diff --git a/Cargo.toml b/Cargo.toml index d956113951..f7567a1018 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -77,8 +77,6 @@ version = "0.5.2" trybuild = "1" [features] -heterogeneous = ["cortex-m-rtic-macros/heterogeneous", "microamp"] -homogeneous = ["cortex-m-rtic-macros/homogeneous"] # used for testing this crate; do not use in applications __v7 =[] __min_r1_43 =[] @@ -89,8 +87,6 @@ lto = true [workspace] members = [ - "heterogeneous", - "homogeneous", "macros", ] diff --git a/macros/Cargo.toml b/macros/Cargo.toml index 0a38d08b53..e1dbce9993 100644 --- a/macros/Cargo.toml +++ b/macros/Cargo.toml @@ -21,8 +21,5 @@ proc-macro = true proc-macro2 = "1" quote = "1" syn = "1" -rtic-syntax = "0.4.0" +rtic-syntax = { git = "https://github.com/AfoHT/rtic-syntax", branch = "multiremove", version = "0.4.0" } -[features] -heterogeneous = [] -homogeneous = [] diff --git a/macros/src/analyze.rs b/macros/src/analyze.rs index af6811fa4d..c81c186d5d 100644 --- a/macros/src/analyze.rs +++ b/macros/src/analyze.rs @@ -4,14 +4,14 @@ use std::collections::{BTreeMap, BTreeSet}; use rtic_syntax::{ analyze::{self, Priority}, ast::App, - Core, P, + P, }; use syn::Ident; /// Extend the upstream `Analysis` struct with our field pub struct Analysis { parent: P, - pub interrupts: BTreeMap>, + pub interrupts: BTreeMap, } impl ops::Deref for Analysis { @@ -25,32 +25,24 @@ impl ops::Deref for Analysis { // Assign an `extern` interrupt to each priority level pub fn app(analysis: P, app: &App) -> P { let mut interrupts = BTreeMap::new(); - for core in 0..app.args.cores { let priorities = app .software_tasks .values() .filter_map(|task| { - if task.args.core == core { Some(task.args.priority) - } else { - None - } }) - .chain(analysis.timer_queues.get(&core).map(|tq| tq.priority)) + .chain(analysis.timer_queues.first().map(|tq| tq.priority)) .collect::>(); if !priorities.is_empty() { - interrupts.insert( - core, + interrupts = priorities .iter() .cloned() .rev() - .zip(app.extern_interrupts[&core].keys().cloned()) - .collect(), - ); + .zip(app.extern_interrupts.keys().cloned()) + .collect(); } - } P::new(Analysis { parent: analysis, diff --git a/macros/src/check.rs b/macros/src/check.rs index 71634446de..0bc475e579 100644 --- a/macros/src/check.rs +++ b/macros/src/check.rs @@ -4,13 +4,14 @@ use proc_macro2::Span; use rtic_syntax::{ analyze::Analysis, ast::{App, CustomArg}, + }; use syn::{parse, Path}; pub struct Extra<'a> { pub device: &'a Path, pub monotonic: Option<&'a Path>, - pub peripherals: Option, + pub peripherals: bool, } impl<'a> Extra<'a> { @@ -20,35 +21,14 @@ impl<'a> Extra<'a> { } pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result> { - if cfg!(feature = "homogeneous") { - // this RTIC mode uses the same namespace for all cores so we need to check that the - // identifiers used for each core `#[init]` and `#[idle]` functions don't collide - let mut seen = HashSet::new(); - - for name in app - .inits - .values() - .map(|init| &init.name) - .chain(app.idles.values().map(|idle| &idle.name)) - { - if seen.contains(name) { - return Err(parse::Error::new( - name.span(), - "this identifier is already being used by another core", - )); - } else { - seen.insert(name); - } - } - } - // check that all exceptions are valid; only exceptions with configurable priorities are // accepted for (name, task) in &app.hardware_tasks { let name_s = task.args.binds.to_string(); match &*name_s { "SysTick" => { - if analysis.timer_queues.get(&task.args.core).is_some() { + // If the timer queue is used, then SysTick is unavailable + if !analysis.timer_queues.is_empty() { return Err(parse::Error::new( name.span(), "this exception can't be used because it's being used by the runtime", @@ -72,9 +52,7 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result> { // check that external (device-specific) interrupts are not named after known (Cortex-M) // exceptions for name in app - .extern_interrupts - .iter() - .flat_map(|(_, interrupts)| interrupts.keys()) + .extern_interrupts.keys() { let name_s = name.to_string(); @@ -93,50 +71,38 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result> { // check that there are enough external interrupts to dispatch the software tasks and the timer // queue handler - for core in 0..app.args.cores { - let mut first = None; - let priorities = app - .software_tasks - .iter() - .filter_map(|(name, task)| { - if task.args.core == core { - first = Some(name); - Some(task.args.priority) - } else { - None - } - }) - .chain(analysis.timer_queues.get(&core).map(|tq| tq.priority)) - .collect::>(); + let mut first = None; + let priorities = app + .software_tasks + .iter() + .filter_map(|(name, task)| { + first = Some(name); + Some(task.args.priority) + }) + .chain(analysis.timer_queues.first().map(|tq| tq.priority)) + .collect::>(); - let need = priorities.len(); - let given = app - .extern_interrupts - .get(&core) - .map(|ei| ei.len()) - .unwrap_or(0); - if need > given { - let s = if app.args.cores == 1 { - format!( - "not enough `extern` interrupts to dispatch \ - all software tasks (need: {}; given: {})", - need, given - ) - } else { - format!( - "not enough `extern` interrupts to dispatch \ - all software tasks on this core (need: {}; given: {})", - need, given - ) - }; + let need = priorities.len(); + let given = app + .extern_interrupts.len(); + if need > given { + let s = { + format!( + "not enough `extern` interrupts to dispatch \ + all software tasks (need: {}; given: {})", + need, given + ) + }; - return Err(parse::Error::new(first.unwrap().span(), &s)); - } + // If not enough tasks and first still is None, may cause + // "custom attribute panicked" + // unwrap on None + return Err(parse::Error::new(first.unwrap().span(), &s)); } let mut device = None; let mut monotonic = None; - let mut peripherals = None; + let mut peripherals = false; for (k, v) in &app.args.custom { let ks = k.to_string(); @@ -165,10 +131,11 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result> { }, "peripherals" => match v { - CustomArg::Bool(x) if app.args.cores == 1 => { - peripherals = if *x { Some(0) } else { None } + CustomArg::Bool(x) => { + peripherals = if *x { true } else { false } } + /* CustomArg::UInt(s) if app.args.cores != 1 => { let x = s.parse::().ok(); peripherals = if x.is_some() && x.unwrap() < app.args.cores { @@ -184,15 +151,18 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result> { )); } } + */ _ => { return Err(parse::Error::new( k.span(), - if app.args.cores == 1 { - "unexpected argument value; this should be a boolean" + //if app.args.cores == 1 { + "unexpected argument value; this should be a boolean", + /* } else { "unexpected argument value; this should be an integer" }, + */ )); } }, @@ -203,7 +173,7 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result> { } } - if !analysis.timer_queues.is_empty() && monotonic.is_none() { + if !&analysis.timer_queues.is_empty() && monotonic.is_none() { return Err(parse::Error::new( Span::call_site(), "a `monotonic` timer must be specified to use the `schedule` API", diff --git a/macros/src/codegen-verbose.rs b/macros/src/codegen-verbose.rs new file mode 100644 index 0000000000..2b71cf5cd0 --- /dev/null +++ b/macros/src/codegen-verbose.rs @@ -0,0 +1,226 @@ +use proc_macro2::TokenStream as TokenStream2; +use quote::quote; +use rtic_syntax::ast::App; + +use crate::{analyze::Analysis, check::Extra}; + +mod assertions; +mod dispatchers; +mod hardware_tasks; +mod idle; +mod init; +mod locals; +mod module; +mod post_init; +mod pre_init; +mod resources; +mod resources_struct; +mod schedule; +mod schedule_body; +mod software_tasks; +mod spawn; +mod spawn_body; +mod timer_queue; +mod util; + +// TODO document the syntax here or in `rtic-syntax` +pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { + let mut const_app = vec![]; + let mut mains = vec![]; + let mut root = vec![]; + let mut user = vec![]; + let mut imports = vec![]; + + // generate a `main` function for each core + for core in 0..app.args.cores { + let assertion_stmts = assertions::codegen(core, analysis, extra); + + let (const_app_pre_init, pre_init_stmts) = pre_init::codegen(core, &app, analysis, extra); + + let (const_app_init, _root_init, user_init, user_init_imports, call_init) = + init::codegen(core, app, analysis, extra); + + let (const_app_post_init, post_init_stmts) = + post_init::codegen(core, &app, analysis, extra); + + let (const_app_idle, _root_idle, user_idle, user_idle_imports, call_idle) = + idle::codegen(core, app, analysis, extra); + + user.push(quote!