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This commit is contained in:
Jorge Aparicio 2018-04-29 08:45:31 +02:00
parent 754f041ae0
commit 8723c6d45b
41 changed files with 1974 additions and 2851 deletions
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8
Cargo.toml
View file

@ -15,15 +15,15 @@ version = "0.3.2"
[dependencies] [dependencies]
cortex-m = "0.4.0" cortex-m = "0.4.0"
cortex-m-rtfm-macros = { path = "macros", version = "0.3.1" } cortex-m-rtfm-macros = { path = "macros", version = "0.3.1" }
heapless = "0.2.7" heapless = "0.3.4"
rtfm-core = "0.2.0" typenum = "1.10.0"
untagged-option = "0.1.1"
[target.'cfg(target_arch = "x86_64")'.dev-dependencies] [target.'cfg(target_arch = "x86_64")'.dev-dependencies]
compiletest_rs = "0.3.5" compiletest_rs = "0.3.5"
[dev-dependencies] [dev-dependencies]
panic-abort = "0.1.1" panic-abort = "0.1.1"
panic-itm = "0.1.0"
[dev-dependencies.stm32f103xx] [dev-dependencies.stm32f103xx]
features = ["rt"] features = ["rt"]
@ -33,4 +33,4 @@ version = "0.9.0"
cm7-r0p1 = ["cortex-m/cm7-r0p1"] cm7-r0p1 = ["cortex-m/cm7-r0p1"]
[profile.release] [profile.release]
lto = true lto = true

8
build.rs
View file

@ -5,6 +5,14 @@ fn main() {
if target.starts_with("thumbv6m-") { if target.starts_with("thumbv6m-") {
println!("cargo:rustc-cfg=armv6m"); println!("cargo:rustc-cfg=armv6m");
} else if target.starts_with("thumbv7m-") {
println!("cargo:rustc-cfg=armv7m");
} else if target.starts_with("thumbv7em-") {
println!("cargo:rustc-cfg=armv7m");
}
if target.ends_with("-eabihf") {
println!("cargo:rustc-cfg=has_fpu");
} }
println!("cargo:rerun-if-changed=build.rs"); println!("cargo:rerun-if-changed=build.rs");

55
examples/async-after.rs Normal file
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@ -0,0 +1,55 @@
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
free_interrupts: [EXTI1],
tasks: {
exti0: {
interrupt: EXTI0,
async_after: [a],
},
a: {},
},
}
const S: u32 = 8_000_000;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
init::LateResources {}
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn exti0(mut ctxt: exti0::Context) {
ctxt.async.a.post(&mut ctxt.threshold, 1 * S, ());
}
fn a(ctxt: a::Context) {
asm::bkpt();
}

57
examples/async.rs Normal file
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@ -0,0 +1,57 @@
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
init: {
async: [a],
},
free_interrupts: [EXTI1],
tasks: {
exti0: {
interrupt: EXTI0,
async: [a],
},
a: {},
},
}
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
init::LateResources {}
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn exti0(mut ctxt: exti0::Context) {
ctxt.async.a.post(&mut ctxt.threshold, ());
}
fn a(ctxt: a::Context) {
asm::bkpt();
}

50
examples/custom-type.rs
View file

@ -1,50 +0,0 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
pub struct Foo;
app! {
device: stm32f103xx,
resources: {
static CO_OWNED: Foo = Foo;
static ON: Foo = Foo;
static OWNED: Foo = Foo;
static SHARED: Foo = Foo;
},
idle: {
resources: [OWNED, SHARED],
},
tasks: {
SYS_TICK: {
path: sys_tick,
resources: [CO_OWNED, ON, SHARED],
},
TIM2: {
enabled: false,
path: tim2,
priority: 1,
resources: [CO_OWNED],
},
},
}
fn init(_p: ::init::Peripherals, _r: ::init::Resources) {}
fn idle(_t: &mut Threshold, _r: ::idle::Resources) -> ! {
loop {}
}
fn sys_tick(_t: &mut Threshold, _r: SYS_TICK::Resources) {}
fn tim2(_t: &mut Threshold, _r: TIM2::Resources) {}

33
examples/empty.rs Normal file
View file

@ -0,0 +1,33 @@
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
}
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
init::LateResources {}
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}

84
examples/full-syntax.rs
View file

@ -1,84 +0,0 @@
//! A showcase of the `app!` macro syntax
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
app! {
device: stm32f103xx,
resources: {
static CO_OWNED: u32 = 0;
static ON: bool = false;
static OWNED: bool = false;
static SHARED: bool = false;
},
init: {
// This is the path to the `init` function
//
// `init` doesn't necessarily has to be in the root of the crate
path: main::init,
},
idle: {
// This is a path to the `idle` function
//
// `idle` doesn't necessarily has to be in the root of the crate
path: main::idle,
resources: [OWNED, SHARED],
},
tasks: {
SYS_TICK: {
path: sys_tick,
// If omitted priority is assumed to be 1
// priority: 1,
resources: [CO_OWNED, ON, SHARED],
},
TIM2: {
// Tasks are enabled, between `init` and `idle`, by default but they
// can start disabled if `false` is specified here
enabled: false,
path: tim2,
priority: 1,
resources: [CO_OWNED],
},
},
}
mod main {
use rtfm::{self, Resource, Threshold};
pub fn init(_p: ::init::Peripherals, _r: ::init::Resources) {}
pub fn idle(t: &mut Threshold, mut r: ::idle::Resources) -> ! {
loop {
*r.OWNED != *r.OWNED;
if *r.OWNED {
if r.SHARED.claim(t, |shared, _| *shared) {
rtfm::wfi();
}
} else {
r.SHARED.claim_mut(t, |shared, _| *shared = !*shared);
}
}
}
}
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
*r.ON = !*r.ON;
*r.CO_OWNED += 1;
}
fn tim2(_t: &mut Threshold, mut r: TIM2::Resources) {
*r.CO_OWNED += 1;
}

