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Merge #402
402: Extern task r=AfoHT a=perlindgren Allows hardware and software task to be externally declared. CI test, don't merge yet (squash needed). Co-authored-by: Per Lindgren <per.lindgren@ltu.se>
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commit
ad50b54530
7 changed files with 125 additions and 31 deletions
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@ -13,6 +13,8 @@ This project adheres to [Semantic Versioning](http://semver.org/).
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- `#[task_local]`, there must be only one task, similar to a task local
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- `#[task_local]`, there must be only one task, similar to a task local
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resource, but (optionally) set-up by init. This is similar to move.
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resource, but (optionally) set-up by init. This is similar to move.
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- Improved ergonomics allowing separation of task signatures to actual implementation in extern block `extern "Rust" { #[task(..)] fn t(..); }`.
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### Changed
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### Changed
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- [breaking-change] [PR 400] Move dispatchers from extern block to app argument.
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- [breaking-change] [PR 400] Move dispatchers from extern block to app argument.
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@ -36,7 +36,6 @@ mod app {
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This works also for ram functions, see examples/ramfunc.rs
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This works also for ram functions, see examples/ramfunc.rs
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## Module instead of Const
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## Module instead of Const
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With the support of attributes on modules the `const APP` workaround is not needed.
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With the support of attributes on modules the `const APP` workaround is not needed.
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@ -125,3 +124,13 @@ struct whateveryouwant {
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```
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```
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would work equally well.
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would work equally well.
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---
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## Additions
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### Extern tasks
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Both software and hardware tasks can now be defined external to the `mod app`. Previously this was possible only by implementing a trampoline calling out the task implementation.
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See examples `examples/extern_binds.rs` and `examples/extern_spawn.rs`.
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48
examples/extern_binds.rs
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48
examples/extern_binds.rs
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@ -0,0 +1,48 @@
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//! examples/extern_binds.rs
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![no_main]
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#![no_std]
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use cortex_m_semihosting::hprintln;
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use panic_semihosting as _;
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// Free function implementing the interrupt bound task `foo`.
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fn foo(_: app::foo::Context) {
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hprintln!("foo called").ok();
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}
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#[rtic::app(device = lm3s6965)]
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mod app {
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use crate::foo;
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use cortex_m_semihosting::{debug, hprintln};
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use lm3s6965::Interrupt;
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#[init]
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fn init(_: init::Context) -> init::LateResources {
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rtic::pend(Interrupt::UART0);
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hprintln!("init").unwrap();
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init::LateResources {}
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}
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#[idle]
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fn idle(_: idle::Context) -> ! {
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hprintln!("idle").unwrap();
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rtic::pend(Interrupt::UART0);
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debug::exit(debug::EXIT_SUCCESS);
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loop {
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cortex_m::asm::nop();
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}
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}
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extern "Rust" {
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#[task(binds = UART0)]
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fn foo(_: foo::Context);
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}
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}
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35
examples/extern_spawn.rs
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35
examples/extern_spawn.rs
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@ -0,0 +1,35 @@
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//! examples/extern_spawn.rs
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![no_main]
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#![no_std]
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use cortex_m_semihosting::{debug, hprintln};
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use panic_semihosting as _;
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// Free function implementing the spawnable task `foo`.
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fn foo(_c: app::foo::Context, x: i32, y: u32) {
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hprintln!("foo {}, {}", x, y).unwrap();
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if x == 2 {
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debug::exit(debug::EXIT_SUCCESS);
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}
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app::foo::spawn(2, 3).unwrap();
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}
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#[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
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mod app {
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use crate::foo;
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#[init]
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fn init(_c: init::Context) -> init::LateResources {
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foo::spawn(1, 2).unwrap();
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init::LateResources {}
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}
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extern "Rust" {
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#[task()]
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fn foo(_c: foo::Context, _x: i32, _y: u32);
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}
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}
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@ -95,19 +95,21 @@ pub fn codegen(
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locals_pat = Some(pat);
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locals_pat = Some(pat);
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}
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}
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let attrs = &task.attrs;
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if !&task.is_extern {
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let context = &task.context;
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let attrs = &task.attrs;
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let stmts = &task.stmts;
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let context = &task.context;
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let locals_pat = locals_pat.iter();
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let stmts = &task.stmts;
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user_tasks.push(quote!(
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let locals_pat = locals_pat.iter();
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#(#attrs)*
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user_tasks.push(quote!(
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#[allow(non_snake_case)]
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#(#attrs)*
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fn #name(#(#locals_pat,)* #context: #name::Context) {
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#[allow(non_snake_case)]
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use rtic::Mutex as _;
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fn #name(#(#locals_pat,)* #context: #name::Context) {
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use rtic::Mutex as _;
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#(#stmts)*
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#(#stmts)*
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}
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}
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));
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));
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}
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}
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}
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(mod_app, root, user_tasks)
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(mod_app, root, user_tasks)
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@ -99,21 +99,23 @@ pub fn codegen(
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root.push(struct_);
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root.push(struct_);
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}
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}
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let context = &task.context;
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if !&task.is_extern {
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let attrs = &task.attrs;
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let context = &task.context;
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let cfgs = &task.cfgs;
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let attrs = &task.attrs;
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let stmts = &task.stmts;
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let cfgs = &task.cfgs;
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let locals_pat = locals_pat.iter();
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let stmts = &task.stmts;
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user_tasks.push(quote!(
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let locals_pat = locals_pat.iter();
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#(#attrs)*
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user_tasks.push(quote!(
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#(#cfgs)*
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#(#attrs)*
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#[allow(non_snake_case)]
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#(#cfgs)*
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fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) {
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#[allow(non_snake_case)]
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use rtic::Mutex as _;
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fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) {
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use rtic::Mutex as _;
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#(#stmts)*
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#(#stmts)*
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}
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}
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));
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));
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}
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root.push(module::codegen(
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root.push(module::codegen(
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Context::SoftwareTask(name),
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Context::SoftwareTask(name),
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@ -4,8 +4,4 @@
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mod app {
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mod app {
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#[task(binds = UART0)]
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#[task(binds = UART0)]
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fn a(_: a::Context) {}
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fn a(_: a::Context) {}
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extern "C" {
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fn UART0();
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}
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}
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}
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