( + /// USER INIT + #user_init + + /// USER IDLE + #user_idle + )); + + // Stow away the imports generated for each core + imports.push(quote!( + /// USER IMPORTS + #(#user_init_imports)* + + /// USER IDLE + #(#user_idle_imports)* + )); + + root.push(quote!( + #(#_root_init)* + + #(#_root_idle)* + )); + + const_app.push(quote!( + #(#const_app_pre_init)* + + #const_app_init + + #(#const_app_post_init)* + + #const_app_idle + )); + + let cfg_core = util::cfg_core(core, app.args.cores); + let main = util::suffixed("main", core); + let section = util::link_section("text", core); + mains.push(quote!( + #[no_mangle] + #section + #cfg_core + unsafe extern "C" fn #main() -> ! { + #(#assertion_stmts)* + + #(#pre_init_stmts)* + + #call_init + + #(#post_init_stmts)* + + #call_idle + } + )); + } + + let (const_app_resources, mod_resources, mod_resources_imports) = + resources::codegen(app, analysis, extra); + + let ( + const_app_hardware_tasks, + root_hardware_tasks, + user_hardware_tasks, + user_hardware_tasks_imports, + ) = hardware_tasks::codegen(app, analysis, extra); + + let ( + const_app_software_tasks, + root_software_tasks, + user_software_tasks, + user_software_tasks_imports, + ) = software_tasks::codegen(app, analysis, extra); + + let const_app_dispatchers = dispatchers::codegen(app, analysis, extra); + + let const_app_spawn = spawn::codegen(app, analysis, extra); + + let const_app_timer_queue = timer_queue::codegen(app, analysis, extra); + + let const_app_schedule = schedule::codegen(app, extra); + + let cores = app.args.cores.to_string(); + let cfg_core = quote!(#[cfg(core = #cores)]); + let msg = format!( + "specified {} core{} but tried to compile for more than {0} core{1}", + app.args.cores, + if app.args.cores > 1 { "s" } else { "" } + ); + let check_excess_cores = quote!( + #cfg_core + compile_error!(#msg); + ); + + /* + for s in root.clone() { + println!("{}", s.to_string()); + } + */ + + let user_imports = app.user_imports.clone(); + let user_code = app.user_code.clone(); + let name = &app.name; + let device = extra.device; + let endresult = quote!( + /// USER + #(#user)* + + /// USER_HW_TASKS + #(#user_hardware_tasks)* + + /// USER_SW_TASKS + #(#user_software_tasks)* + + /// ROOT + //#(#root)* + + /// MOD_RESOURCES + #mod_resources + + /// root_hardware_tasks + #(#root_hardware_tasks)* + + /// root_software_tasks + #(#root_software_tasks)* + + /// Implementation details + mod #name { + /// Always include the device crate which contains the vector table + use #device as _; + #(#imports)* + /// User imports + #(#user_imports)* + + /// User code from within the module + #(#user_code)* + + /// User hardware tasks import + #(#user_hardware_tasks_imports)* + + /// User software_tasks + #(#user_software_tasks_imports)* + + /// Mod resources imports + #(#mod_resources_imports)* + + #check_excess_cores + + /// Const app + #(#const_app)* + + /// Const app resources + #(#const_app_resources)* + + /// Const app hw tasks + #(#const_app_hardware_tasks)* + + /// Const app sw tasks + #(#const_app_software_tasks)* + + /// Const app dispatchers + #(#const_app_dispatchers)* + + /// Const app spawn + #(#const_app_spawn)* + /// Const app spawn end + + #(#const_app_timer_queue)* + + #(#const_app_schedule)* + + /// Mains + #(#mains)* + } + ); + for s in endresult.clone() { + eprintln!("{}", s.to_string()); + } + + endresult +} diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs index 2433684cfb..73531c9b83 100644 --- a/macros/src/codegen.rs +++ b/macros/src/codegen.rs @@ -30,65 +30,60 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { let mut root = vec![]; let mut user = vec![]; - // generate a `main` function for each core - for core in 0..app.args.cores { - let assertion_stmts = assertions::codegen(core, analysis, extra); + // generate the `main` function + let assertion_stmts = assertions::codegen(analysis); - let (const_app_pre_init, pre_init_stmts) = pre_init::codegen(core, &app, analysis, extra); + let pre_init_stmts = pre_init::codegen(&app, analysis, extra); - let (const_app_init, root_init, user_init, call_init) = - init::codegen(core, app, analysis, extra); + let (const_app_init, root_init, user_init, call_init) = + init::codegen(app, analysis, extra); - let (const_app_post_init, post_init_stmts) = - post_init::codegen(core, &app, analysis, extra); + let (const_app_post_init, post_init_stmts) = + post_init::codegen(&app, analysis); - let (const_app_idle, root_idle, user_idle, call_idle) = - idle::codegen(core, app, analysis, extra); + let (const_app_idle, root_idle, user_idle, call_idle) = + idle::codegen(app, analysis, extra); - user.push(quote!( - #user_init + user.push(quote!( + #user_init - #user_idle - )); + #user_idle + )); - root.push(quote!( - #(#root_init)* + root.push(quote!( + #(#root_init)* - #(#root_idle)* - )); + #(#root_idle)* + )); - const_app.push(quote!( - #(#const_app_pre_init)* + const_app.push(quote!( + #const_app_init - #const_app_init + #(#const_app_post_init)* - #(#const_app_post_init)* + #const_app_idle + )); - #const_app_idle - )); + let main = util::suffixed("main"); + let section = util::link_section("text"); + mains.push(quote!( + #[no_mangle] + #section + unsafe extern "C" fn #main() -> ! { + let _TODO: () = (); - let cfg_core = util::cfg_core(core, app.args.cores); - let main = util::suffixed("main", core); - let section = util::link_section("text", core); - mains.push(quote!( - #[no_mangle] - #section - #cfg_core - unsafe extern "C" fn #main() -> ! { - let _TODO: () = (); + #(#assertion_stmts)* - #(#assertion_stmts)* + #(#pre_init_stmts)* - #(#pre_init_stmts)* + #call_init - #call_init + #(#post_init_stmts)* - #(#post_init_stmts)* + #call_idle + } + )); - #call_idle - } - )); - } let (const_app_resources, mod_resources) = resources::codegen(app, analysis, extra); @@ -106,18 +101,6 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { let const_app_schedule = schedule::codegen(app, extra); - let cores = app.args.cores.to_string(); - let cfg_core = quote!(#[cfg(core = #cores)]); - let msg = format!( - "specified {} core{} but tried to compile for more than {0} core{1}", - app.args.cores, - if app.args.cores > 1 { "s" } else { "" } - ); - let check_excess_cores = quote!( - #cfg_core - compile_error!(#msg); - ); - let name = &app.name; let device = extra.device; quote!( @@ -141,8 +124,6 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { /// Always include the device crate which contains the vector table use #device as _; - #check_excess_cores - #(#const_app)* #(#const_app_resources)* diff --git a/macros/src/codegen/assertions.rs b/macros/src/codegen/assertions.rs index 51bbdbff30..a7c26a5ecf 100644 --- a/macros/src/codegen/assertions.rs +++ b/macros/src/codegen/assertions.rs @@ -1,33 +1,35 @@ use proc_macro2::TokenStream as TokenStream2; use quote::quote; -use crate::{analyze::Analysis, check::Extra}; +use crate::analyze::Analysis; /// Generates compile-time assertions that check that types implement the `Send` / `Sync` traits -pub fn codegen(core: u8, analysis: &Analysis, extra: &Extra) -> Vec { +pub fn codegen(analysis: &Analysis) -> Vec { let mut stmts = vec![]; // we don't generate *all* assertions on all cores because the user could conditionally import a // type only on some core (e.g. `#[cfg(core = "0")] use some::Type;`) - if let Some(types) = analysis.send_types.get(&core) { - for ty in types { + //if let Some(types) = analysis.send_types { + for ty in &analysis.send_types { stmts.push(quote!(rtic::export::assert_send::<#ty>();)); } - } + //} - if let Some(types) = analysis.sync_types.get(&core) { - for ty in types { + //if let Some(types) = analysis.sync_types { + for ty in &analysis.sync_types { stmts.push(quote!