74
examples/generics.rs
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@ -1,74 +0,0 @@
//! Working with resources in a generic fashion
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Resource, Threshold};
use stm32f103xx::{SPI1, GPIOA};
app! {
device: stm32f103xx,
resources: {
static GPIOA: GPIOA;
static SPI1: SPI1;
},
tasks: {
EXTI0: {
path: exti0,
priority: 1,
resources: [GPIOA, SPI1],
},
EXTI1: {
path: exti1,
priority: 2,
resources: [GPIOA, SPI1],
},
},
}
fn init(p: init::Peripherals) -> init::LateResources {
init::LateResources {
GPIOA: p.device.GPIOA,
SPI1: p.device.SPI1,
}
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
// A generic function that uses some resources
fn work<G, S>(t: &mut Threshold, gpioa: &G, spi1: &S)
where
G: Resource<Data = GPIOA>,
S: Resource<Data = SPI1>,
{
gpioa.claim(t, |_gpioa, t| {
// drive NSS low
spi1.claim(t, |_spi1, _| {
// transfer data
});
// drive NSS high
});
}
// This task needs critical sections to access the resources
fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
work(t, &r.GPIOA, &r.SPI1);
}
// This task has direct access to the resources
fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
work(t, &r.GPIOA, &r.SPI1);
}

42
examples/interrupt.rs Normal file
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@ -0,0 +1,42 @@
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
tasks: {
exti0: {
interrupt: EXTI0,
},
},
}
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
init::LateResources {}
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn exti0(ctxt: exti0::Context) {}

87
examples/late-resources.rs
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@ -1,87 +0,0 @@
//! Demonstrates initialization of resources in `init`.
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
app! {
device: stm32f103xx,
resources: {
// Usually, resources are initialized with a constant initializer:
static ON: bool = false;
// However, there are cases where this is not possible or not desired.
// For example, there may not be a sensible value to use, or the type may
// not be constructible in a constant (like `Vec`).
//
// While it is possible to use an `Option` in some cases, that requires
// you to properly initialize it and `.unwrap()` it at every use. It
// also consumes more memory.
//
// To solve this, it is possible to defer initialization of resources to
// `init` by omitting the initializer. Doing that will require `init` to
// return the values of all "late" resources.
static IP_ADDRESS: u32;
// PORT is used by 2 tasks, making it a shared resource. This just tests
// another internal code path and is not important for the example.
static PORT: u16;
},
idle: {
// Test that late resources can be used in idle
resources: [IP_ADDRESS],
},
tasks: {
SYS_TICK: {
priority: 1,
path: sys_tick,
resources: [IP_ADDRESS, PORT, ON],
},
EXTI0: {
priority: 2,
path: exti0,
resources: [PORT],
}
}
}
// The signature of `init` is now required to have a specific return type.
fn init(_p: init::Peripherals, _r: init::Resources) -> init::LateResources {
// `init::Resources` does not contain `IP_ADDRESS`, since it is not yet
// initialized.
//_r.IP_ADDRESS; // doesn't compile
// ...obtain value for IP_ADDRESS from EEPROM/DHCP...
let ip_address = 0x7f000001;
init::LateResources {
// This struct will contain fields for all resources with omitted
// initializers.
IP_ADDRESS: ip_address,
PORT: 0,
}
}
fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
// Other tasks can access late resources like any other, since they are
// guaranteed to be initialized when tasks are run.
r.IP_ADDRESS;
}
fn exti0(_t: &mut Threshold, _r: EXTI0::Resources) {}
fn idle(_t: &mut Threshold, _r: idle::Resources) -> ! {
loop {
rtfm::wfi();
}
}

123
examples/nested.rs
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@ -1,123 +0,0 @@
//! Nesting claims and how the preemption threshold works
//!
//! If you run this program you'll hit the breakpoints as indicated by the
//! letters in the comments: A, then B, then C, etc.
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Resource, Threshold};
use stm32f103xx::Interrupt;
app! {
device: stm32f103xx,
resources: {
static LOW: u64 = 0;
static HIGH: u64 = 0;
},
tasks: {
EXTI0: {
path: exti0,
priority: 1,
resources: [LOW, HIGH],
},
EXTI1: {
path: exti1,
priority: 2,
resources: [LOW],
},
EXTI2: {
path: exti2,
priority: 3,
resources: [HIGH],
},
},
}
fn init(_p: init::Peripherals, _r: init::Resources) {}
fn idle() -> ! {
// A
rtfm::bkpt();
// Sets task `exti0` as pending
//
// Because `exti0` has higher priority than `idle` it will be executed
// immediately
rtfm::set_pending(Interrupt::EXTI0); // ~> exti0
loop {
rtfm::wfi();
}
}
#[allow(non_snake_case)]
fn exti0(t: &mut Threshold, EXTI0::Resources { mut LOW, mut HIGH }: EXTI0::Resources) {
// Because this task has a priority of 1 the preemption threshold `t` also
// starts at 1
// B
rtfm::bkpt();
// Because `exti1` has higher priority than `exti0` it can preempt it
rtfm::set_pending(Interrupt::EXTI1); // ~> exti1
// A claim creates a critical section
LOW.claim_mut(t, |_low, t| {
// This claim increases the preemption threshold to 2
//
// 2 is just high enough to not race with task `exti1` for access to the
// `LOW` resource
// D
rtfm::bkpt();
// Now `exti1` can't preempt this task because its priority is equal to
// the current preemption threshold
rtfm::set_pending(Interrupt::EXTI1);
// But `exti2` can, because its priority is higher than the current
// preemption threshold
rtfm::set_pending(Interrupt::EXTI2); // ~> exti2
// F
rtfm::bkpt();
// Claims can be nested
HIGH.claim_mut(t, |_high, _| {
// This claim increases the preemption threshold to 3
// Now `exti2` can't preempt this task
rtfm::set_pending(Interrupt::EXTI2);
// G
rtfm::bkpt();
});
// Upon leaving the critical section the preemption threshold drops back
// to 2 and `exti2` immediately preempts this task
// ~> exti2
});
// Once again the preemption threshold drops but this time to 1. Now the
// pending `exti1` task can preempt this task
// ~> exti1
}
fn exti1(_t: &mut Threshold, _r: EXTI1::Resources) {
// C, I
rtfm::bkpt();
}
fn exti2(_t: &mut Threshold, _r: EXTI2::Resources) {
// E, H
rtfm::bkpt();
}

