mirror/rtic
1
0
Fork 0
mirror of https://github.com/rtic-rs/rtic.git synced 2024-11-26 05:29:38 +01:00
Code Issues Projects Releases Packages Wiki Activity

take 3

Browse source
This commit is contained in:
Jorge Aparicio 2018-04-20 06:48:59 +02:00
parent cc4be26480
commit 1f5f94bc31
3 changed files with 254 additions and 174 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

116
examples/tq.rs
View file

@ -13,8 +13,9 @@ extern crate stm32f103xx;
use core::cmp;
use cortex_m::peripheral::syst::SystClkSource;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::ll::{Consumer, FreeList, Message, Node, Payload, Producer, RingBuffer, Slot, TimerQueue};
use cortex_m::peripheral::ITM;
use rtfm::ll::{Consumer, FreeList, Instant, Node, Producer, RingBuffer, Slot, TaggedPayload,
TimerQueue};
use rtfm::{app, Resource, Threshold};
use stm32f103xx::Interrupt;
@ -27,25 +28,22 @@ app! {
resources: {
/* timer queue */
static TQ: TimerQueue<Task, [Message<Task>; 2]>;
static TQ: TimerQueue<Task, [TaggedPayload<Task>; 2]>;
/* a */
// payloads w/ after
static AN: [Node<i32>; 2] = [Node::new(), Node::new()];
static AFL: FreeList<i32> = FreeList::new();
static AQ: RingBuffer<(u32, i32), [(u32, i32); ACAP + 1], u8> = RingBuffer::u8();
static AQC: Consumer<'static, (u32, i32), [(u32, i32); ACAP + 1], u8>;
static AQP: Producer<'static, (u32, i32), [(u32, i32); ACAP + 1], u8>;
/* exti0 */
static Q1: RingBuffer<Task1, [Task1; ACAP + 1], u8> = RingBuffer::u8();
static Q1C: Consumer<'static, Task1, [Task1; ACAP + 1], u8>;
static Q1P: Producer<'static, Task1, [Task1; ACAP + 1], u8>;
static Q1: RingBuffer<TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8> =
RingBuffer::u8();
static Q1C: Consumer<'static, TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8>;
static Q1P: Producer<'static, TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8>;
},
init: {
resources: [AN, Q1, AQ],
resources: [AN, Q1],
},
tasks: {
@ -60,14 +58,14 @@ app! {
// dispatch interrupt
EXTI0: {
path: exti0,
resources: [AQC, Q1C],
resources: [Q1C, AFL],
priority: 1,
},
// timer queue
SYS_TICK: {
path: sys_tick,
resources: [TQ, AQP, Q1P, AFL],
resources: [TQ, Q1P],
priority: 2,
},
},
@ -88,12 +86,9 @@ pub fn init(mut p: ::init::Peripherals, r: init::Resources) -> init::LateResourc
r.AFL.push(Slot::new(n));
}
let (aqp, aqc) = r.AQ.split();
let (q1p, q1c) = r.Q1.split();
init::LateResources {
TQ: TimerQueue::new(p.core.SYST),
AQC: aqc,
AQP: aqp,
Q1C: q1c,
Q1P: q1p,
}
@ -107,13 +102,12 @@ pub fn idle() -> ! {
}
}
fn a(_t: &mut Threshold, bl: u32, payload: i32) {
let now = DWT::get_cycle_count();
fn a(_t: &mut Threshold, bl: Instant, payload: i32) {
unsafe {
iprintln!(
&mut (*ITM::ptr()).stim[0],
"a(now={}, bl={}, payload={})",
now,
"a(now={:?}, bl={:?}, payload={})",
Instant::now(),
bl,
payload
)
@ -122,21 +116,24 @@ fn a(_t: &mut Threshold, bl: u32, payload: i32) {
fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
/* expansion */
let bl = DWT::get_cycle_count();
let bl = Instant::now();
let mut async = a::Async::new(bl, r.TQ, r.AFL);
/* end of expansion */
unsafe { iprintln!(&mut (*ITM::ptr()).stim[0], "EXTI0(bl={})", bl) }
unsafe { iprintln!(&mut (*ITM::ptr()).stim[0], "EXTI0(bl={:?})", bl) }
async.a(t, 100 * MS, 0).unwrap();
