use proc_macro2::TokenStream as TokenStream2; use quote::quote; use rtfm_syntax::ast::App; use crate::{analyze::Analysis, check::Extra, codegen::util}; /// Generates timer queues and timer queue handlers pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec { let mut items = vec![]; for (&sender, timer_queue) in &analysis.timer_queues { let cfg_sender = util::cfg_core(sender, app.args.cores); let t = util::schedule_t_ident(sender); // Enumeration of `schedule`-able tasks { let variants = timer_queue .tasks .iter() .map(|name| { let cfgs = &app.software_tasks[name].cfgs; quote!( #(#cfgs)* #name ) }) .collect::>(); let doc = format!("Tasks that can be scheduled from core #{}", sender); items.push(quote!( #cfg_sender #[doc = #doc] #[allow(non_camel_case_types)] #[derive(Clone, Copy)] enum #t { #(#variants,)* } )); } let tq = util::tq_ident(sender); // Static variable and resource proxy { let doc = format!("Core #{} timer queue", sender); let m = extra.monotonic(); let n = util::capacity_typenum(timer_queue.capacity, false); let tq_ty = quote!(rtfm::export::TimerQueue<#m, #t, #n>); items.push(quote!( #cfg_sender #[doc = #doc] static mut #tq: #tq_ty = rtfm::export::TimerQueue( rtfm::export::BinaryHeap( rtfm::export::iBinaryHeap::new() ) ); #cfg_sender struct #tq<'a> { priority: &'a rtfm::export::Priority, } )); items.push(util::impl_mutex( extra, &[], cfg_sender.as_ref(), false, &tq, tq_ty, timer_queue.ceiling, quote!(&mut #tq), )); } // Timer queue handler { let device = extra.device; let arms = timer_queue .tasks .iter() .map(|name| { let task = &app.software_tasks[name]; let cfgs = &task.cfgs; let priority = task.args.priority; let receiver = task.args.core; let rq = util::rq_ident(receiver, priority, sender); let rqt = util::spawn_t_ident(receiver, priority, sender); let enum_ = util::interrupt_ident(receiver, app.args.cores); let interrupt = &analysis.interrupts[&receiver][&priority]; let pend = if sender != receiver { quote!( #device::xpend(#receiver, #device::#enum_::#interrupt); ) } else { quote!( rtfm::pend(#device::#enum_::#interrupt); ) }; quote!( #(#cfgs)* #t::#name => { (#rq { priority: &rtfm::export::Priority::new(PRIORITY) }).lock(|rq| { rq.split().0.enqueue_unchecked((#rqt::#name, index)) }); #pend } ) }) .collect::>(); let priority = timer_queue.priority; let sys_tick = util::suffixed("SysTick", sender); items.push(quote!( #cfg_sender #[no_mangle] unsafe fn #sys_tick() { use rtfm::Mutex as _; /// The priority of this handler const PRIORITY: u8 = #priority; rtfm::export::run(PRIORITY, || { while let Some((task, index)) = (#tq { // NOTE dynamic priority is always the static priority at this point priority: &rtfm::export::Priority::new(PRIORITY), }) // NOTE `inline(always)` produces faster and smaller code .lock(#[inline(always)] |tq| tq.dequeue()) { match task { #(#arms)* } } }); } )); } } items }