97
examples/one-task.rs
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@ -1,97 +0,0 @@
//! An application with one task
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use cortex_m::peripheral::syst::SystClkSource;
use rtfm::{app, Threshold};
use stm32f103xx::GPIOC;
app! {
device: stm32f103xx,
// Here data resources are declared
//
// Data resources are static variables that are safe to share across tasks
resources: {
// Declaration of resources looks exactly like declaration of static
// variables
static ON: bool = false;
},
// Here tasks are declared
//
// Each task corresponds to an interrupt or an exception. Every time the
// interrupt or exception becomes *pending* the corresponding task handler
// will be executed.
tasks: {
// Here we declare that we'll use the SYS_TICK exception as a task
SYS_TICK: {
// Path to the task handler
path: sys_tick,
// These are the resources this task has access to.
//
// The resources listed here must also appear in `app.resources`
resources: [ON],
},
}
}
fn init(mut p: init::Peripherals, r: init::Resources) {
// `init` can modify all the `resources` declared in `app!`
r.ON;
// power on GPIOC
p.device.RCC.apb2enr.modify(|_, w| w.iopcen().enabled());
// configure PC13 as output
p.device.GPIOC.bsrr.write(|w| w.bs13().set());
p.device
.GPIOC
.crh
.modify(|_, w| w.mode13().output().cnf13().push());
// configure the system timer to generate one interrupt every second
p.core.SYST.set_clock_source(SystClkSource::Core);
p.core.SYST.set_reload(8_000_000); // 1s
p.core.SYST.enable_interrupt();
p.core.SYST.enable_counter();
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
// This is the task handler of the SYS_TICK exception
//
// `_t` is the preemption threshold token. We won't use it in this program.
//
// `r` is the set of resources this task has access to. `SYS_TICK::Resources`
// has one field per resource declared in `app!`.
#[allow(unsafe_code)]
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// toggle state
*r.ON = !*r.ON;
if *r.ON {
// set the pin PC13 high
// NOTE(unsafe) atomic write to a stateless register
unsafe {
(*GPIOC::ptr()).bsrr.write(|w| w.bs13().set());
}
} else {
// set the pin PC13 low
// NOTE(unsafe) atomic write to a stateless register
unsafe {
(*GPIOC::ptr()).bsrr.write(|w| w.br13().reset());
}
}
}

91
examples/periodic-payload.rs Normal file
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@ -0,0 +1,91 @@
// # -Os
// init
// a(bl=8000000, now=8000180, input=0)
// a(bl=16000000, now=16000180, input=1)
// a(bl=24000000, now=24000180, input=2)
//
// # -O3
// init
// a(bl=8000000, now=8000168, input=0)
// a(bl=16000000, now=16000168, input=1)
// a(bl=24000000, now=24000168, input=2)
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
resources: {
static ITM: ITM;
},
init: {
async_after: [a],
},
free_interrupts: [EXTI0],
tasks: {
a: {
async_after: [a],
input: u16,
resources: [ITM],
},
},
}
const MS: u32 = 8_000;
const S: u32 = 1_000 * MS;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
iprintln!(&mut ctxt.core.ITM.stim[0], "init");
ctxt.async.a.post(&mut ctxt.threshold, 1 * S, 0).ok();
init::LateResources { ITM: ctxt.core.ITM }
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn a(mut ctxt: a::Context) {
let now = DWT::get_cycle_count();
let input = ctxt.input;
let bl = ctxt.baseline;
let itm = ctxt.resources.ITM;
iprintln!(
&mut itm.stim[0],
"a(bl={}, now={}, input={})",
bl,
now,
input
);
ctxt.async
.a
.post(&mut ctxt.threshold, 1 * S, input + 1)
.ok();
}