(rtic::export::assert_sync::<#ty>();)); } - } + //} // if the `schedule` API is used in more than one core then we need to check that the // `monotonic` timer can be used in multi-core context + /* if analysis.timer_queues.len() > 1 && analysis.timer_queues.contains_key(&core) { let monotonic = extra.monotonic(); stmts.push(quote!(rtic::export::assert_multicore::<#monotonic>();)); } + */ stmts } diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs index 60b8626e38..fdeb615534 100644 --- a/macros/src/codegen/dispatchers.rs +++ b/macros/src/codegen/dispatchers.rs @@ -8,181 +8,151 @@ use crate::{analyze::Analysis, check::Extra, codegen::util}; pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec { let mut items = vec![]; - for (&receiver, dispatchers) in &analysis.channels { - let interrupts = &analysis.interrupts[&receiver]; + let interrupts = &analysis.interrupts; - for (&level, channels) in dispatchers { - let mut stmts = vec![]; + for (&level, channel) in &analysis.channels { + let mut stmts = vec![]; - for (&sender, channel) in channels { - let cfg_sender = util::cfg_core(sender, app.args.cores); + let variants = channel + .tasks + .iter() + .map(|name| { + let cfgs = &app.software_tasks[name].cfgs; - let variants = channel - .tasks - .iter() - .map(|name| { - let cfgs = &app.software_tasks[name].cfgs; + quote!( + #(#cfgs)* + #name + ) + }) + .collect::>(); - quote!( - #(#cfgs)* - #name - ) - }) - .collect::>(); - - let doc = format!( - "Software tasks spawned from core #{} to be dispatched at priority level {} by core #{}", - sender, level, receiver, - ); - let t = util::spawn_t_ident(receiver, level, sender); - items.push(quote!( - #[allow(non_camel_case_types)] - #[derive(Clone, Copy)] - #[doc = #doc] - enum #t { - #(#variants,)* - } - )); - - let n = util::capacity_typenum(channel.capacity, true); - let rq = util::rq_ident(receiver, level, sender); - let (rq_attr, rq_ty, rq_expr, section) = if sender == receiver { - ( - cfg_sender.clone(), - quote!(rtic::export::SCRQ<#t, #n>), - quote!(rtic::export::Queue(unsafe { - rtic::export::iQueue::u8_sc() - })), - util::link_section("bss", sender), - ) - } else { - let shared = if cfg!(feature = "heterogeneous") { - Some(quote!(#[rtic::export::shared])) - } else { - None - }; - - ( - shared, - quote!(rtic::export::MCRQ<#t, #n>), - quote!(rtic::export::Queue(rtic::export::iQueue::u8())), - None, - ) - }; - - let doc = format!( - "Queue of tasks sent by core #{} ready to be dispatched by core #{} at priority level {}", - sender, - receiver, - level - ); - items.push(quote!( - #[doc = #doc] - #rq_attr - #section - static mut #rq: #rq_ty = #rq_expr; - )); - - if let Some(ceiling) = channel.ceiling { - items.push(quote!( - #cfg_sender - struct #rq<'a> { - priority: &'a rtic::export::Priority, - } - )); - - items.push(util::impl_mutex( - extra, - &[], - cfg_sender.as_ref(), - false, - &rq, - rq_ty, - ceiling, - quote!(&mut #rq), - )); - } - - let arms = channel - .tasks - .iter() - .map(|name| { - let task = &app.software_tasks[name]; - let cfgs = &task.cfgs; - let fq = util::fq_ident(name, sender); - let inputs = util::inputs_ident(name, sender); - let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs); - - let (let_instant, instant) = if app.uses_schedule(receiver) { - let instants = util::instants_ident(name, sender); - - ( - quote!( - let instant = - #instants.get_unchecked(usize::from(index)).as_ptr().read(); - ), - quote!(, instant), - ) - } else { - (quote!(), quote!()) - }; - - let locals_new = if task.locals.is_empty() { - quote!() - } else { - quote!(#name::Locals::new(),) - }; - - quote!( - #(#cfgs)* - #t::#name => { - let #tupled = - #inputs.get_unchecked(usize::from(index)).as_ptr().read(); - #let_instant - #fq.split().0.enqueue_unchecked(index); - let priority = &rtic::export::Priority::new(PRIORITY); - crate::#name( - #locals_new - #name::Context::new(priority #instant) - #(,#pats)* - ) - } - ) - }) - .collect::>(); - - stmts.push(quote!( - while let Some((task, index)) = #rq.split().1.dequeue() { - match task { - #(#arms)* - } - } - )); + let doc = format!( + "Software tasks to be dispatched at priority level {}", + level, + ); + let t = util::spawn_t_ident(level); + items.push(quote!( + #[allow(non_camel_case_types)] + #[derive(Clone, Copy)] + #[doc = #doc] + enum #t { + #(#variants,)* } + )); - let doc = format!( - "Interrupt handler used by core #{} to dispatch tasks at priority {}", - receiver, level - ); - let cfg_receiver = util::cfg_core(receiver, app.args.cores); - let section = util::link_section("text", receiver); - let interrupt = util::suffixed(&interrupts[&level].to_string(), receiver); + let n = util::capacity_typenum(channel.capacity, true); + let rq = util::rq_ident(level); + let (rq_ty, rq_expr, section) = { + ( + quote!(rtic::export::SCRQ<#t, #n>), + quote!(rtic::export::Queue(unsafe { + rtic::export::iQueue::u8_sc() + })), + util::link_section("bss"), + ) + }; + + let doc = format!( + "Queue of tasks ready to be dispatched at priority level {}", + level + ); + items.push(quote!( + #[doc = #doc] + #section + static mut #rq: #rq_ty = #rq_expr; + )); + + if let Some(ceiling) = channel.ceiling { items.push(quote!( - #[allow(non_snake_case)] - #[doc = #doc] - #[no_mangle] - #cfg_receiver - #section - unsafe fn #interrupt() { - /// The priority of this interrupt handler - const PRIORITY: u8 = #level; - - rtic::export::run(PRIORITY, || { - #(#stmts)* - }); + struct #rq<'a> { + priority: &'a rtic::export::Priority, } )); + + items.push(util::impl_mutex( + extra, + &[], + false, + &rq, + rq_ty, + ceiling, + quote!(&mut #rq), + )); } + + let arms = channel + .tasks + .iter() + .map(|name| { + let task = &app.software_tasks[name]; + let cfgs = &task.cfgs; + let fq = util::fq_ident(name); + let inputs = util::inputs_ident(name); + let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs); + + let (let_instant, instant) = if app.uses_schedule() { + let instants = util::instants_ident(name); + + ( + quote!( + let instant = + #instants.get_unchecked(usize::from(index)).as_ptr().read(); + ), + quote!(, instant), + ) + } else { + (quote!(), quote!()) + }; + + let locals_new = if task.locals.is_empty() { + quote!() + } else { + quote!(#name::Locals::new(),) + }; + + quote!( + #(#cfgs)* + #t::#name => { + let #tupled = + #inputs.get_unchecked(usize::from(index)).as_ptr().read(); + #let_instant + #fq.split().0.enqueue_unchecked(index); + let priority = &rtic::export::Priority::new(PRIORITY); + crate::#name( + #locals_new + #name::Context::new(priority #instant) + #(,#pats)* + ) + } + ) + }) + .collect::>(); + + stmts.push(quote!( + while let Some((task, index)) = #rq.split().1.dequeue() { + match task { + #(#arms)* + } + } + )); + + let doc = format!("Interrupt handler to dispatch tasks at priority {}", level); + let section = util::link_section("text"); + let interrupt = util::suffixed(&interrupts[&level].to_string()); + items.push(quote!( + #[allow(non_snake_case)] + #[doc = #doc] + #[no_mangle] + #section + unsafe fn #interrupt() { + /// The priority of this interrupt handler + const PRIORITY: u8 = #level; + + rtic::export::run(PRIORITY, || { + #(#stmts)* + }); + } + )); } items diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs index 453dbccb00..37df33de81 100644 --- a/macros/src/codegen/hardware_tasks.rs +++ b/macros/src/codegen/hardware_tasks.rs @@ -29,10 +29,8 @@ pub fn codegen( let mut user_tasks = vec![]; for (name, task) in &app.hardware_tasks { - let core = task.args.core; - let cfg_core = util::cfg_core(core, app.args.cores); - let (let_instant, instant) = if app.uses_schedule(core) { + let (let_instant, instant) = if app.uses_schedule() { let m = extra.monotonic(); ( @@ -49,19 +47,14 @@ pub fn codegen( quote!(#name::Locals::new(),) }; - let symbol = if cfg!(feature = "homogeneous") { - util::suffixed(&task.args.binds.to_string(), core) - } else { - task.args.binds.clone() - }; + let symbol = task.args.binds.clone(); let priority = task.args.priority; - let section = util::link_section("text", core); + let section = util::link_section("text"); const_app.push(quote!