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Now with new monotonic trait and crate

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This commit is contained in:
Emil Fresk 2021-02-18 19:30:59 +01:00
parent b57ef0bf9d
commit ebf2f058a4
12 changed files with 135 additions and 59 deletions
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24
macros/src/codegen.rs
View file

@ -104,13 +104,35 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
));
}
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
let monotonic_imports: Vec<_> = app
.monotonics
.iter()
.map(|(_, monotonic)| {
let name = &monotonic.ident;
let ty = &monotonic.ty;
quote!(pub type #name = #ty;)
let mangled_name = util::mangle_monotonic_type(&name.to_string());
let ident = util::monotonic_ident(&name.to_string());
quote! {
#[doc(hidden)]
pub type #mangled_name = #ty;
pub mod #name {
pub fn now() -> rtic::time::Instant<#app_path::#mangled_name> {
rtic::export::interrupt::free(|_| {
use rtic::Monotonic as _;
use rtic::time::Clock as _;
if let Ok(v) = unsafe{ (&*#app_path::#ident.as_ptr()).try_now() } {
v
} else {
unreachable!("Your monotonic is not infallible!")
}
})
}
}
}
})
.collect();

2
macros/src/codegen/init.rs
View file

@ -69,7 +69,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
let app_path = quote! {crate::#app_name};
let locals_new = locals_new.iter();
let call_init = Some(
quote!(let (late, monotonics) = #app_path::#name(#(#locals_new,)* #name::Context::new(core.into()));),
quote!(let (late, mut monotonics) = #app_path::#name(#(#locals_new,)* #name::Context::new(core.into()));),
);
root_init.push(module::codegen(

16
macros/src/codegen/module.rs
View file

@ -126,7 +126,7 @@ pub fn codegen(
.monotonics
.iter()
.map(|(_, monotonic)| {
let mono = &monotonic.ident;
let mono = util::mangle_monotonic_type(&monotonic.ident.to_string());
quote! {#app_path::#mono}
})
.collect();
@ -234,6 +234,7 @@ pub fn codegen(
let tq = util::tq_ident(&monotonic.ident.to_string());
let t = util::schedule_t_ident();
let m = &monotonic.ident;
let m_mangled = util::mangle_monotonic_type(&monotonic.ident.to_string());
let m_isr = &monotonic.args.binds;
let enum_ = util::interrupt_ident();
@ -242,9 +243,10 @@ pub fn codegen(
items.push(quote!(pub use #m::spawn_at;));
}
let (unmask, pend) = if &*m_isr.to_string() == "SysTick" {
let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" {
(
quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).disable_interrupt()),
quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(())
.enable_interrupt()),
quote!(cortex_m::peripheral::SCB::set_pendst()),
)
} else {
@ -263,16 +265,16 @@ pub fn codegen(
#(,#args)*
) -> Result<(), #ty>
where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint,
D::T: Into<<#app_path::#m as rtic::time::Clock>::T>,
D::T: Into<<#app_path::#m_mangled as rtic::time::Clock>::T>,
{
let instant = <#app_path::#m as rtic::Monotonic>::now();
let instant = #app_path::#m::now();
spawn_at(instant + duration, #(,#untupled)*)
}
#(#cfgs)*
pub fn spawn_at(
instant: rtic::time::Instant<#app_path::#m>
instant: rtic::time::Instant<#app_path::#m_mangled>
#(,#args)*
) -> Result<(), #ty> {
unsafe {
@ -296,7 +298,7 @@ pub fn codegen(
rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(
nr,
|| #unmask,
|| #enable_interrupt,
|| #pend,
));

18
macros/src/codegen/post_init.rs
View file

@ -1,6 +1,7 @@
use proc_macro2::TokenStream as TokenStream2;
use proc_macro2::{Span, TokenStream as TokenStream2};
use quote::quote;
use rtic_syntax::ast::App;
use syn::Index;
use crate::{analyze::Analysis, codegen::util};
@ -25,12 +26,17 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
}
}
for (monotonic, _) in app.monotonics.iter() {
stmts.push(quote!(#monotonic::reset();));
}
for (i, (monotonic, _)) in app.monotonics.iter().enumerate() {
let idx = Index {
index: i as u32,
span: Span::call_site(),
};
stmts.push(quote!(monotonics.#idx.reset();));
// Forget the monotonics so they won't be dropped.
stmts.push(quote!(core::mem::forget(monotonics);));
// Store the monotonic
let name = util::monotonic_ident(&monotonic.to_string());
stmts.push(quote!(#name.as_mut_ptr().write(monotonics.#idx);));
}
// Enable the interrupts -- this completes the `init`-ialization phase
stmts.push(quote!(rtic::export::interrupt::enable();));