130
examples/periodic-preemption-payload.rs Normal file
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@ -0,0 +1,130 @@
// # -Os
// a(bl=16000000, now=16000248, input=0)
// b(bl=24000000, now=24000251, input=0)
// a(bl=32000000, now=32000248, input=1)
// b(bl=48000000, now=48000283, input=1)
// a(bl=48000000, now=48002427, input=2)
// a(bl=64000000, now=64000248, input=3)
// b(bl=72000000, now=72000251, input=2)
// a(bl=80000000, now=80000248, input=4)
// b(bl=96000000, now=96000283, input=3)
// a(bl=96000000, now=96002427, input=5)
// # -O3
// init
// a(bl=16000000, now=16000231, input=0)
// b(bl=24000000, now=24000230, input=0)
// a(bl=32000000, now=32000231, input=1)
// b(bl=48000000, now=48000259, input=1)
// a(bl=48000000, now=48002397, input=2)
// a(bl=64000000, now=64000231, input=3)
// b(bl=72000000, now=72000230, input=2)
// a(bl=80000000, now=80000231, input=4)
// b(bl=96000000, now=96000259, input=3)
// a(bl=96000000, now=96002397, input=5)
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
resources: {
static ITM: ITM;
},
init: {
async_after: [a, b],
},
free_interrupts: [EXTI0, EXTI1],
tasks: {
a: {
async_after: [a],
input: u32,
resources: [ITM],
},
b: {
async_after: [b],
input: u32,
priority: 2,
resources: [ITM],
},
},
}
const MS: u32 = 8_000;
const S: u32 = 1_000 * MS;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
iprintln!(&mut ctxt.core.ITM.stim[0], "init");
ctxt.async.a.post(&mut ctxt.threshold, 2 * S, 0).ok();
ctxt.async.b.post(&mut ctxt.threshold, 3 * S, 0).ok();
init::LateResources { ITM: ctxt.core.ITM }
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn a(mut ctxt: a::Context) {
let now = DWT::get_cycle_count();
let input = ctxt.input;
let bl = ctxt.baseline;
ctxt.resources.ITM.claim_mut(&mut ctxt.threshold, |itm, _| {
iprintln!(
&mut itm.stim[0],
"a(bl={}, now={}, input={})",
bl,
now,
input
);
});
ctxt.async
.a
.post(&mut ctxt.threshold, 2 * S, input + 1)
.ok();
}
fn b(mut ctxt: b::Context) {
let now = DWT::get_cycle_count();
let bl = ctxt.baseline;
let input = ctxt.input;
let t = &mut ctxt.threshold;
iprintln!(
&mut ctxt.resources.ITM.borrow_mut(t).stim[0],
"b(bl={}, now={}, input={})",
bl,
now,
input,
);
ctxt.async.b.post(t, 3 * S, input + 1).ok();
}

117
examples/periodic-preemption.rs Normal file
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@ -0,0 +1,117 @@
// # -Os
// init
// a(bl=16000000, now=16000249)
// b(bl=24000000, now=24000248)
// a(bl=32000000, now=32000249)
// b(bl=48000000, now=48000282)
// a(bl=48000000, now=48001731)
// a(bl=64000000, now=64000249)
// b(bl=72000000, now=72000248)
// a(bl=80000000, now=80000249)
// b(bl=96000000, now=96000282)
// a(bl=96000000, now=96001731)
// # -O3
// init
// a(bl=16000000, now=16000228)
// b(bl=24000000, now=24000231)
// a(bl=32000000, now=32000228)
// b(bl=48000000, now=48000257)
// a(bl=48000000, now=48001705)
// a(bl=64000000, now=64000228)
// b(bl=72000000, now=72000231)
// a(bl=80000000, now=80000228)
// b(bl=96000000, now=96000257)
// a(bl=96000000, now=96001705)
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
resources: {
static ITM: ITM;
},
init: {
async_after: [a, b],
},
free_interrupts: [EXTI0, EXTI1],
tasks: {
a: {
async_after: [a],
resources: [ITM],
},
b: {
async_after: [b],
priority: 2,
resources: [ITM],
},
},
}
const MS: u32 = 8_000;
const S: u32 = 1_000 * MS;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
iprintln!(&mut ctxt.core.ITM.stim[0], "init");
ctxt.async.a.post(&mut ctxt.threshold, 2 * S, ()).ok();
ctxt.async.b.post(&mut ctxt.threshold, 3 * S, ()).ok();
init::LateResources { ITM: ctxt.core.ITM }
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn a(mut ctxt: a::Context) {
let now = DWT::get_cycle_count();
let bl = ctxt.baseline;
ctxt.resources.ITM.claim_mut(&mut ctxt.threshold, |itm, _| {
iprintln!(&mut itm.stim[0], "a(bl={}, now={})", bl, now);
});
ctxt.async.a.post(&mut ctxt.threshold, 2 * S, ()).ok();
}
fn b(mut ctxt: b::Context) {
let now = DWT::get_cycle_count();
let bl = ctxt.baseline;
let t = &mut ctxt.threshold;
iprintln!(
&mut ctxt.resources.ITM.borrow_mut(t).stim[0],
"b(bl={}, now={})",
bl,
now
);
ctxt.async.b.post(t, 3 * S, ()).ok();
}

77
examples/periodic.rs Normal file
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@ -0,0 +1,77 @@
// # -Os
// init
// a(bl=8000000, now=8000180)
// a(bl=16000000, now=16000180)
//
// # -O3
// a(bl=8000000, now=8000168)
// a(bl=16000000, now=16000168)
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
resources: {
static ITM: ITM;
},
init: {
async_after: [a],
},
free_interrupts: [EXTI0],
tasks: {
a: {
async_after: [a],
resources: [ITM],
},
},
}
const MS: u32 = 8_000;
const S: u32 = 1_000 * MS;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
iprintln!(&mut ctxt.core.ITM.stim[0], "init");
ctxt.async.a.post(&mut ctxt.threshold, 1 * S, ()).ok();
init::LateResources { ITM: ctxt.core.ITM }
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn a(mut ctxt: a::Context) {
let now = DWT::get_cycle_count();
let bl = ctxt.baseline;
let itm = ctxt.resources.ITM;
iprintln!(&mut itm.stim[0], "a(bl={}, now={})", bl, now);
ctxt.async.a.post(&mut ctxt.threshold, 1 * S, ()).ok();
}

68
examples/preemption.rs
View file

@ -1,68 +0,0 @@
//! Two tasks running at *different* priorities with access to the same resource
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Resource, Threshold};
app! {
device: stm32f103xx,
resources: {
static COUNTER: u64 = 0;
},
tasks: {
// The `SYS_TICK` task has higher priority than `TIM2`
SYS_TICK: {
path: sys_tick,
priority: 2,
resources: [COUNTER],
},
TIM2: {
path: tim2,
priority: 1,
resources: [COUNTER],
},
},
}
fn init(_p: init::Peripherals, _r: init::Resources) {
// ..
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// ..
// This task can't be preempted by `tim2` so it has direct access to the
// resource data
*r.COUNTER += 1;
// ..
}
fn tim2(t: &mut Threshold, mut r: TIM2::Resources) {
// ..
// As this task runs at lower priority it needs a critical section to
// prevent `sys_tick` from preempting it while it modifies this resource
// data. The critical section is required to prevent data races which can
// lead to undefined behavior.
r.COUNTER.claim_mut(t, |counter, _t| {
// `claim_mut` creates a critical section
*counter += 1;
});
// ..
}