( #[allow(non_snake_case)] #[no_mangle] #section - #cfg_core unsafe fn #symbol() { const PRIORITY: u8 = #priority; @@ -104,7 +97,7 @@ pub fn codegen( let mut locals_pat = None; if !task.locals.is_empty() { let (struct_, pat) = - locals::codegen(Context::HardwareTask(name), &task.locals, core, app); + locals::codegen(Context::HardwareTask(name), &task.locals, app); root.push(struct_); locals_pat = Some(pat); @@ -113,8 +106,7 @@ pub fn codegen( let attrs = &task.attrs; let context = &task.context; let stmts = &task.stmts; - let section = util::link_section("text", core); - // XXX shouldn't this have a cfg_core? + let section = util::link_section("text"); let locals_pat = locals_pat.iter(); user_tasks.push(quote!( #(#attrs)* diff --git a/macros/src/codegen/idle.rs b/macros/src/codegen/idle.rs index 032c8ade43..853372db1d 100644 --- a/macros/src/codegen/idle.rs +++ b/macros/src/codegen/idle.rs @@ -10,7 +10,6 @@ use crate::{ /// Generates support code for `#[idle]` functions pub fn codegen( - core: u8, app: &App, analysis: &Analysis, extra: &Extra, @@ -27,7 +26,9 @@ pub fn codegen( // call_idle TokenStream2, ) { - if let Some(idle) = app.idles.get(&core) { + //if let Some(idle) = app.idles.get(&core) { + if app.idles.len() > 0 { + let idle = &app.idles[0]; let mut needs_lt = false; let mut const_app = None; let mut root_idle = vec![]; @@ -36,7 +37,7 @@ pub fn codegen( if !idle.args.resources.is_empty() { let (item, constructor) = - resources_struct::codegen(Context::Idle(core), 0, &mut needs_lt, app, analysis); + resources_struct::codegen(Context::Idle, 0, &mut needs_lt, app, analysis); root_idle.push(item); const_app = Some(constructor); @@ -44,25 +45,23 @@ pub fn codegen( let name = &idle.name; if !idle.locals.is_empty() { - let (locals, pat) = locals::codegen(Context::Idle(core), &idle.locals, core, app); + let (locals, pat) = locals::codegen(Context::Idle, &idle.locals, app); locals_new = Some(quote!(#name::Locals::new())); locals_pat = Some(pat); root_idle.push(locals); } - root_idle.push(module::codegen(Context::Idle(core), needs_lt, app, extra)); + root_idle.push(module::codegen(Context::Idle, needs_lt, app, extra)); - let cfg_core = util::cfg_core(core, app.args.cores); let attrs = &idle.attrs; let context = &idle.context; let stmts = &idle.stmts; - let section = util::link_section("text", core); + let section = util::link_section("text"); let locals_pat = locals_pat.iter(); let user_idle = Some(quote!( #(#attrs)* #[allow(non_snake_case)] - #cfg_core #section fn #name(#(#locals_pat,)* #context: #name::Context) -> ! { use rtic::Mutex as _; diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs index fa273fee86..4ae9fa624d 100644 --- a/macros/src/codegen/init.rs +++ b/macros/src/codegen/init.rs @@ -10,7 +10,6 @@ use crate::{ /// Generates support code for `#[init]` functions pub fn codegen( - core: u8, app: &App, analysis: &Analysis, extra: &Extra, @@ -28,8 +27,9 @@ pub fn codegen( // call_init -- the call to the user `#[init]` if there's one Option, ) { - if let Some(init) = app.inits.get(&core) { - let cfg_core = util::cfg_core(core, app.args.cores); + //if let Some(init) = app.inits.get(&core) { + if app.inits.len() > 0 { + let init = &app.inits[0]; let mut needs_lt = false; let name = &init.name; @@ -38,8 +38,8 @@ pub fn codegen( let ret = { let late_fields = analysis .late_resources - .get(&core) - .map(|resources| { + .iter() + .flat_map(|resources| { resources .iter() .map(|name| { @@ -51,16 +51,14 @@ pub fn codegen( pub #name: #ty ) }) - .collect::>() }) - .unwrap_or(vec![]); + .collect::>(); if !late_fields.is_empty() { let late_resources = util::late_resources_ident(&name); root_init.push(quote!( /// Resources initialized at runtime - #cfg_core #[allow(non_snake_case)] pub struct #late_resources { #(#late_fields),* @@ -76,7 +74,7 @@ pub fn codegen( let mut locals_pat = None; let mut locals_new = None; if !init.locals.is_empty() { - let (struct_, pat) = locals::codegen(Context::Init(core), &init.locals, core, app); + let (struct_, pat) = locals::codegen(Context::Init, &init.locals, app); locals_new = Some(quote!(#name::Locals::new())); locals_pat = Some(pat); @@ -86,11 +84,10 @@ pub fn codegen( let context = &init.context; let attrs = &init.attrs; let stmts = &init.stmts; - let section = util::link_section("text", core); + let section = util::link_section("text"); let locals_pat = locals_pat.iter(); let user_init = Some(quote!( #(#attrs)* - #cfg_core #[allow(non_snake_case)] #section fn #name(#(#locals_pat,)* #context: #name::Context) #ret { @@ -101,7 +98,7 @@ pub fn codegen( let mut const_app = None; if !init.args.resources.is_empty() { let (item, constructor) = - resources_struct::codegen(Context::Init(core), 0, &mut needs_lt, app, analysis); + resources_struct::codegen(Context::Init, 0, &mut needs_lt, app, analysis); root_init.push(item); const_app = Some(constructor); @@ -112,7 +109,7 @@ pub fn codegen( quote!(let late = crate::#name(#(#locals_new,)* #name::Context::new(core.into()));), ); - root_init.push(module::codegen(Context::Init(core), needs_lt, app, extra)); + root_init.push(module::codegen(Context::Init, needs_lt, app, extra)); (const_app, root_init, user_init, call_init) } else { diff --git a/macros/src/codegen/locals.rs b/macros/src/codegen/locals.rs index 127f4b09e7..b3c593a2b2 100644 --- a/macros/src/codegen/locals.rs +++ b/macros/src/codegen/locals.rs @@ -2,7 +2,7 @@ use proc_macro2::TokenStream as TokenStream2; use quote::quote; use rtic_syntax::{ ast::{App, Local}, - Context, Core, Map, + Context, Map, }; use crate::codegen::util; @@ -10,7 +10,6 @@ use crate::codegen::util; pub fn codegen( ctxt: Context, locals: &Map, - core: Core, app: &App, ) -> ( // locals @@ -42,11 +41,13 @@ pub fn codegen( let cfgs = &local.cfgs; has_cfgs |= !cfgs.is_empty(); + /* let section = if local.shared && cfg!(feature = "heterogeneous") { Some(quote!(#[rtic::export::shared])) } else { util::link_section("data", core) }; + */ let expr = &local.expr; let ty = &local.ty; fields.push(quote!( @@ -55,7 +56,7 @@ pub fn codegen( )); items.push(quote!( #(#cfgs)* - #section + //#section static mut #name: #ty = #expr )); values.push(quote!( diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs index 1b21209f7f..ad20f1393e 100644 --- a/macros/src/codegen/module.rs +++ b/macros/src/codegen/module.rs @@ -11,12 +11,12 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> let name = ctxt.ident(app); - let core = ctxt.core(app); + //let core = ctxt.core(app); let mut needs_instant = false; let mut lt = None; match ctxt { - Context::Init(core) => { - if app.uses_schedule(core) { + Context::Init => { + if app.uses_schedule() { let m = extra.monotonic(); fields.push(quote!( @@ -37,7 +37,7 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> )); } - if extra.peripherals == Some(core) { + if extra.peripherals { let device = extra.device; fields.push(quote!( @@ -51,10 +51,10 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> values.push(quote!(core)); } - Context::Idle(..) => {} + Context::Idle => {} Context::HardwareTask(..) => { - if app.uses_schedule(core) { + if app.uses_schedule() { let m = extra.monotonic(); fields.push(quote!( @@ -69,7 +69,7 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> } Context::SoftwareTask(..) => { - if app.uses_schedule(core) { + if app.uses_schedule() { let m = extra.monotonic(); fields.push(quote!( @@ -205,7 +205,7 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> values.push(quote!(spawn: Spawn { priority })); } else { - let instant_field = if app.uses_schedule(core) { + let instant_field = if app.uses_schedule() { let m = extra.monotonic(); needs_instant = true; @@ -252,8 +252,8 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> } } - if let Context::Init(core) = ctxt { - let init = &app.inits[&core]; + if let Context::Init = ctxt { + let init = &app.inits[0]; if init.returns_late_resources { let late_resources = util::late_resources_ident(&init.name); @@ -265,14 +265,14 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> } let doc = match ctxt { - Context::Idle(_) => "Idle loop", - Context::Init(_) => "Initialization function", + Context::Idle => "Idle loop", + Context::Init => "Initialization function", Context::HardwareTask(_) => "Hardware task", Context::SoftwareTask(_) => "Software task", }; let core = if ctxt.is_init() { - if app.uses_schedule(core) { + if app.uses_schedule() { Some(quote!