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Auto merge of #50 - japaric:singletons, r=japaric

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Peripherals as scoped singletons

See this RFC for details: japaric/svd2rust#157

- The first commit adapts this crate to the changes in japaric/cortex-m#65 and japaric/svd2rust#158
- ~~The second commit is an alternative implementation of RFC #47 (there's another implementation in #49. This second commit is not required for RFC157 but let us experiment with safe DMA abstractions.~~ postponed

### TODO

- [x] un-bless peripherals as resources. Peripherals as resources were special cased: if resource listed in e.g. `app.tasks.FOO.resources` didn't appear in `app.resources` then it was assumed to be a peripheral and special code was generated for it. This is no longer required under RFC157.

~~This depends on PR japaric/rtfm-syntax#2~~ postponed
This commit is contained in:
homunkulus 2017-12-09 12:09:35 +00:00
commit e78ca98c42
7 changed files with 176 additions and 233 deletions
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9
Cargo.toml
View file

@ -10,13 +10,13 @@ keywords = ["arm", "cortex-m"]
license = "MIT OR Apache-2.0"
name = "cortex-m-rtfm"
repository = "https://github.com/japaric/cortex-m-rtfm"
version = "0.2.2"
version = "0.3.0"
[dependencies]
cortex-m = "0.3.1"
cortex-m = { git = "https://github.com/japaric/cortex-m" }
untagged-option = "0.1.1"
rtfm-core = "0.1.0"
cortex-m-rtfm-macros = "0.2.1"
cortex-m-rtfm-macros = { path = "macros" }
[target.'cfg(target_arch = "x86_64")'.dev-dependencies]
compiletest_rs = "0.3.3"
@ -27,7 +27,8 @@ version = "0.3.3"
[dev-dependencies.stm32f103xx]
features = ["rt"]
version = "0.7.5"
git = "https://github.com/japaric/stm32f103xx"
# version = "0.8.0"
[profile.release]
lto = true

12
examples/generics.rs
View file

@ -12,6 +12,11 @@ use stm32f103xx::{SPI1, GPIOA};
app! {
device: stm32f103xx,
resources: {
static GPIOA: GPIOA;
static SPI1: SPI1;
},
tasks: {
EXTI0: {
path: exti0,
@ -27,7 +32,12 @@ app! {
},
}
fn init(_p: init::Peripherals) {}
fn init(p: init::Peripherals) -> init::LateResourceValues {
init::LateResourceValues {
GPIOA: p.device.GPIOA,
SPI1: p.device.SPI1,
}
}
fn idle() -> ! {
loop {

34
examples/one-task.rs
View file

@ -7,8 +7,9 @@ extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use cortex_m::peripheral::SystClkSource;
use cortex_m::peripheral::syst::SystClkSource;
use rtfm::{app, Threshold};
use stm32f103xx::GPIOC;
app! {
device: stm32f103xx,
@ -35,9 +36,8 @@ app! {
// These are the resources this task has access to.
//
// A resource can be a peripheral like `GPIOC` or a static variable
// like `ON`
resources: [GPIOC, ON],
// The resources listed here must also appear in `app.resources`
resources: [ON],
},
}
}
@ -47,19 +47,20 @@ fn init(p: init::Peripherals, r: init::Resources) {
r.ON;
// power on GPIOC
p.RCC.apb2enr.modify(|_, w| w.iopcen().enabled());
p.device.RCC.apb2enr.modify(|_, w| w.iopcen().enabled());
// configure PC13 as output
p.GPIOC.bsrr.write(|w| w.bs13().set());
p.GPIOC
p.device.GPIOC.bsrr.write(|w| w.bs13().set());
p.device
.GPIOC
.crh
.modify(|_, w| w.mode13().output().cnf13().push());
// configure the system timer to generate one interrupt every second
p.SYST.set_clock_source(SystClkSource::Core);
p.SYST.set_reload(8_000_000); // 1s
p.SYST.enable_interrupt();
p.SYST.enable_counter();
p.core.SYST.set_clock_source(SystClkSource::Core);
p.core.SYST.set_reload(8_000_000); // 1s
p.core.SYST.enable_interrupt();
p.core.SYST.enable_counter();
}
fn idle() -> ! {
@ -74,15 +75,22 @@ fn idle() -> ! {
//
// `r` is the set of resources this task has access to. `SYS_TICK::Resources`
// has one field per resource declared in `app!`.
#[allow(unsafe_code)]
fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
// toggle state
**r.ON = !**r.ON;
if **r.ON {
// set the pin PC13 high
r.GPIOC.bsrr.write(|w| w.bs13().set());
// NOTE(unsafe) atomic write to a stateless register
unsafe {
(*GPIOC::ptr()).bsrr.write(|w| w.bs13().set());
}
} else {
// set the pin PC13 low
r.GPIOC.bsrr.write(|w| w.br13().reset());
// NOTE(unsafe) atomic write to a stateless register
unsafe {
(*GPIOC::ptr()).bsrr.write(|w| w.br13().reset());
}
}
}