32
examples/safe-static-mut-ref.rs
View file

@ -1,32 +0,0 @@
//! Safe creation of `&'static mut` references
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::app;
app! {
device: stm32f103xx,
resources: {
static BUFFER: [u8; 16] = [0; 16];
},
init: {
resources: [BUFFER],
},
}
fn init(_p: init::Peripherals, r: init::Resources) {
let _buf: &'static mut [u8; 16] = r.BUFFER;
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}

273
examples/tq.rs
View file

@ -1,273 +0,0 @@
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![allow(dead_code)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
extern crate panic_abort;
extern crate stm32f103xx;
use core::cmp;
use cortex_m::peripheral::syst::SystClkSource;
use cortex_m::peripheral::ITM;
use rtfm::ll::{self, Consumer, FreeList, Instant, Node, Producer, RingBuffer, Slot, TaggedPayload,
TimerQueue};
use rtfm::{app, Resource, Threshold};
use stm32f103xx::Interrupt;
const ACAP: usize = 4;
const MS: u32 = 8_000;
app! {
device: stm32f103xx,
resources: {
/* timer queue */
static TQ: TimerQueue<Task, [TaggedPayload<Task>; ACAP]>;
/* a */
// payloads w/ after
static AN: [Node<i32>; ACAP] = unsafe { ll::uninitialized() };
static AFL: FreeList<i32> = FreeList::new();
/* exti0 */
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],
},
tasks: {
EXTI1: {
path: exti1,
resources: [TQ, AFL],
priority: 1,
// async: [a],
},
// dispatch interrupt
EXTI0: {
path: exti0,
resources: [Q1C, AFL],
priority: 3,
},
// timer queue
SYS_TICK: {
path: sys_tick,
resources: [TQ, Q1P],
priority: 2,
},
},
}
pub fn init(mut p: ::init::Peripherals, r: init::Resources) -> init::LateResources {
// ..
/* executed after `init` end */
p.core.DWT.enable_cycle_counter();
unsafe { p.core.DWT.cyccnt.write(0) };
p.core.SYST.set_clock_source(SystClkSource::Core);
p.core.SYST.enable_counter();
p.core.SYST.disable_interrupt();
// populate the free list
for n in r.AN {
r.AFL.push(Slot::new(n));
}
let (q1p, q1c) = r.Q1.split();
init::LateResources {
TQ: TimerQueue::new(p.core.SYST),
Q1C: q1c,
Q1P: q1p,
}
}
pub fn idle() -> ! {
rtfm::set_pending(Interrupt::EXTI1);
loop {
rtfm::wfi()
}
}
fn a(_t: &mut Threshold, bl: Instant, payload: i32) {
unsafe {
iprintln!(
&mut (*ITM::ptr()).stim[0],
"a(now={:?}, bl={:?}, payload={})",
Instant::now(),
bl,
payload
)
}
}
fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
/* expansion */
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) }
async.a(t, 100 * MS, 0).unwrap();
async.a(t, 50 * MS, 1).unwrap();
async.a(t, 75 * MS, 2).unwrap();
async.a(t, 75 * MS + 1, 3).unwrap();
}
/* auto generated */
fn exti0(t: &mut Threshold, mut r: EXTI0::Resources) {
while let Some(payload) = r.Q1C.dequeue() {
match payload.tag() {
Task1::a => {
let (bl, payload, slot) = unsafe { payload.coerce() }.read();
r.AFL.claim_mut(t, |afl, _| afl.push(slot));
a(&mut unsafe { Threshold::new(3) }, bl, payload);
}
}
}
}
fn sys_tick(t: &mut Threshold, r: SYS_TICK::Resources) {
#[allow(non_snake_case)]
let SYS_TICK::Resources { mut Q1P, mut TQ } = r;
enum State<T>
where
T: Copy,
{
Payload(TaggedPayload<T>),
Baseline(Instant),
Done,
}
loop {
let state = TQ.claim_mut(t, |tq, _| {
if let Some(bl) = tq.queue.peek().map(|p| p.baseline()) {
if Instant::now() >= bl {
// message ready
State::Payload(tq.queue.pop().unwrap())
} else {
// new timeout
State::Baseline(bl)
}
} else {
// empty queue
tq.syst.disable_interrupt();
State::Done
}
});
match state {
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 - Instant::now();
if diff < 0 {
// message became ready
continue;
} else {
TQ.claim_mut(t, |tq, _| {
tq.syst.set_reload(cmp::min(MAX, diff as u32));
tq.syst.clear_current();
});
return;
}
}
State::Done => {
return;
}
}
}
}
// Tasks dispatched at a priority of 1
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
pub enum Task1 {
a,
}
// All tasks
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
pub enum Task {
a,
}
mod a {
use cortex_m::peripheral::SCB;
use rtfm::ll::Instant;
use rtfm::{Resource, Threshold};
use Task;
#[allow(non_snake_case)]
pub struct Async {
// inherited baseline
baseline: Instant,
TQ: ::EXTI1::TQ,
AFL: ::EXTI1::AFL,
}
impl Async {
#[allow(non_snake_case)]
pub fn new(bl: Instant, TQ: ::EXTI1::TQ, AFL: ::EXTI1::AFL) -> Self {
Async {
baseline: bl,
TQ,
AFL,
}
}
pub fn a(&mut self, t: &mut Threshold, after: u32, payload: i32) -> Result<(), i32> {
if let Some(slot) = self.AFL.claim_mut(t, |afl, _| afl.pop()) {
let baseline = self.baseline;
self.TQ.claim_mut(t, |tq, _| {
if tq.queue.capacity() == tq.queue.len() {
// full
Err(payload)
} else {
let bl = baseline + after;
if tq.queue
.peek()
.map(|head| bl < head.baseline())
.unwrap_or(true)
{
tq.syst.enable_interrupt();
// Set SYST pending
unsafe { (*SCB::ptr()).icsr.write(1 << 26) }
}
tq.queue.push(slot.write(bl, payload).tag(Task::a)).ok();
Ok(())
}
})
} else {
Err(payload)
}
}
}
}