(core: rtic::Peripherals,)) } else { Some(quote!(core: rtic::export::Peripherals,)) @@ -312,12 +312,12 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> )); if !items.is_empty() { - let cfg_core = util::cfg_core(ctxt.core(app), app.args.cores); + //let cfg_core = util::cfg_core(ctxt.core(app), app.args.cores); quote!( #[allow(non_snake_case)] #[doc = #doc] - #cfg_core + //#cfg_core pub mod #name { #(#items)* } diff --git a/macros/src/codegen/post_init.rs b/macros/src/codegen/post_init.rs index 0c740e85ff..098d1cc9ab 100644 --- a/macros/src/codegen/post_init.rs +++ b/macros/src/codegen/post_init.rs @@ -2,21 +2,24 @@ use proc_macro2::TokenStream as TokenStream2; use quote::quote; use rtic_syntax::ast::App; -use crate::{analyze::Analysis, check::Extra, codegen::util}; +use crate::analyze::Analysis; /// Generates code that runs after `#[init]` returns pub fn codegen( - core: u8, app: &App, analysis: &Analysis, - extra: &Extra, ) -> (Vec, Vec) { - let mut const_app = vec![]; + //#TODO remove + let 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 let Some(late_resources) = analysis.late_resources { + //for name in late_resources { + if analysis.late_resources.len() > 0 { + // #TODO, check soundness of this, why the wrapping + // BTreeSet wrapped in a vector + for name in &analysis.late_resources[0] { // if it's live let cfgs = app.late_resources[name].cfgs.clone(); if analysis.locations.get(name).is_some() { @@ -29,7 +32,9 @@ pub fn codegen( } } + /* 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 { @@ -55,7 +60,9 @@ pub fn codegen( #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); @@ -75,6 +82,7 @@ pub fn codegen( )); } } + */ } 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 @@ -154,6 +162,7 @@ pub fn codegen( } } } + */ // enable the interrupts -- this completes the `init`-ialization phase stmts.push(quote!(rtic::export::interrupt::enable();)); diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs index f89dec9667..7b57739037 100644 --- a/macros/src/codegen/pre_init.rs +++ b/macros/src/codegen/pre_init.rs @@ -6,60 +6,44 @@ 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![]; + 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 { + // populate the FreeQueue + for fq in &analysis.free_queues { + // Get the task name + let name = fq.0; 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); + let fq_ident = util::fq_ident(name); - 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 mut core: rtic::export::Peripherals = rtic::export::Peripherals::steal().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(()); + (0..#cap).for_each(|i| #fq_ident.enqueue_unchecked(i)); )); } + stmts.push(quote!( + // To set the variable in cortex_m so the peripherals cannot be taken multiple times + let mut core: rtic::export::Peripherals = rtic::export::Peripherals::steal().into(); + )); + 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)) @@ -73,7 +57,7 @@ pub fn codegen( 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); + let interrupt = util::interrupt_ident(); stmts.push(quote!( core.NVIC.set_priority( #device::#interrupt::#name, @@ -88,6 +72,7 @@ pub fn codegen( // 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") { @@ -108,6 +93,7 @@ pub fn codegen( #sb.release(); )); } + */ // set exception priorities for (name, priority) in app.hardware_tasks.values().filter_map(|task| { @@ -126,8 +112,8 @@ pub fn codegen( );)); } - // initialize the SysTick - if let Some(tq) = analysis.timer_queues.get(&core) { + // initialize the SysTick if there exist a TimerQueue + if let Some(tq) = analysis.timer_queues.first() { let priority = tq.priority; // compile time assert that this priority is supported by the device @@ -146,11 +132,12 @@ pub fn codegen( } // if there's no user `#[idle]` then optimize returning from interrupt handlers - if app.idles.get(&core).is_none() { + if app.idles.is_empty() { // 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` @@ -162,6 +149,7 @@ pub fn codegen( )); } } + */ - (const_app, stmts) + stmts } diff --git a/macros/src/codegen/resources.rs b/macros/src/codegen/resources.rs index 0bec3e5ae6..07e01cb1eb 100644 --- a/macros/src/codegen/resources.rs +++ b/macros/src/codegen/resources.rs @@ -1,7 +1,7 @@ use proc_macro2::TokenStream as TokenStream2; use quote::quote; use rtic_syntax::{ - analyze::{Location, Ownership}, + analyze::Ownership, ast::App, }; @@ -21,38 +21,29 @@ pub fn codegen( let mut const_app = vec![]; let mut mod_resources = vec![]; - for (name, res, expr, loc) in app.resources(analysis) { + for (name, res, expr, _) in app.resources(analysis) { let cfgs = &res.cfgs; let ty = &res.ty; { - let (loc_attr, section) = match loc { - Location::Owned { - core, - cross_initialized: false, - } => ( - util::cfg_core(*core, app.args.cores), - if expr.is_none() { - util::link_section_uninit(Some(*core)) - } else { - util::link_section("data", *core) - }, - ), - - // shared `static`s and cross-initialized resources need to be in `.shared` memory - _ => ( - if cfg!(feature = "heterogeneous") { - Some(quote!(#[rtic::export::shared])) + //let loc_attr = None; + let section = if expr.is_none() { + util::link_section_uninit(true) } else { None - }, + }; + /* + let (loc_attr, section) = match loc { + Location::Owned => ( + None, if expr.is_none() { - util::link_section_uninit(None) + util::link_section_uninit(true) } else { None }, ), }; + */ let (ty, expr) = if let Some(expr) = expr { (quote!(#ty), quote!(#expr)) @@ -68,25 +59,22 @@ pub fn codegen( #[allow(non_upper_case_globals)] #(#attrs)* #(#cfgs)* - #loc_attr + //#loc_attr #section static mut #name: #ty = #expr; )); } if let Some(Ownership::Contended { ceiling }) = analysis.ownerships.get(name) { - let cfg_core = util::cfg_core(loc.core().expect("UNREACHABLE"), app.args.cores); mod_resources.push(quote!( #[allow(non_camel_case_types)] #(#cfgs)* - #cfg_core pub struct #name<'a> { priority: &'a Priority, } #(#cfgs)* - #cfg_core impl<'a> #name<'a> { #[inline(always)] pub unsafe fn new(priority: &'a Priority) -> Self { @@ -115,7 +103,6 @@ pub fn codegen( const_app.push(util::impl_mutex( extra, cfgs, - cfg_core.as_ref(), true, name, quote!(#ty), diff --git a/macros/src/codegen/resources_struct.rs b/macros/src/codegen/resources_struct.rs index 994e751c8d..bd92a59916 100644 --- a/macros/src/codegen/resources_struct.rs +++ b/macros/src/codegen/resources_struct.rs @@ -14,8 +14,8 @@ pub fn codegen( let mut lt = None; let resources = match ctxt { - Context::Init(core) => &app.inits[&core].args.resources, - Context::Idle(core) => &app.idles[&core].args.resources, + Context::Init => &app.inits[0].args.resources, + Context::Idle => &app.idles[0].args.resources, Context::HardwareTask(name) => &app.hardware_tasks[name].args.resources, Context::SoftwareTask(name) => &app.software_tasks[name].args.resources, }; @@ -147,13 +147,9 @@ pub fn codegen( } } - let core = ctxt.core(app); - let cores = app.args.cores; - let cfg_core = util::cfg_core(core, cores); let doc = format!("Resources `{}` has access to", ctxt.ident(app)); let ident = util::resources_ident(ctxt, app); let item = quote!( - #cfg_core #[allow(non_snake_case)] #[doc = #doc] pub struct #ident<#lt> { @@ -167,7 +163,6 @@ pub fn codegen( Some(quote!(priority: &#lt rtic::export::Priority)) }; let constructor = quote!( - #cfg_core impl<#lt> #ident<#lt> { #[inline(always)] unsafe fn new(#arg) -> Self { diff --git a/macros/src/codegen/schedule.rs b/macros/src/codegen/schedule.rs index 728d3a0933..b6cb6b9aa4 100644 --- a/macros/src/codegen/schedule.rs +++ b/macros/src/codegen/schedule.rs @@ -1,4 +1,4 @@ -use std::collections::{BTreeMap, HashSet}; +use std::collections::HashSet; use proc_macro2::TokenStream as TokenStream2; use quote::quote; @@ -13,14 +13,11 @@ use crate::{ pub fn codegen(app: &App, extra: &Extra) -> Vec { let mut items = vec![]; - let mut seen = BTreeMap::>::new(); + let mut seen = HashSet::<_>::new(); for (scheduler, schedulees) in app.schedule_callers() { let m = extra.monotonic(); let instant = quote!