]
+    fn c(_: c::Context) -> c::LateResources {
+        c::LateResources { Y: 0 }
+    }
+
+    #[idle(core = 1, resources = [X])]
+    fn d(_: d::Context) -> ! {
+        loop {}
+    }
+};

heterogeneous/examples/x-init.rs

@@ -0,0 +1,26 @@
+//! [compile-pass] Split initialization of late resources
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous)]
+const APP: () = {
+    extern "C" {
+        static mut X: u32;
+        static mut Y: u32;
+    }
+
+    #[init(core = 0, late = [X])]
+    fn a(_: a::Context) -> a::LateResources {
+        a::LateResources { X: 0 }
+    }
+
+    #[init(core = 1)]
+    fn b(_: b::Context) -> b::LateResources {
+        b::LateResources { Y: 0 }
+    }
+};

heterogeneous/examples/x-schedule.rs

@@ -0,0 +1,36 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous, monotonic = heterogeneous::MT)]
+const APP: () = {
+    #[init(core = 0, spawn = [ping])]
+    fn init(c: init::Context) {
+        c.spawn.ping().ok();
+    }
+
+    #[task(core = 0, schedule = [ping])]
+    fn pong(c: pong::Context) {
+        c.schedule.ping(c.scheduled + 1_000_000).ok();
+    }
+
+    #[task(core = 1, schedule = [pong])]
+    fn ping(c: ping::Context) {
+        c.schedule.pong(c.scheduled + 1_000_000).ok();
+    }
+
+    extern "C" {
+        #[core = 0]
+        fn I0();
+
+        #[core = 0]
+        fn I1();
+
+        #[core = 1]
+        fn I0();
+
+        #[core = 1]
+        fn I1();
+    }
+};

heterogeneous/examples/x-spawn.rs

@@ -0,0 +1,20 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous)]
+const APP: () = {
+    #[init(core = 0, spawn = [foo])]
+    fn init(c: init::Context) {
+        c.spawn.foo().ok();
+    }
+
+    #[task(core = 1)]
+    fn foo(_: foo::Context) {}
+
+    extern "C" {
+        #[core = 1]
+        fn I0();
+    }
+};