async.a(t, 50 * MS, 1).unwrap();
}
/* auto generated */
fn exti0(_t: &mut Threshold, mut r: EXTI0::Resources) {
while let Some(task) = r.Q1C.dequeue() {
match task {
fn exti0(t: &mut Threshold, mut r: EXTI0::Resources) {
while let Some(payload) = r.Q1C.dequeue() {
match payload.tag() {
Task1::a => {
let (bl, payload) = r.AQC.dequeue().unwrap();
let (bl, payload, slot) = unsafe { payload.coerce() }.read();
r.AFL.claim_mut(t, |afl, _| afl.push(slot));
a(&mut unsafe { Threshold::new(1) }, bl, payload);
}
}
@ -145,29 +142,26 @@ fn exti0(_t: &mut Threshold, mut r: EXTI0::Resources) {
fn sys_tick(t: &mut Threshold, r: SYS_TICK::Resources) {
#[allow(non_snake_case)]
let SYS_TICK::Resources {
mut AFL,
mut AQP,
mut Q1P,
mut TQ,
} = r;
let SYS_TICK::Resources { mut Q1P, mut TQ } = r;
enum State<T> {
Message(Message<T>),
Baseline(u32),
enum State<T>
where
T: Copy,
{
Payload(TaggedPayload<T>),
Baseline(Instant),
Done,
}
loop {
let state = TQ.claim_mut(t, |tq, _| {
if let Some(m) = tq.queue.peek().cloned() {
if (DWT::get_cycle_count() as i32).wrapping_sub(m.baseline as i32) >= 0 {
if let Some(bl) = tq.queue.peek().map(|p| p.baseline()) {
if Instant::now() >= bl {
// message ready
tq.queue.pop();
State::Message(m)
State::Payload(tq.queue.pop().unwrap())
} else {
// set timeout
State::Baseline(m.baseline)
// new timeout
State::Baseline(bl)
}
} else {
// empty queue
@ -177,30 +171,16 @@ fn sys_tick(t: &mut Threshold, r: SYS_TICK::Resources) {
});
match state {
State::Message(m) => {
match m.task {
Task::a => {
// read payload
let (payload, slot) = unsafe { Payload::<i32>::from(m.payload) }.read();
// return free slot to the free list
AFL.claim_mut(t, |afl, _| afl.push(slot));
// enqueue a new `a` task
AQP.claim_mut(t, |aqp, t| {
aqp.enqueue_unchecked((m.baseline, payload));
Q1P.claim_mut(t, |q1p, _| {
q1p.enqueue_unchecked(Task1::a);
rtfm::set_pending(Interrupt::EXTI0);
});
});
}
State::Payload(p) => match p.tag() {
Task::a => {
Q1P.claim_mut(t, |q1p, _| q1p.enqueue_unchecked(p.retag(Task1::a)));
rtfm::set_pending(Interrupt::EXTI0);
}
}
},
State::Baseline(bl) => {
const MAX: u32 = 0x00ffffff;
let diff = (bl as i32).wrapping_sub(DWT::get_cycle_count() as i32);
let diff = bl - Instant::now();
if diff < 0 {
// message became ready
@ -237,21 +217,21 @@ pub enum Task {
mod a {
use cortex_m::peripheral::SCB;
use rtfm::ll::Message;
use rtfm::ll::Instant;
use rtfm::{Resource, Threshold};
use Task;
#[allow(non_snake_case)]
pub struct Async {
// inherited baseline
baseline: u32,
baseline: Instant,
TQ: ::EXTI1::TQ,
AFL: ::EXTI1::AFL,
}
impl Async {
#[allow(non_snake_case)]
pub fn new(bl: u32, TQ: ::EXTI1::TQ, AFL: ::EXTI1::AFL) -> Self {
pub fn new(bl: Instant, TQ: ::EXTI1::TQ, AFL: ::EXTI1::AFL) -> Self {
Async {
baseline: bl,
TQ,
@ -267,10 +247,10 @@ mod a {
// full
Err(payload)
} else {
let bl = baseline.wrapping_add(after);
let bl = baseline + after;
if tq.queue
.peek()
.map(|head| (bl as i32).wrapping_sub(head.baseline as i32) < 0)
.map(|head| bl < head.baseline())
.unwrap_or(true)
{
tq.syst.enable_interrupt();
@ -278,9 +258,7 @@ mod a {
unsafe { (*SCB::ptr()).icsr.write(1 << 26) }
}
tq.queue
.push(Message::new(bl, Task::a, slot.write(payload)))
.ok();
tq.queue.push(slot.write(bl, payload).tag(Task::a)).ok();
Ok(())
}