59
examples/two-tasks.rs
View file

@ -1,59 +0,0 @@
//! Two tasks running at the *same* priority with access to the same resource
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
app! {
device: stm32f103xx,
resources: {
static COUNTER: u64 = 0;
},
// Both SYS_TICK and TIM2 have access to the `COUNTER` data
tasks: {
SYS_TICK: {
path: sys_tick,
resources: [COUNTER],
},
TIM2: {
path: tim2,
resources: [COUNTER],
},
},
}
fn init(_p: init::Peripherals, _r: init::Resources) {
// ..
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
// As both tasks are running at the same priority one can't preempt the other.
// Thus both tasks have direct access to the resource
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// ..
*r.COUNTER += 1;
// ..
}
fn tim2(_t: &mut Threshold, mut r: TIM2::Resources) {
// ..
*r.COUNTER += 1;
// ..
}

45
examples/zero-tasks.rs
View file

@ -1,45 +0,0 @@
//! Minimal example with zero tasks
#![deny(unsafe_code)]
#![deny(warnings)]
// IMPORTANT always include this feature gate
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm; // IMPORTANT always do this rename
extern crate stm32f103xx; // the device crate
// import the procedural macro
use rtfm::app;
// This macro call indicates that this is a RTFM application
//
// This macro will expand to a `main` function so you don't need to supply
// `main` yourself.
app! {
// this is the path to the device crate
device: stm32f103xx,
}
// The initialization phase.
//
// This runs first and within a *global* critical section. Nothing can preempt
// this function.
fn init(p: init::Peripherals) {
// This function has access to all the peripherals of the device
p.core.SYST;
p.device.GPIOA;
p.device.RCC;
// ..
}
// The idle loop.
//
// This runs after `init` and has a priority of 0. All tasks can preempt this
// function. This function can never return so it must contain some sort of
// endless loop.
fn idle() -> ! {
loop {
// This puts the processor to sleep until there's a task to service
rtfm::wfi();
}
}

4
macros/Cargo.toml
View file

@ -13,8 +13,10 @@ version = "0.3.1"
failure = "0.1.1" failure = "0.1.1"
proc-macro2 = "0.3.6" proc-macro2 = "0.3.6"
quote = "0.5.1" quote = "0.5.1"
rtfm-syntax = "0.3.0" # rtfm-syntax = "0.3.0"
rtfm-syntax = { git = "https://github.com/japaric/rtfm-syntax", branch = "tq" }
syn = "0.13.1" syn = "0.13.1"
either = "1.5.0"
[lib] [lib]
proc-macro = true proc-macro = true