5
examples/zero-tasks.rs
View file

@ -25,8 +25,9 @@ app! {
// this function.
fn init(p: init::Peripherals) {
// This function has access to all the peripherals of the device
p.GPIOA;
p.RCC;
p.core.SYST;
p.device.GPIOA;
p.device.RCC;
// ..
}

18
macros/src/check.rs
View file

@ -63,16 +63,15 @@ pub fn app(app: check::App) -> Result<App> {
tasks: app.tasks
.into_iter()
.map(|(k, v)| {
let v = ::check::task(k.as_ref(), v)
.chain_err(|| format!("checking task `{}`", k))?;
let v =
::check::task(k.as_ref(), v).chain_err(|| format!("checking task `{}`", k))?;
Ok((k, v))
})
.collect::<Result<_>>()?,
};
::check::resources(&app)
.chain_err(|| "checking `resources`")?;
::check::resources(&app).chain_err(|| "checking `resources`")?;
Ok(app)
}
@ -93,6 +92,17 @@ fn resources(app: &App) -> Result<()> {
bail!("resource `{}` is unused", resource);
}
for (name, task) in &app.tasks {
for resource in &task.resources {
ensure!(
app.resources.contains_key(&resource),
"task {} contains an undeclared resource with name {}",
name,
resource
);
}
}
Ok(())
}