(<#m as rtic::Monotonic>::Instant); - let sender = scheduler.core(app); - let cfg_sender = util::cfg_core(sender, app.args.cores); - let seen = seen.entry(sender).or_default(); let mut methods = vec![]; for name in schedulees { @@ -35,7 +32,7 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec { let body = schedule_body::codegen(scheduler, &name, app); - let section = util::link_section("text", sender); + let section = util::link_section("text"); methods.push(quote!( #(#cfgs)* #section @@ -44,7 +41,7 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec { } )); } else { - let schedule = util::schedule_ident(name, sender); + let schedule = util::schedule_ident(name); if !seen.contains(name) { // generate a `schedule_${name}_S${sender}` function @@ -52,9 +49,8 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec { let body = schedule_body::codegen(scheduler, &name, app); - let section = util::link_section("text", sender); + let section = util::link_section("text"); items.push(quote!( - #cfg_sender #(#cfgs)* #section unsafe fn #schedule( @@ -88,7 +84,6 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec { let scheduler = scheduler.ident(app); debug_assert!(!methods.is_empty()); items.push(quote!( - #cfg_sender impl<#lt> #scheduler::Schedule<#lt> { #(#methods)* } diff --git a/macros/src/codegen/schedule_body.rs b/macros/src/codegen/schedule_body.rs index 8fd026c215..644930d7d7 100644 --- a/macros/src/codegen/schedule_body.rs +++ b/macros/src/codegen/schedule_body.rs @@ -6,12 +6,10 @@ use syn::Ident; use crate::codegen::util; pub fn codegen(scheduler: Context, name: &Ident, app: &App) -> TokenStream2 { - let sender = scheduler.core(app); let schedulee = &app.software_tasks[name]; - let receiver = schedulee.args.core; - let fq = util::fq_ident(name, sender); - let tq = util::tq_ident(sender); + let fq = util::fq_ident(name); + let tq = util::tq_ident(); let (dequeue, enqueue) = if scheduler.is_init() { (quote!(#fq.dequeue()), quote!(#tq.enqueue_unchecked(nr);)) } else { @@ -21,8 +19,8 @@ pub fn codegen(scheduler: Context, name: &Ident, app: &App) -> TokenStream2 { ) }; - let write_instant = if app.uses_schedule(receiver) { - let instants = util::instants_ident(name, sender); + let write_instant = if app.uses_schedule() { + let instants = util::instants_ident(name); Some(quote!( #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant); @@ -32,8 +30,8 @@ pub fn codegen(scheduler: Context, name: &Ident, app: &App) -> TokenStream2 { }; let (_, tupled, _, _) = util::regroup_inputs(&schedulee.inputs); - let inputs = util::inputs_ident(name, sender); - let t = util::schedule_t_ident(sender); + let inputs = util::inputs_ident(name); + let t = util::schedule_t_ident(); quote!( unsafe { use rtic::Mutex as _; diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs index 14a57633ea..25662801a6 100644 --- a/macros/src/codegen/software_tasks.rs +++ b/macros/src/codegen/software_tasks.rs @@ -28,8 +28,6 @@ pub fn codegen( let mut user_tasks = vec![]; for (name, task) in &app.software_tasks { - let receiver = task.args.core; - let inputs = &task.inputs; let (_, _, _, input_ty) = util::regroup_inputs(inputs); @@ -38,102 +36,73 @@ pub fn codegen( let cap_ty = util::capacity_typenum(cap, true); // create free queues and inputs / instants buffers - if let Some(free_queues) = analysis.free_queues.get(name) { - for (&sender, &ceiling) in free_queues { - let cfg_sender = util::cfg_core(sender, app.args.cores); - let fq = util::fq_ident(name, sender); + //if let Some(free_queues) = analysis.free_queues.get(name) { + //for (&sender, &ceiling) in free_queues { + if let Some(&ceiling) = analysis.free_queues.get(name) { + let fq = util::fq_ident(name); - let (loc, fq_ty, fq_expr, bss, mk_uninit): ( - _, - _, - _, - _, - Box Option<_>>, - ) = if receiver == sender { - ( - cfg_sender.clone(), - quote!(rtic::export::SCFQ<#cap_ty>), - quote!(rtic::export::Queue(unsafe { - rtic::export::iQueue::u8_sc() - })), - util::link_section("bss", sender), - Box::new(|| util::link_section_uninit(Some(sender))), - ) - } else { - let shared = if cfg!(feature = "heterogeneous") { - Some(quote!(#[rtic::export::shared])) - } else { - None - }; - - ( - shared, - quote!(rtic::export::MCFQ<#cap_ty>), - quote!(rtic::export::Queue(rtic::export::iQueue::u8())), - None, - Box::new(|| util::link_section_uninit(None)), - ) - }; - let loc = &loc; + let (fq_ty, fq_expr, bss, mk_uninit): (_, _, _, Box Option<_>>) = { + ( + quote!(rtic::export::SCFQ<#cap_ty>), + quote!(rtic::export::Queue(unsafe { + rtic::export::iQueue::u8_sc() + })), + util::link_section("bss"), + Box::new(|| util::link_section_uninit(true)), + ) + }; + const_app.push(quote!( + /// Queue version of a free-list that keeps track of empty slots in + /// the following buffers + #bss + static mut #fq: #fq_ty = #fq_expr; + )); + // Generate a resource proxy if needed + if let Some(ceiling) = ceiling { const_app.push(quote!( - /// Queue version of a free-list that keeps track of empty slots in - /// the following buffers - #loc - #bss - static mut #fq: #fq_ty = #fq_expr; + struct #fq<'a> { + priority: &'a rtic::export::Priority, + } )); - // Generate a resource proxy if needed - if let Some(ceiling) = ceiling { - const_app.push(quote!( - #cfg_sender - struct #fq<'a> { - priority: &'a rtic::export::Priority, - } - )); + const_app.push(util::impl_mutex( + extra, + &[], + false, + &fq, + fq_ty, + ceiling, + quote!(&mut #fq), + )); + } - const_app.push(util::impl_mutex( - extra, - &[], - cfg_sender.as_ref(), - false, - &fq, - fq_ty, - ceiling, - quote!(&mut #fq), - )); - } + let ref elems = (0..cap) + .map(|_| quote!(core::mem::MaybeUninit::uninit())) + .collect::>(); - let ref elems = (0..cap) - .map(|_| quote!(core::mem::MaybeUninit::uninit())) - .collect::>(); - - if app.uses_schedule(receiver) { - let m = extra.monotonic(); - let instants = util::instants_ident(name, sender); - - let uninit = mk_uninit(); - const_app.push(quote!( - #loc - #uninit - /// Buffer that holds the instants associated to the inputs of a task - static mut #instants: - [core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] = - [#(#elems,)*]; - )); - } + if app.uses_schedule() { + let m = extra.monotonic(); + let instants = util::instants_ident(name); let uninit = mk_uninit(); - let inputs = util::inputs_ident(name, sender); const_app.push(quote!( - #loc #uninit - /// Buffer that holds the inputs of a task - static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] = + /// Buffer that holds the instants associated to the inputs of a task + static mut #instants: + [core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] = [#(#elems,)*]; )); } + + let uninit = mk_uninit(); + let inputs = util::inputs_ident(name); + const_app.push(quote!