317
macros/src/analyze.rs
View file

@ -1,77 +1,260 @@
use std::cmp; use std::collections::hash_map::Entry;
use std::collections::HashMap; use std::collections::{HashMap, HashSet};
use syn::Ident; use either::Either;
use syn::{Ident, Type};
use syntax::check::App;
use check::App; pub fn app(app: &App) -> Context {
let mut async = HashSet::new();
let mut async_after = HashSet::new();
let mut dispatchers = HashMap::new();
let mut triggers = HashMap::new();
let mut tq = TimerQueue::new();
let mut free_interrupts = app.free_interrupts.iter().cloned().collect::<Vec<_>>();
pub type Ownerships = HashMap<Ident, Ownership>; async.extend(&app.init.async);
async_after.extend(&app.init.async_after);
pub enum Ownership { // compute dispatchers
/// Owned or co-owned by tasks that run at the same priority for (name, task) in &app.tasks {
Owned { priority: u8 }, match task.interrupt_or_capacity {
/// Shared by tasks that run at different priorities. Either::Left(interrupt) => {
/// triggers.insert(interrupt, (*name, task.priority));
/// `ceiling` is the maximum value across all the task priorities
Shared { ceiling: u8 },
}
impl Ownership {
pub fn ceiling(&self) -> u8 {
match *self {
Ownership::Owned { priority } => priority,
Ownership::Shared { ceiling } => ceiling,
}
}
pub fn is_owned(&self) -> bool {
match *self {
Ownership::Owned { .. } => true,
_ => false,
}
}
}
pub fn app(app: &App) -> Ownerships {
let mut ownerships = HashMap::new();
for resource in &app.idle.resources {
ownerships.insert(resource.clone(), Ownership::Owned { priority: 0 });
}
for task in app.tasks.values() {
for resource in task.resources.iter() {
if let Some(ownership) = ownerships.get_mut(resource) {
match *ownership {
Ownership::Owned { priority } => {
if priority == task.priority {
*ownership = Ownership::Owned { priority };
} else {
*ownership = Ownership::Shared {
ceiling: cmp::max(priority, task.priority),
};
}
}
Ownership::Shared { ceiling } => {
if task.priority > ceiling {
*ownership = Ownership::Shared {
ceiling: task.priority,
};
}
}
}
continue;
} }
Either::Right(capacity) => {
let dispatcher = dispatchers.entry(task.priority).or_insert(Dispatcher::new(
free_interrupts.pop().expect("not enough free interrupts"),
));
dispatcher.tasks.push(*name);
dispatcher.capacity += capacity;
}
}
ownerships.insert( for task in &task.async {
resource.clone(), async.insert(*task);
Ownership::Owned { }
priority: task.priority,
}, for task in &task.async_after {
); async_after.insert(*task);
// Timer queue
if let Entry::Vacant(entry) = tq.tasks.entry(*task) {
tq.capacity += app.tasks[task].interrupt_or_capacity.right().unwrap();
entry.insert(app.tasks[task].priority);
}
} }
} }
ownerships // The SysTick exception runs at the highest dispatcher priority
let sys_tick = dispatchers.keys().cloned().max().unwrap_or(1);
// compute ceilings
let mut ceilings = Ceilings::new(sys_tick);
// the SysTick interrupt contends for the timer queue (this has been accounted for in the
// `Ceilings` constructor) and for the producer end of all the dispatcher queues (__#N::Q)
for dispatch_priority in dispatchers.keys() {
ceilings
.dispatch_queues
.insert(*dispatch_priority, sys_tick);
}
// resources
for (priority, resource) in app.idle.resources.iter().map(|res| (0, res)).chain(
app.tasks
.iter()
.flat_map(|(name, task)| task.resources.iter().map(move |res| (task.priority, res))),
) {
let ceiling = ceilings
.resources
.entry(*resource)
.or_insert(Ceiling::Owned(priority));
if priority > (*ceiling).into() {
*ceiling = Ceiling::Shared(priority);
} else if priority < (*ceiling).into() && ceiling.is_owned() {
*ceiling = Ceiling::Shared((*ceiling).into());
}
}
// async
for (caller_priority, task) in app.tasks
.values()
.flat_map(|caller| caller.async.iter().map(move |task| (caller.priority, task)))
{
// async callers contend for the consumer end of the task slot queue (#task::SQ) and ...
let ceiling = ceilings.slot_queues.entry(*task).or_insert(caller_priority);
if caller_priority > *ceiling {
*ceiling = caller_priority;
}
// .. for the producer end of the dispatcher queue (__#dispatch_priority::Q)
let dispatch_priority = app.tasks[task].priority;
let ceiling = ceilings
.dispatch_queues
.entry(dispatch_priority)
.or_insert(dispatch_priority);
if caller_priority > *ceiling {
*ceiling = caller_priority;
}
}
// async_after
for (caller_priority, task) in app.tasks.values().flat_map(|caller| {
caller
.async_after
.iter()
.map(move |task| (caller.priority, task))
}) {
// async_after callers contend for the consumer end of the task slot queue (#task::SQ) and
// ...
let ceiling = ceilings.slot_queues.entry(*task).or_insert(caller_priority);
if caller_priority > *ceiling {
*ceiling = caller_priority;
}
// .. for the timer queue
if caller_priority > ceilings.timer_queue {
ceilings.timer_queue = caller_priority;
}
}
Context {
async,
async_after,
ceilings,
dispatchers,
sys_tick,
triggers,
timer_queue: tq,
}
}
pub struct Context {
// set of `async` tasks
pub async: HashSet<Ident>,
// set of `async_after` tasks
pub async_after: HashSet<Ident>,
pub ceilings: Ceilings,
// Priority:u8 -> Dispatcher
pub dispatchers: HashMap<u8, Dispatcher>,
// Interrupt:Ident -> Task:Ident
pub triggers: HashMap<Ident, (Ident, u8)>,
pub timer_queue: TimerQueue,
// priority of the SysTick exception
pub sys_tick: u8,
}
pub struct TimerQueue {
// Task:Ident -> Priority:u8
tasks: HashMap<Ident, u8>,
capacity: u8,
}
impl TimerQueue {
fn new() -> Self {
TimerQueue {
tasks: HashMap::new(),
capacity: 0,
}
}
pub fn capacity(&self) -> u8 {
self.capacity
}
pub fn tasks(&self) -> &HashMap<Ident, u8> {
&self.tasks
}
}
pub struct Dispatcher {
capacity: u8,
interrupt: Ident,
tasks: Vec<Ident>,
}
impl Dispatcher {
fn new(interrupt: Ident) -> Self {
Dispatcher {
capacity: 0,
interrupt,
tasks: vec![],
}
}
pub fn capacity(&self) -> u8 {
self.capacity
}
pub fn interrupt(&self) -> Ident {
self.interrupt
}
pub fn tasks(&self) -> &[Ident] {
&self.tasks
}
}
#[derive(Debug)]
pub struct Ceilings {
dispatch_queues: HashMap<u8, u8>,
resources: HashMap<Ident, Ceiling>,
slot_queues: HashMap<Ident, u8>,
timer_queue: u8,
}
impl Ceilings {
fn new(sys_tick_priority: u8) -> Self {
Ceilings {
dispatch_queues: HashMap::new(),
resources: HashMap::new(),
slot_queues: HashMap::new(),
timer_queue: sys_tick_priority,
}
}
pub fn dispatch_queues(&self) -> &HashMap<u8, u8> {
&self.dispatch_queues
}
pub fn resources(&self) -> &HashMap<Ident, Ceiling> {
&self.resources
}
pub fn slot_queues(&self) -> &HashMap<Ident, u8> {
&self.slot_queues
}
pub fn timer_queue(&self) -> u8 {
self.timer_queue
}
}
#[derive(Clone, Copy, Debug)]
pub enum Ceiling {
Owned(u8),
Shared(u8),
}
impl Ceiling {
pub fn is_owned(&self) -> bool {
if let Ceiling::Owned(..) = *self {
true
} else {
false
}
}
}
impl From<Ceiling> for u8 {
fn from(ceiling: Ceiling) -> u8 {
match ceiling {
Ceiling::Owned(prio) => prio,
Ceiling::Shared(ceil) => ceil,
}
}
} }