329
macros/src/trans.rs
View file

@ -27,12 +27,7 @@ pub fn app(app: &App, ownerships: &Ownerships) -> Tokens {
quote!(#(#root)*)
}
fn idle(
app: &App,
ownerships: &Ownerships,
main: &mut Vec<Tokens>,
root: &mut Vec<Tokens>,
) {
fn idle(app: &App, ownerships: &Ownerships, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
let krate = krate();
let mut mod_items = vec![];
@ -45,8 +40,6 @@ fn idle(
}
if !app.idle.resources.is_empty() {
let device = &app.device;
let mut needs_reexport = false;
for name in &app.idle.resources {
if ownerships[name].is_owned() {
@ -66,32 +59,26 @@ fn idle(
let mut rfields = vec![];
for name in &app.idle.resources {
if ownerships[name].is_owned() {
if let Some(resource) = app.resources.get(name) {
let ty = &resource.ty;
let resource = app.resources.get(name).expect(&format!(
"BUG: resource {} assigned to `idle` has no definition",
name
));
let ty = &resource.ty;
rfields.push(quote! {
pub #name: &'static mut #ty,
});
rfields.push(quote! {
pub #name: &'static mut #ty,
});
let _name = Ident::new(format!("_{}", name.as_ref()));
rexprs.push(if resource.expr.is_some() {
quote! {
#name: &mut #super_::#_name,
}
} else {
quote! {
#name: #super_::#_name.as_mut(),
}
});
let _name = Ident::new(format!("_{}", name.as_ref()));
rexprs.push(if resource.expr.is_some() {
quote! {
#name: &mut #super_::#_name,
}
} else {
rfields.push(quote! {
pub #name: &'static mut ::#device::#name,
});
rexprs.push(quote! {
#name: &mut *::#device::#name.get(),
});
}
quote! {
#name: #super_::#_name.as_mut(),
}
});
} else {
rfields.push(quote! {
pub #name: #super_::_resource::#name,
@ -161,12 +148,20 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
let device = &app.device;
let krate = krate();
let mut tys = vec![quote!(#device::Peripherals)];
let mut exprs = vec![quote!(#device::Peripherals::all())];
let mut tys = vec![quote!(init::Peripherals)];
let mut exprs = vec![
quote!{
init::Peripherals {
core: ::#device::CorePeripherals::steal(),
device: ::#device::Peripherals::steal(),
}
},
];
let mut ret = None;
let mut mod_items = vec![];
let (init_resources, late_resources): (Vec<_>, Vec<_>) = app.resources.iter()
let (init_resources, late_resources): (Vec<_>, Vec<_>) = app.resources
.iter()
.partition(|&(_, res)| res.expr.is_some());
if !init_resources.is_empty() {
@ -255,7 +250,10 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
root.push(quote! {
#[allow(unsafe_code)]
mod init {
pub use ::#device::Peripherals;
pub struct Peripherals {
pub core: ::#device::CorePeripherals,
pub device: ::#device::Peripherals,
}
#(#mod_items)*
}
@ -268,7 +266,7 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
Kind::Exception(ref e) => {
if exceptions.is_empty() {
exceptions.push(quote! {
let scb = &*#device::SCB.get();
let scb = &*#device::SCB::ptr();
});
}
@ -284,7 +282,7 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
// Interrupt. These can be enabled / disabled through the NVIC
if interrupts.is_empty() {
interrupts.push(quote! {
let nvic = &*#device::NVIC.get();
let nvic = &*#device::NVIC::ptr();
});
}
@ -355,154 +353,81 @@ fn resources(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
// For owned resources we don't need claim() or borrow()
}
Ownership::Shared { ceiling } => {
if let Some(resource) = app.resources.get(name) {
let ty = &resource.ty;
let res_rvalue = if resource.expr.is_some() {
quote!(#_name)
} else {
quote!(#_name.some)
};
impl_items.push(quote! {
type Data = #ty;
fn borrow<'cs>(
&'cs self,
t: &'cs #krate::Threshold,
) -> &'cs #krate::Static<#ty> {
assert!(t.value() >= #ceiling);
unsafe { #krate::Static::ref_(&#res_rvalue) }
}
fn borrow_mut<'cs>(
&'cs mut self,
t: &'cs #krate::Threshold,
) -> &'cs mut #krate::Static<#ty> {
assert!(t.value() >= #ceiling);
unsafe {
#krate::Static::ref_mut(&mut #res_rvalue)
}
}
fn claim<R, F>(
&self,
t: &mut #krate::Threshold,
f: F,
) -> R
where
F: FnOnce(
&#krate::Static<#ty>,
&mut #krate::Threshold) -> R
{
unsafe {
#krate::claim(
#krate::Static::ref_(&#res_rvalue),
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
fn claim_mut<R, F>(
&mut self,
t: &mut #krate::Threshold,
f: F,
) -> R
where
F: FnOnce(
&mut #krate::Static<#ty>,
&mut #krate::Threshold) -> R
{
unsafe {
#krate::claim(