( + #uninit + /// Buffer that holds the inputs of a task + static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] = + [#(#elems,)*]; + )); } // `${task}Resources` @@ -155,15 +124,13 @@ pub fn codegen( // `${task}Locals` let mut locals_pat = None; if !task.locals.is_empty() { - let (struct_, pat) = - locals::codegen(Context::SoftwareTask(name), &task.locals, receiver, app); + let (struct_, pat) = locals::codegen(Context::SoftwareTask(name), &task.locals, app); locals_pat = Some(pat); root.push(struct_); } - let cfg_receiver = util::cfg_core(receiver, app.args.cores); - let section = util::link_section("text", receiver); + let section = util::link_section("text"); let context = &task.context; let attrs = &task.attrs; let cfgs = &task.cfgs; @@ -173,7 +140,6 @@ pub fn codegen( #(#attrs)* #(#cfgs)* #[allow(non_snake_case)] - #cfg_receiver #section fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) { use rtic::Mutex as _; diff --git a/macros/src/codegen/spawn.rs b/macros/src/codegen/spawn.rs index 287c92a1cc..6cad809b5b 100644 --- a/macros/src/codegen/spawn.rs +++ b/macros/src/codegen/spawn.rs @@ -1,4 +1,4 @@ -use std::collections::{BTreeMap, HashSet}; +use std::collections::HashSet; use proc_macro2::TokenStream as TokenStream2; use quote::quote; @@ -14,16 +14,13 @@ use crate::{ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec { let mut items = vec![]; - let mut seen = BTreeMap::>::new(); + let mut seen = HashSet::<_>::new(); for (spawner, spawnees) in app.spawn_callers() { - let sender = spawner.core(app); - let cfg_sender = util::cfg_core(sender, app.args.cores); - let seen = seen.entry(sender).or_default(); let mut methods = vec![]; for name in spawnees { let spawnee = &app.software_tasks[name]; - let receiver = spawnee.args.core; + //let receiver = spawnee.args.core; let cfgs = &spawnee.cfgs; let (args, _, untupled, ty) = util::regroup_inputs(&spawnee.inputs); let args = &args; @@ -34,7 +31,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec::zero() };)) @@ -42,7 +39,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec Vec::Instant)) @@ -68,9 +65,9 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec Vec Vec #spawner::Spawn<#lt> { #(#methods)* } diff --git a/macros/src/codegen/spawn_body.rs b/macros/src/codegen/spawn_body.rs index 3433875e90..3c2e8a0392 100644 --- a/macros/src/codegen/spawn_body.rs +++ b/macros/src/codegen/spawn_body.rs @@ -12,13 +12,11 @@ pub fn codegen( analysis: &Analysis, extra: &Extra, ) -> TokenStream2 { - let sender = spawner.core(app); let spawnee = &app.software_tasks[name]; let priority = spawnee.args.priority; - let receiver = spawnee.args.core; - let write_instant = if app.uses_schedule(receiver) { - let instants = util::instants_ident(name, sender); + let write_instant = if app.uses_schedule() { + let instants = util::instants_ident(name); Some(quote!( #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant); @@ -27,9 +25,9 @@ pub fn codegen( None }; - let t = util::spawn_t_ident(receiver, priority, sender); - let fq = util::fq_ident(name, sender); - let rq = util::rq_ident(receiver, priority, sender); + let t = util::spawn_t_ident(priority); + let fq = util::fq_ident(name); + let rq = util::rq_ident(priority); let (dequeue, enqueue) = if spawner.is_init() { ( quote!(#fq.dequeue()), @@ -45,20 +43,15 @@ pub fn codegen( }; let device = extra.device; - 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!( + let enum_ = util::interrupt_ident(); + let interrupt = &analysis.interrupts.get(&priority); + let pend = {quote!( rtic::pend(#device::#enum_::#interrupt); ) }; let (_, tupled, _, _) = util::regroup_inputs(&spawnee.inputs); - let inputs = util::inputs_ident(name, sender); + let inputs = util::inputs_ident(name); quote!( unsafe { use rtic::Mutex as _; diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs index 56304001e0..41f5520ec9 100644 --- a/macros/src/codegen/timer_queue.rs +++ b/macros/src/codegen/timer_queue.rs @@ -8,9 +8,9 @@ use crate::{analyze::Analysis, check::Extra, codegen::util}; 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); + if let Some(timer_queue) = &analysis.timer_queues.first() { + //let cfg_sender = util::cfg_core(sender, app.args.cores); + let t = util::schedule_t_ident(); // Enumeration of `schedule`-able tasks { @@ -27,9 +27,9 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec>(); - let doc = format!("Tasks that can be scheduled from core #{}", sender); + let doc = format!("Tasks that can be scheduled"); items.push(quote!( - #cfg_sender + //#cfg_sender #[doc = #doc] #[allow(non_camel_case_types)] #[derive(Clone, Copy)] @@ -39,18 +39,18 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec); - let section = util::link_section("bss", sender); + let section = util::link_section("bss"); items.push(quote!( - #cfg_sender + //#cfg_sender #[doc = #doc] #section static mut #tq: #tq_ty = rtic::export::TimerQueue( @@ -59,7 +59,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec { priority: &'a rtic::export::Priority, } @@ -68,7 +68,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec Vec Vec>(); let priority = timer_queue.priority; - let sys_tick = util::suffixed("SysTick", sender); - let section = util::link_section("text", sender); + let sys_tick = util::suffixed("SysTick"); + let section = util::link_section("text"); items.push(quote!( #[no_mangle] - #cfg_sender + //#cfg_sender #section unsafe fn #sys_tick() { use rtic::Mutex as _; @@ -137,7 +132,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec Vec TokenSt quote!(rtic::export::consts::#ident) } +/* /// Generates a `#[cfg(core = "0")]` attribute if we are in multi-core mode pub fn cfg_core(core: Core, cores: u8) -> Option { if cores == 1 { @@ -36,14 +37,15 @@ pub fn cfg_core(core: Core, cores: u8) -> Option { None } } +*/ /// Identifier for the free queue /// /// There may be more than one free queue per task because we need one for each sender core so we /// include the sender (e.g. `S0`) in the name -pub fn fq_ident(task: &Ident, sender: Core) -> Ident { +pub fn fq_ident(task: &Ident) -> Ident { Ident::new( - &format!("{}_S{}_FQ", task.to_string(), sender), + &format!("{}_FQ", task.to_string()), Span::call_site(), ) } @@ -52,7 +54,7 @@ pub fn fq_ident(task: &Ident, sender: Core) -> Ident { pub fn impl_mutex( extra: &Extra, cfgs: &[Attribute], - cfg_core: Option<&TokenStream2>, + //cfg_core: Option<&TokenStream2>, resources_prefix: bool, name: &Ident, ty: TokenStream2, @@ -68,7 +70,7 @@ pub fn impl_mutex( let device = extra.device; quote!( #(#cfgs)* - #cfg_core + //#cfg_core impl<'a> rtic::Mutex for #path<'a> { type T = #ty; @@ -91,28 +93,26 @@ pub fn impl_mutex( ) } +/* /// Generates an identifier for a cross-initialization barrier pub fn init_barrier(initializer: Core) -> Ident { Ident::new(&format!("IB{}", initializer), Span::call_site()) } +*/ /// Generates an identifier for the `INPUTS` buffer (`spawn` & `schedule` API) -pub fn inputs_ident(task: &Ident, sender: Core) -> Ident { - Ident::new(&format!("{}_S{}_INPUTS", task, sender), Span::call_site()) +pub fn inputs_ident(task: &Ident) -> Ident { + Ident::new(&format!("{}_INPUTS", task), Span::call_site()) } /// Generates an identifier for the `INSTANTS` buffer (`schedule` API) -pub fn instants_ident(task: &Ident, sender: Core) -> Ident { - Ident::new(&format!("{}_S{}_INSTANTS", task, sender), Span::call_site()) +pub fn instants_ident(task: &Ident) -> Ident { + Ident::new(&format!("{}_INSTANTS", task), Span::call_site()) } -pub fn interrupt_ident(core: Core, cores: u8) -> Ident { +pub fn interrupt_ident() -> Ident { let span = Span::call_site(); - if cores == 1 { Ident::new("Interrupt", span) - } else { - Ident::new(&format!("Interrupt_{}", core), span) - } } /// Whether `name` is an exception with configurable priority @@ -141,31 +141,24 @@ fn link_section_index() -> usize { INDEX.fetch_add(1, Ordering::Relaxed) } -pub fn link_section(section: &str, core: Core) -> Option { +pub fn link_section(_section: &str) -> Option { + /* if cfg!(feature = "homogeneous") { let section = format!(".{}_{}.rtic{}", section, core, link_section_index()); Some(quote!(#[link_section = #section])) } else { None } + */ + None } // NOTE `None` means in shared memory -pub fn link_section_uninit(core: Option) -> Option { - let section = if let Some(core) = core { +pub fn link_section_uninit(empty_expr: bool) -> Option { + let section = if empty_expr { let index = link_section_index(); - - if cfg!(feature = "homogeneous") { - format!(".uninit_{}.rtic{}", core, index) - } else { - format!(".uninit.rtic{}", index) - } + format!(".uninit.rtic{}", index) } else { - if cfg!(feature = "heterogeneous") { - // `#[shared]` attribute sets the linker section - return None; - } - format!(".uninit.rtic{}", link_section_index()) }; @@ -175,8 +168,8 @@ pub fn link_section_uninit(core: Option) -> Option { /// Generates a pre-reexport identifier for the "locals" struct pub fn locals_ident(ctxt: Context, app: &App) -> Ident { let mut s = match ctxt { - Context::Init(core) => app.inits[&core].name.to_string(), - Context::Idle(core) => app.idles[&core].name.to_string(), + Context::Init => app.inits[0].name.to_string(), + Context::Idle => app.idles[0].name.to_string(), Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(), }; @@ -185,10 +178,12 @@ pub fn locals_ident(ctxt: Context, app: &App) -> Ident { Ident::new(&s, Span::call_site()) } +/* /// Generates an identifier for a rendezvous barrier -pub fn rendezvous_ident(core: Core) -> Ident { - Ident::new(&format!