1
src/lib.rs
View file

@ -81,6 +81,7 @@
// #![deny(warnings)]
#![feature(const_fn)]
#![feature(proc_macro)]
#![feature(untagged_unions)]
#![feature(unsize)]
#![no_std]

311
src/ll.rs
View file

@ -1,111 +1,48 @@
use core::cmp::Ordering;
use core::marker::Unsize;
use core::ptr;
use core::ops;
use core::{mem, ptr};
use cortex_m::peripheral::SYST;
use cortex_m::peripheral::{DWT, SYST};
use heapless::binary_heap::{BinaryHeap, Min};
pub use heapless::ring_buffer::{Consumer, Producer, RingBuffer};
use untagged_option::UntaggedOption;
pub struct TimerQueue<T, A>
where
A: Unsize<[Message<T>]>,
{
pub syst: SYST,
pub queue: BinaryHeap<Message<T>, A, Min>,
}
impl<T, A> TimerQueue<T, A>
where
A: Unsize<[Message<T>]>,
{
pub fn new(syst: SYST) -> Self {
TimerQueue {
syst,
queue: BinaryHeap::new(),
}
}
}
#[derive(Clone, Copy)]
pub struct Message<T> {
pub baseline: u32,
pub task: T,
pub payload: usize,
}
impl<T> Message<T> {
pub fn new<P>(bl: u32, task: T, payload: Payload<P>) -> Self {
Message {
baseline: bl,
task,
payload: payload.erase(),
}
}
}
impl<T> PartialEq for Message<T> {
fn eq(&self, other: &Self) -> bool {
self.baseline.eq(&other.baseline)
}
}
impl<T> Eq for Message<T> {}
impl<T> PartialOrd for Message<T> {
fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
Some(self.cmp(other))
}
}
impl<T> Ord for Message<T> {
fn cmp(&self, other: &Self) -> Ordering {
(self.baseline as i32)
.wrapping_sub(other.baseline as i32)
.cmp(&0)
}
}
#[repr(C)]
pub struct Node<T>
where
T: 'static,
{
data: UntaggedOption<T>,
next: Option<&'static mut Node<T>>,
baseline: Instant,
next: Option<Slot<T>>,
payload: T,
}
impl<T> Eq for Node<T> {}
impl<T> Ord for Node<T> {
fn cmp(&self, rhs: &Self) -> Ordering {
self.baseline.cmp(&rhs.baseline)
}
}
impl<T> PartialEq for Node<T> {
fn eq(&self, rhs: &Self) -> bool {
self.baseline.eq(&rhs.baseline)
}
}
impl<T> PartialOrd for Node<T> {
fn partial_cmp(&self, rhs: &Self) -> Option<Ordering> {
Some(self.cmp(rhs))
}
}
impl<T> Node<T> {
pub const fn new() -> Self {
Node {
data: UntaggedOption::none(),
baseline: Instant(0),
next: None,
}
}
}
pub struct Payload<T>
where
T: 'static,
{
node: &'static mut Node<T>,
}
impl<T> Payload<T> {
pub unsafe fn from(ptr: usize) -> Self {
Payload {
node: &mut *(ptr as *mut _),
}
}
pub fn erase(self) -> usize {
self.node as *mut _ as usize
}
pub fn read(self) -> (T, Slot<T>) {
unsafe {
let payload = ptr::read(&self.node.data.some);
(payload, Slot::new(self.node))
payload: uninitialized(),
}
}
}
@ -122,11 +59,10 @@ impl<T> Slot<T> {
Slot { node }
}
pub fn write(self, data: T) -> Payload<T> {
unsafe {
ptr::write(&mut self.node.data.some, data);
Payload { node: self.node }
}
pub fn write(self, bl: Instant, data: T) -> Payload<T> {
self.node.baseline = bl;
unsafe { ptr::write(&mut self.node.payload, data) }
Payload { node: self.node }
}
}
@ -142,19 +78,184 @@ impl<T> FreeList<T> {
FreeList { head: None }