20
macros/src/codegen/pre_init.rs
View file

@ -77,14 +77,17 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
}
// Initialize monotonic's interrupts
for (priority, name) in app
for (ident, priority, name) in app
.monotonics
.iter()
.map(|(_, monotonic)| (&monotonic.args.priority, &monotonic.args.binds))
.map(|(ident, monotonic)| (ident, &monotonic.args.priority, &monotonic.args.binds))
{
// Compile time assert that this priority is supported by the device
stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
let mono_type = util::mangle_monotonic_type(&ident.to_string());
if &*name.to_string() == "SysTick" {
stmts.push(quote!(
@ -92,6 +95,12 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
rtic::export::SystemHandler::SysTick,
rtic::export::logical2hw(#priority, #nvic_prio_bits),
);
// Always enable monotonic interrupts if they should never be off
if !#app_path::#mono_type::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
core::mem::transmute::<_, cortex_m::peripheral::SYST>(())
.enable_interrupt();
}
));
} else {
// NOTE this also checks that the interrupt exists in the `Interrupt` enumeration
@ -101,10 +110,13 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
#rt_err::#interrupt::#name,
rtic::export::logical2hw(#priority, #nvic_prio_bits),
);
// Always enable monotonic interrupts if they should never be off
if !#app_path::#mono_type::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
rtic::export::NVIC::unmask(#app_path::#rt_err::#interrupt::#name);
}
));
}
// NOTE we do not unmask the interrupt as this is part of the monotonic to keep track of
}
// If there's no user `#[idle]` then optimize returning from interrupt handlers

2
macros/src/codegen/software_tasks.rs
View file

@ -62,7 +62,7 @@ pub fn codegen(
for (_, monotonic) in &app.monotonics {
let instants = util::monotonic_instants_ident(name, &monotonic.ident);
let m = &monotonic.ident;
let m = util::mangle_monotonic_type(&monotonic.ident.to_string());
let uninit = mk_uninit();
mod_app.push(quote!(

21
macros/src/codegen/timer_queue.rs
View file

@ -42,7 +42,10 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
let monotonic_name = monotonic.ident.to_string();
let tq = util::tq_ident(&monotonic_name);
let t = util::schedule_t_ident();
let m = &monotonic.ident;
let m = util::mangle_monotonic_type(&monotonic_name);
let m_ident = util::monotonic_ident(&monotonic_name);
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
// Static variables and resource proxy
{
@ -63,6 +66,15 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
)
);
));
let mono = util::monotonic_ident(&monotonic_name);
let doc = &format!("Storage for {}", monotonic_name);
let mono_ty = quote!(core::mem::MaybeUninit<#m>);
items.push(quote!(
#[doc = #doc]
static mut #mono: #mono_ty = core::mem::MaybeUninit::uninit();
));
}
// Timer queue handler
@ -100,8 +112,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
.collect::<Vec<_>>();
let bound_interrupt = &monotonic.args.binds;
let enable_isr = if &*bound_interrupt.to_string() == "SysTick" {
quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).enable_interrupt())
let disable_isr = if &*bound_interrupt.to_string() == "SysTick" {
quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).disable_interrupt())
} else {
quote!(rtic::export::NVIC::mask(#rt_err::#enum_::#bound_interrupt))
};
@ -111,7 +123,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
#[allow(non_snake_case)]
unsafe fn #bound_interrupt() {
while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
|| #enable_isr,
|| #disable_isr,
&mut *#app_path::#m_ident.as_mut_ptr(),
))
{
match task {

10
macros/src/codegen/util.rs
View file

@ -239,6 +239,16 @@ pub fn tq_ident(name: &str) -> Ident {
Ident::new(&format!("TQ_{}", name), Span::call_site())
}
/// Generates an identifier for monotonic timer storage
pub fn monotonic_ident(name: &str) -> Ident {
Ident::new(&format!("MONOTONIC_STORAGE_{}", name), Span::call_site())
}
/// Generates an identifier for monotonic timer storage
pub fn mangle_monotonic_type(name: &str) -> Ident {
Ident::new(&format!("MonotonicMangled{}", name), Span::call_site())
}
/// The name to get better RT flag errors
pub fn rt_err_ident() -> Ident {
Ident::new(