("RV{}", core), Span::call_site()) +pub fn rendezvous_ident() -> Ident { + Ident::new(&format!("RV"), Span::call_site()) } +*/ // Regroups the inputs of a task // @@ -242,8 +237,8 @@ pub fn regroup_inputs( /// Generates a pre-reexport identifier for the "resources" struct pub fn resources_ident(ctxt: Context, app: &App) -> Ident { let mut s = match ctxt { - Context::Init(core) => app.inits[&core].name.to_string(), - Context::Idle(core) => app.idles[&core].name.to_string(), + Context::Init => app.inits[0].name.to_string(), + Context::Idle => app.idles[0].name.to_string(), Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(), }; @@ -257,9 +252,9 @@ pub fn resources_ident(ctxt: Context, app: &App) -> Ident { /// Each core may have several task dispatchers, one for each priority level. Each task dispatcher /// in turn may use more than one ready queue because the queues are SPSC queues so one is needed /// per sender core. -pub fn rq_ident(receiver: Core, priority: u8, sender: Core) -> Ident { +pub fn rq_ident(priority: u8) -> Ident { Ident::new( - &format!("R{}_P{}_S{}_RQ", receiver, priority, sender), + &format!("P{}_RQ", priority), Span::call_site(), ) } @@ -268,30 +263,32 @@ pub fn rq_ident(receiver: Core, priority: u8, sender: Core) -> Ident { /// /// The methods of the `Schedule` structs invoke these functions. As one task may be `schedule`-ed /// by different cores we need one "schedule" function per possible task-sender pair -pub fn schedule_ident(name: &Ident, sender: Core) -> Ident { +pub fn schedule_ident(name: &Ident) -> Ident { Ident::new( - &format!("schedule_{}_S{}", name.to_string(), sender), + &format!("schedule_{}", name.to_string()), Span::call_site(), ) } /// Generates an identifier for the `enum` of `schedule`-able tasks -pub fn schedule_t_ident(core: Core) -> Ident { - Ident::new(&format!("T{}", core), Span::call_site()) +pub fn schedule_t_ident() -> Ident { + Ident::new(&format!("T"), Span::call_site()) } +/* /// Generates an identifier for a cross-spawn barrier -pub fn spawn_barrier(receiver: Core) -> Ident { - Ident::new(&format!("SB{}", receiver), Span::call_site()) +pub fn spawn_barrier() -> Ident { + Ident::new(&format!("SB"), Span::call_site()) } +*/ /// Generates an identifier for a "spawn" function /// /// The methods of the `Spawn` structs invoke these functions. As one task may be `spawn`-ed by /// different cores we need one "spawn" function per possible task-sender pair -pub fn spawn_ident(name: &Ident, sender: Core) -> Ident { +pub fn spawn_ident(name: &Ident) -> Ident { Ident::new( - &format!("spawn_{}_S{}", name.to_string(), sender), + &format!("spawn_{}", name.to_string()), Span::call_site(), ) } @@ -300,26 +297,21 @@ pub fn spawn_ident(name: &Ident, sender: Core) -> Ident { /// /// This identifier needs the same structure as the `RQ` identifier because there's one ready queue /// for each of these `T` enums -pub fn spawn_t_ident(receiver: Core, priority: u8, sender: Core) -> Ident { +pub fn spawn_t_ident(priority: u8) -> Ident { Ident::new( - &format!("R{}_P{}_S{}_T", receiver, priority, sender), + &format!("P{}_T", priority), Span::call_site(), ) } -pub fn suffixed(name: &str, core: u8) -> Ident { +pub fn suffixed(name: &str) -> Ident { let span = Span::call_site(); - - if cfg!(feature = "homogeneous") { - Ident::new(&format!("{}_{}", name, core), span) - } else { - Ident::new(name, span) - } + Ident::new(name, span) } /// Generates an identifier for a timer queue /// /// At most there's one timer queue per core -pub fn tq_ident(core: Core) -> Ident { - Ident::new(&format!("TQ{}", core), Span::call_site()) +pub fn tq_ident() -> Ident { + Ident::new(&format!("TQ"), Span::call_site()) } diff --git a/macros/src/lib.rs b/macros/src/lib.rs index b580362860..7b72c7fb13 100644 --- a/macros/src/lib.rs +++ b/macros/src/lib.rs @@ -201,12 +201,12 @@ mod tests; /// /// Attributes can be applied to the functions inside this block. These attributes will be forwarded /// to the interrupt handlers generated by the `app` attribute. + #[proc_macro_attribute] pub fn app(args: TokenStream, input: TokenStream) -> TokenStream { let mut settings = Settings::default(); settings.optimize_priorities = true; settings.parse_binds = true; - settings.parse_cores = cfg!(feature = "heterogeneous") || cfg!(feature = "homogeneous"); settings.parse_extern_interrupt = true; settings.parse_schedule = true; diff --git a/macros/src/tests.rs b/macros/src/tests.rs index 94969d1af7..e9e3326ee9 100644 --- a/macros/src/tests.rs +++ b/macros/src/tests.rs @@ -1,5 +1,4 @@ // NOTE these tests are specific to the Cortex-M port; `rtic-syntax` has a more extensive test suite // that tests functionality common to all the RTIC ports -mod multi; mod single; diff --git a/macros/src/tests/multi.rs b/macros/src/tests/multi.rs deleted file mode 100644 index 366789bed5..0000000000 --- a/macros/src/tests/multi.rs +++ /dev/null @@ -1,59 +0,0 @@ -use quote::quote; -use rtic_syntax::Settings; - -#[test] -fn analyze() { - let mut settings = Settings::default(); - settings.parse_cores = true; - settings.parse_extern_interrupt = true; - - let (app, analysis) = rtic_syntax::parse2( - quote!(device = pac, cores = 2), - quote!( - const APP: () = { - #[task(core = 0, priority = 1)] - fn a(_: a::Context) {} - - #[task(core = 0, priority = 2)] - fn b(_: b::Context) {} - - #[task(core = 1, priority = 1)] - fn c(_: c::Context) {} - - #[task(core = 1, priority = 2)] - fn d(_: d::Context) {} - - // first interrupt is assigned to the highest priority dispatcher - extern "C" { - #[core = 0] - fn B(); - - #[core = 0] - fn A(); - - #[core = 1] - fn A(); - - #[core = 1] - fn C(); - } - }; - ), - settings, - ) - .unwrap(); - - let analysis = crate::analyze::app(analysis, &app); - - // first core - let interrupts0 = &analysis.interrupts[&0]; - assert_eq!(interrupts0.len(), 2); - assert_eq!(interrupts0[&2].to_string(), "B"); - assert_eq!(interrupts0[&1].to_string(), "A"); - - // second core - let interrupts1 = &analysis.interrupts[&1]; - assert_eq!(interrupts1.len(), 2); - assert_eq!(interrupts1[&2].to_string(), "A"); - assert_eq!(interrupts1[&1].to_string(), "C"); -} diff --git a/macros/src/tests/single.rs b/macros/src/tests/single.rs index 497d1da716..6d4fb23a7b 100644 --- a/macros/src/tests/single.rs +++ b/macros/src/tests/single.rs @@ -27,7 +27,7 @@ fn analyze() { .unwrap(); let analysis = crate::analyze::app(analysis, &app); - let interrupts = &analysis.interrupts[&0]; + let interrupts = &analysis.interrupts; assert_eq!(interrupts.len(), 2); assert_eq!(interrupts[&2].to_string(), "B"); assert_eq!(interrupts[&1].to_string(), "A"); diff --git a/src/export.rs b/src/export.rs index e23b8f3a8b..8e5ef433b2 100644 --- a/src/export.rs +++ b/src/export.rs @@ -12,14 +12,12 @@ pub use cortex_m::{ peripheral::{scb::SystemHandler, syst::SystClkSource, DWT, NVIC}, Peripherals, }; -use heapless::spsc::{MultiCore, SingleCore}; +use heapless::spsc::SingleCore; pub use heapless::{consts, i::Queue as iQueue, spsc::Queue}; pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap}; #[cfg(feature = "heterogeneous")] pub use microamp::shared; -pub type MCFQ = Queue; -pub type MCRQ = Queue<(T, u8), N, u8, MultiCore>; pub type SCFQ = Queue; pub type SCRQ = Queue<(T, u8), N, u8, SingleCore>; @@ -108,13 +106,6 @@ where { } -#[inline(always)] -pub fn assert_multicore() -where - T: super::MultiCore, -{ -} - #[cfg(armv7m)] #[inline(always)] pub unsafe fn lock( diff --git a/src/lib.rs b/src/lib.rs index 5003653168..1c50f78fa7 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -161,9 +161,6 @@ pub trait Monotonic { fn zero() -> Self::Instant; } -/// A marker trait that indicates that it is correct to use this type in multi-core context -pub trait MultiCore {} - /// Sets the given `interrupt` as pending /// /// This is a convenience function around