use proc_macro2::TokenStream as TokenStream2; use quote::quote; use crate::{analyze::Analysis, check::Extra, codegen::util}; /// Generates code that runs after `#[init]` returns pub fn codegen( core: u8, analysis: &Analysis, extra: &Extra, ) -> (Vec, Vec) { let mut const_app = vec![]; let mut stmts = vec![]; // initialize late resources if let Some(late_resources) = analysis.late_resources.get(&core) { for name in late_resources { // if it's live if analysis.locations.get(name).is_some() { stmts.push(quote!(#name.as_mut_ptr().write(late.#name);)); } } } if analysis.timer_queues.is_empty() { // cross-initialization barriers -- notify *other* cores that their resources have been // initialized for (user, initializers) in &analysis.initialization_barriers { if !initializers.contains(&core) { continue; } let ib = util::init_barrier(*user); let shared = if cfg!(feature = "heterogeneous") { Some(quote!( #[rtfm::export::shared] )) } else { None }; const_app.push(quote!( #shared static #ib: rtfm::export::Barrier = rtfm::export::Barrier::new(); )); stmts.push(quote!( #ib.release(); )); } // then wait until the other cores have initialized *our* resources if analysis.initialization_barriers.contains_key(&core) { let ib = util::init_barrier(core); stmts.push(quote!( #ib.wait(); )); } // cross-spawn barriers: wait until other cores are ready to receive messages for (&receiver, senders) in &analysis.spawn_barriers { if senders.get(&core) == Some(&false) { let sb = util::spawn_barrier(receiver); stmts.push(quote!( #sb.wait(); )); } } } else { // if the `schedule` API is used then we'll synchronize all cores to leave the // `init`-ialization phase at the same time. In this case the rendezvous barrier makes the // cross-initialization and spawn barriers unnecessary let m = extra.monotonic(); if analysis.timer_queues.len() == 1 { // reset the monotonic timer / counter stmts.push(quote!( <#m as rtfm::Monotonic>::reset(); )); } else { // in the multi-core case we need a rendezvous (RV) barrier between *all* the cores that // use the `schedule` API; otherwise one of the cores could observe the before-reset // value of the monotonic counter // (this may be easier to implement with `AtomicU8.fetch_sub` but that API is not // available on ARMv6-M) // this core will reset the monotonic counter const FIRST: u8 = 0; if core == FIRST { for &i in analysis.timer_queues.keys() { let rv = util::rendezvous_ident(i); let shared = if cfg!(feature = "heterogeneous") { Some(quote!( #[rtfm::export::shared] )) } else { None }; const_app.push(quote!( #shared static #rv: rtfm::export::Barrier = rtfm::export::Barrier::new(); )); // wait until all the other cores have reached the RV point if i != FIRST { stmts.push(quote!( #rv.wait(); )); } } let rv = util::rendezvous_ident(core); stmts.push(quote!( // the compiler fences are used to prevent `reset` from being re-ordering wrt to // the atomic operations -- we don't know if `reset` contains load or store // operations core::sync::atomic::compiler_fence(core::sync::atomic::Ordering::SeqCst); // reset the counter <#m as rtfm::Monotonic>::reset(); core::sync::atomic::compiler_fence(core::sync::atomic::Ordering::SeqCst); // now unblock all the other cores #rv.release(); )); } else { let rv = util::rendezvous_ident(core); // let the first core know that we have reached the RV point stmts.push(quote!( #rv.release(); )); let rv = util::rendezvous_ident(FIRST); // wait until the first core has reset the monotonic timer stmts.push(quote!( #rv.wait(); )); } } } // enable the interrupts -- this completes the `init`-ialization phase stmts.push(quote!(rtfm::export::interrupt::enable();)); (const_app, stmts) }