use proc_macro2::TokenStream as TokenStream2; use quote::quote; use rtic_syntax::ast::App; use crate::{analyze::Analysis, check::Extra, codegen::util}; /// Generates code that runs before `#[init]` pub fn codegen( core: u8, app: &App, analysis: &Analysis, extra: &Extra, ) -> ( // `const_app_pre_init` -- `static` variables for barriers Vec, // `pre_init_stmts` Vec, ) { let mut const_app = vec![]; let mut stmts = vec![]; // disable interrupts -- `init` must run with interrupts disabled stmts.push(quote!(rtic::export::interrupt::disable();)); // populate this core `FreeQueue`s for (name, senders) in &analysis.free_queues { let task = &app.software_tasks[name]; let cap = task.args.capacity; for &sender in senders.keys() { if sender == core { let fq = util::fq_ident(name, sender); stmts.push(quote!( (0..#cap).for_each(|i| #fq.enqueue_unchecked(i)); )); } } } if app.args.cores == 1 { stmts.push(quote!( // To set the variable in cortex_m so the peripherals cannot be taken multiple times let peripherals = cortex_m::Peripherals::steal(); let mut core: rtic::export::Peripherals = peripherals.into(); )); } else { stmts.push(quote!( // NOTE(transmute) to avoid debug_assertion in multi-core mode // (This code will go away when we drop multi-core mode) let mut core: rtic::export::Peripherals = core::mem::transmute(()); )); } let device = extra.device; let nvic_prio_bits = quote!(#device::NVIC_PRIO_BITS); // unmask interrupts and set their priorities for (&priority, name) in analysis .interrupts .get(&core) .iter() .flat_map(|interrupts| *interrupts) .chain(app.hardware_tasks.values().flat_map(|task| { if !util::is_exception(&task.args.binds) { Some((&task.args.priority, &task.args.binds)) } else { // we do exceptions in another pass None } })) { // compile time assert that this priority is supported by the device stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];)); // NOTE this also checks that the interrupt exists in the `Interrupt` enumeration let interrupt = util::interrupt_ident(core, app.args.cores); stmts.push(quote!( core.NVIC.set_priority( #device::#interrupt::#name, rtic::export::logical2hw(#priority, #nvic_prio_bits), ); )); // NOTE unmask the interrupt *after* setting its priority: changing the priority of a pended // interrupt is implementation defined stmts.push(quote!(rtic::export::NVIC::unmask(#device::#interrupt::#name);)); } // cross-spawn barriers: now that priorities have been set and the interrupts have been unmasked // we are ready to receive messages from *other* cores if analysis.spawn_barriers.contains_key(&core) { let sb = util::spawn_barrier(core); let shared = if cfg!(feature = "heterogeneous") { Some(quote!( #[rtic::export::shared] )) } else { None }; const_app.push(quote!( #shared static #sb: rtic::export::Barrier = rtic::export::Barrier::new(); )); // unblock cores that may send us a message stmts.push(quote!( #sb.release(); )); } // set exception priorities for (name, priority) in app.hardware_tasks.values().filter_map(|task| { if util::is_exception(&task.args.binds) { Some((&task.args.binds, task.args.priority)) } else { None } }) { // compile time assert that this priority is supported by the device stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];)); stmts.push(quote!(core.SCB.set_priority( rtic::export::SystemHandler::#name, rtic::export::logical2hw(#priority, #nvic_prio_bits), );)); } // initialize the SysTick if let Some(tq) = analysis.timer_queues.get(&core) { let priority = tq.priority; // compile time assert that this priority is supported by the device stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];)); stmts.push(quote!(core.SCB.set_priority( rtic::export::SystemHandler::SysTick, rtic::export::logical2hw(#priority, #nvic_prio_bits), );)); stmts.push(quote!( core.SYST.set_clock_source(rtic::export::SystClkSource::Core); core.SYST.enable_counter(); core.DCB.enable_trace(); )); } // if there's no user `#[idle]` then optimize returning from interrupt handlers if app.idles.get(&core).is_none() { // Set SLEEPONEXIT bit to enter sleep mode when returning from ISR stmts.push(quote!(core.SCB.scr.modify(|r| r | 1 << 1);)); } // cross-spawn barriers: wait until other cores are ready to receive messages for (&receiver, senders) in &analysis.spawn_barriers { // only block here if `init` can send messages to `receiver` if senders.get(&core) == Some(&true) { let sb = util::spawn_barrier(receiver); stmts.push(quote!( #sb.wait(); )); } } (const_app, stmts) }