}
pub fn is_empty(&self) -> bool {
self.head.is_none()
}
pub fn pop(&mut self) -> Option<Slot<T>> {
self.head.take().map(|head| {
self.head = head.node.next.take().map(Slot::new);
self.head = head.node.next.take();
head
})
}
pub fn push(&mut self, free: Slot<T>) {
free.node.next = self.head.take().map(|slot| slot.node);
self.head = Some(Slot::new(free.node));
pub fn push(&mut self, slot: Slot<T>) {
slot.node.next = self.head.take();
self.head = Some(slot);
}
}
pub struct Payload<T>
where
T: 'static,
{
node: &'static mut Node<T>,
}
impl<T> Payload<T> {
pub fn read(self) -> (Instant, T, Slot<T>) {
let data = unsafe { ptr::read(&self.node.payload) };
(self.node.baseline, data, Slot { node: self.node })
}
pub fn tag<A>(self, tag: A) -> TaggedPayload<A>
where
A: Copy,
{
TaggedPayload {
tag,
payload: unsafe { mem::transmute(self) },
}
}
}
pub struct TaggedPayload<A>
where
A: Copy,
{
tag: A,
payload: Payload<!>,
}
impl<A> TaggedPayload<A>
where
A: Copy,
{
pub unsafe fn coerce<T>(self) -> Payload<T> {
mem::transmute(self.payload)
}
pub fn baseline(&self) -> Instant {
self.payload.node.baseline
}
pub fn tag(&self) -> A {
self.tag
}
pub fn retag<B>(self, tag: B) -> TaggedPayload<B>
where
B: Copy,
{
TaggedPayload {
tag,
payload: self.payload,
}
}
}
impl<T> Eq for TaggedPayload<T>
where
T: Copy,
{
}
impl<T> Ord for TaggedPayload<T>
where
T: Copy,
{
fn cmp(&self, rhs: &Self) -> Ordering {
self.payload.node.cmp(&rhs.payload.node)
}
}
impl<T> PartialEq for TaggedPayload<T>
where
T: Copy,
{
fn eq(&self, rhs: &Self) -> bool {
self.payload.node.eq(&rhs.payload.node)
}
}
impl<T> PartialOrd for TaggedPayload<T>
where
T: Copy,
{
fn partial_cmp(&self, rhs: &Self) -> Option<Ordering> {
Some(self.cmp(rhs))
}
}
pub struct TimerQueue<T, A>
where
A: Unsize<[TaggedPayload<T>]>,
T: Copy,
{
pub syst: SYST,
pub queue: BinaryHeap<TaggedPayload<T>, A, Min>,
}
impl<T, A> TimerQueue<T, A>
where
A: Unsize<[TaggedPayload<T>]>,
T: Copy,
{
pub const fn new(syst: SYST) -> Self {
TimerQueue {
syst,
queue: BinaryHeap::new(),
}
}
}
#[derive(Clone, Copy, Debug)]
pub struct Instant(u32);
impl Instant {
pub fn now() -> Self {
Instant(DWT::get_cycle_count())
}
}
impl Eq for Instant {}
impl Ord for Instant {
fn cmp(&self, rhs: &Self) -> Ordering {
(self.0 as i32).wrapping_sub(rhs.0 as i32).cmp(&0)
}
}
impl PartialEq for Instant {
fn eq(&self, rhs: &Self) -> bool {
self.0.eq(&rhs.0)
}
}
impl PartialOrd for Instant {
fn partial_cmp(&self, rhs: &Self) -> Option<Ordering> {
Some(self.cmp(rhs))
}
}
impl ops::Add<u32> for Instant {
type Output = Self;
fn add(self, rhs: u32) -> Self {
Instant(self.0.wrapping_add(rhs))
}
}
impl ops::Sub for Instant {
type Output = i32;
fn sub(self, rhs: Self) -> i32 {
(self.0 as i32).wrapping_sub(rhs.0 as i32)
}
}
const fn uninitialized<T>() -> T {
#[allow(unions_with_drop_fields)]
union U<T> {
some: T,
none: (),
}
unsafe { U { none: () }.some }
}