#krate::Static::ref_mut(&mut #res_rvalue),
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
});
let resource = app.resources
.get(name)
.expect(&format!("BUG: resource {} has no definition", name));
let ty = &resource.ty;
let res_rvalue = if resource.expr.is_some() {
quote!(#_name)
} else {
impl_items.push(quote! {
type Data = #device::#name;
quote!(#_name.some)
};
fn borrow<'cs>(
&'cs self,
t: &'cs #krate::Threshold,
) -> &'cs #krate::Static<#device::#name> {
assert!(t.value() >= #ceiling);
impl_items.push(quote! {
type Data = #ty;
unsafe {
#krate::Static::ref_(&*#device::#name.get())
}
fn borrow<'cs>(
&'cs self,
t: &'cs #krate::Threshold,
) -> &'cs #krate::Static<#ty> {
assert!(t.value() >= #ceiling);
unsafe { #krate::Static::ref_(&#res_rvalue) }
}
fn borrow_mut<'cs>(
&'cs mut self,
t: &'cs #krate::Threshold,
) -> &'cs mut #krate::Static<#ty> {
assert!(t.value() >= #ceiling);
unsafe {
#krate::Static::ref_mut(&mut #res_rvalue)
}
}
fn borrow_mut<'cs>(
&'cs mut self,
t: &'cs #krate::Threshold,
) -> &'cs mut #krate::Static<#device::#name> {
assert!(t.value() >= #ceiling);
unsafe {
#krate::Static::ref_mut(
&mut *#device::#name.get(),
)
}
fn claim<R, F>(
&self,
t: &mut #krate::Threshold,
f: F,
) -> R
where
F: FnOnce(
&#krate::Static<#ty>,
&mut #krate::Threshold) -> R
{
unsafe {
#krate::claim(
#krate::Static::ref_(&#res_rvalue),
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
fn claim<R, F>(
&self,
t: &mut #krate::Threshold,
f: F,
) -> R
where
F: FnOnce(
&#krate::Static<#device::#name>,
&mut #krate::Threshold) -> R
{
unsafe {
#krate::claim(
#krate::Static::ref_(
&*#device::#name.get(),
),
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
fn claim_mut<R, F>(
&mut self,
t: &mut #krate::Threshold,
f: F,
) -> R
where
F: FnOnce(
&mut #krate::Static<#ty>,
&mut #krate::Threshold) -> R
{
unsafe {
#krate::claim(
#krate::Static::ref_mut(&mut #res_rvalue),
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
fn claim_mut<R, F>(
&mut self,
t: &mut #krate::Threshold,
f: F,
) -> R
where
F: FnOnce(
&mut #krate::Static<#device::#name>,
&mut #krate::Threshold) -> R
{
unsafe {
#krate::claim(
#krate::Static::ref_mut(
&mut *#device::#name.get(),
),
#ceiling,
#device::NVIC_PRIO_BITS,
t,
f,
)
}
}
});
}
}
});
impls.push(quote! {
#[allow(unsafe_code)]
@ -560,9 +485,7 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
let _name = Ident::new(format!("_{}", name.as_ref()));
match ownerships[name] {
Ownership::Shared { ceiling }
if ceiling > task.priority =>
{
Ownership::Shared { ceiling } if ceiling > task.priority => {
needs_threshold = true;
fields.push(quote! {
@ -577,35 +500,26 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
}
_ => {
lifetime = Some(quote!('a));
if let Some(resource) = app.resources.get(name) {
needs_reexport = true;
let ty = &resource.ty;
let resource = app.resources
.get(name)
.expect(&format!("BUG: resource {} has no definition", name));
fields.push(quote! {
pub #name: &'a mut ::#krate::Static<#ty>,
});
needs_reexport = true;
let ty = &resource.ty;
exprs.push(if resource.expr.is_some() {
quote! {
#name: ::#krate::Static::ref_mut(&mut ::#_name),
}
} else {
quote! {
#name: ::#krate::Static::ref_mut(::#_name.as_mut()),
}
});
fields.push(quote! {
pub #name: &'a mut ::#krate::Static<#ty>,
});
exprs.push(if resource.expr.is_some() {
quote! {
#name: ::#krate::Static::ref_mut(&mut ::#_name),
}
} else {
fields.push(quote! {
pub #name:
&'a mut ::#krate::Static<::#device::#name>,
});
exprs.push(quote! {
#name: ::#krate::Static::ref_mut(
&mut *::#device::#name.get(),
),
});
}
quote! {
#name: ::#krate::Static::ref_mut(::#_name.as_mut()),
}
});
}
}
}
@ -666,8 +580,7 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
let path = &task.path;
let _name = Ident::new(format!("_{}", name));
let export_name =
Lit::Str(name.as_ref().to_owned(), StrStyle::Cooked);
let export_name = Lit::Str(name.as_ref().to_owned(), StrStyle::Cooked);
root.push(quote! {
#[allow(non_snake_case)]
#[allow(unsafe_code)]

2
src/lib.rs
View file

@ -160,6 +160,6 @@ where
I: Nr,
{
// NOTE(safe) atomic write
let nvic = unsafe { &*cortex_m::peripheral::NVIC.get() };
let nvic = unsafe { &*cortex_m::peripheral::NVIC::ptr() };
nvic.set_pending(interrupt);
}