98
macros/src/check.rs
View file

@ -1,95 +1,7 @@
use std::collections::HashMap; use syntax::check::App;
use syntax::Result;
use syn::{Ident, Path}; pub fn app(_app: &App) -> Result<()> {
use syntax::check::{self, Idents, Idle, Init, Statics}; // TODO ???
use syntax::{self, Result}; Ok(())
pub struct App {
pub device: Path,
pub idle: Idle,
pub init: Init,
pub resources: Statics,
pub tasks: Tasks,
}
pub type Tasks = HashMap<Ident, Task>;
#[allow(non_camel_case_types)]
pub enum Exception {
PENDSV,
SVCALL,
SYS_TICK,
}
impl Exception {
pub fn from(s: &str) -> Option<Self> {
Some(match s {
"PENDSV" => Exception::PENDSV,
"SVCALL" => Exception::SVCALL,
"SYS_TICK" => Exception::SYS_TICK,
_ => return None,
})
}
pub fn nr(&self) -> usize {
match *self {
Exception::PENDSV => 14,
Exception::SVCALL => 11,
Exception::SYS_TICK => 15,
}
}
}
pub enum Kind {
Exception(Exception),
Interrupt { enabled: bool },
}
pub struct Task {
pub kind: Kind,
pub path: Path,
pub priority: u8,
pub resources: Idents,
}
pub fn app(app: check::App) -> Result<App> {
let app = App {
device: app.device,
idle: app.idle,
init: app.init,
resources: app.resources,
tasks: app.tasks
.into_iter()
.map(|(k, v)| {
let v = ::check::task(k.as_ref(), v)?;
Ok((k, v))
})
.collect::<Result<_>>()?,
};
Ok(app)
}
fn task(name: &str, task: syntax::check::Task) -> Result<Task> {
let kind = match Exception::from(name) {
Some(e) => {
ensure!(
task.enabled.is_none(),
"`enabled` field is not valid for exceptions"
);
Kind::Exception(e)
}
None => Kind::Interrupt {
enabled: task.enabled.unwrap_or(true),
},
};
Ok(Task {
kind,
path: task.path,
priority: task.priority.unwrap_or(1),
resources: task.resources,
})
} }

159
macros/src/lib.rs
View file

@ -1,7 +1,7 @@
//! Procedural macros of the `cortex-m-rtfm` crate
// #![deny(warnings)] // #![deny(warnings)]
#![allow(warnings)]
#![feature(proc_macro)] #![feature(proc_macro)]
#![recursion_limit = "128"] #![recursion_limit = "256"]
#[macro_use] #[macro_use]
extern crate failure; extern crate failure;
@ -10,6 +10,7 @@ extern crate proc_macro2;
extern crate syn; extern crate syn;
#[macro_use] #[macro_use]
extern crate quote; extern crate quote;
extern crate either;
extern crate rtfm_syntax as syntax; extern crate rtfm_syntax as syntax;
use proc_macro::TokenStream; use proc_macro::TokenStream;
@ -19,154 +20,6 @@ mod analyze;
mod check; mod check;
mod trans; mod trans;
/// The `app!` macro, a macro used to specify the tasks and resources of a RTFM application.
///
/// The contents of this macro uses a `key: value` syntax. All the possible keys are shown below:
///
/// ``` text
/// app! {
/// device: ..,
///
/// resources: { .. },
///
/// init: { .. },
///
/// idle: { .. },
///
/// tasks: { .. },
/// }
/// ```
///
/// # `device`
///
/// The value of this key is a Rust path, like `foo::bar::baz`, that must point to a *device crate*,
/// a crate generated using `svd2rust`.
///
/// # `resources`
///
/// This key is optional. Its value is a list of `static` variables. These variables are the data
/// that can be safely accessed, modified and shared by tasks.
///
/// ``` text
/// resources: {
/// static A: bool = false;
/// static B: i32 = 0;
/// static C: [u8; 16] = [0; 16];
/// static D: Thing = Thing::new(..);
/// static E: Thing;
/// }
/// ```
///
/// The initial value of a resource can be omitted. This means that the resource will be runtime
/// initialized; these runtime initialized resources are also known as *late resources*.
///
/// If this key is omitted its value defaults to an empty list.
///
/// # `init`
///
/// This key is optional. Its value is a set of key values. All the possible keys are shown below:
///
/// ``` text
/// init: {
/// path: ..,
/// }
/// ```
///
/// ## `init.path`
///
/// This key is optional. Its value is a Rust path, like `foo::bar::baz`, that points to the
/// initialization function.
///
/// If the key is omitted its value defaults to `init`.
///
/// ## `init.resources`
///
/// This key is optional. Its value is a set of resources the `init` function *owns*. The resources
/// in this list must be a subset of the resources listed in the top `resources` key. Note that some
/// restrictions apply:
///
/// - The resources in this list can't be late resources.
/// - The resources that appear in this list can't appear in other list like `idle.resources` or
/// `tasks.$TASK.resources`
///
/// If this key is omitted its value is assumed to be an empty list.
///
/// # `idle`
///
/// This key is optional. Its value is a set of key values. All the possible keys are shown below:
///
/// ``` text
/// idle: {
/// path: ..,
/// resources: [..],
/// }
/// ```
///
/// ## `idle.path`
///
/// This key is optional. Its value is a Rust path, like `foo::bar::baz`, that points to the idle
/// loop function.
///
/// If the key is omitted its value defaults to `idle`.
///
/// ## `idle.resources`
///
/// This key is optional. Its value is a list of resources the `idle` loop has access to. The
/// resources in this list must be a subset of the resources listed in the top `resources` key.
///
/// If omitted its value defaults to an empty list.
///
/// # `tasks`
///
/// This key is optional. Its value is a list of tasks. Each task itself is a set of key value pair.
/// The full syntax is shown below:
///
/// ``` text
/// tasks: {
/// $TASK: {
/// enabled: ..,
/// path: ..,
/// priority: ..,
/// resources: [..],
/// },
/// }
/// ```
///
/// If this key is omitted its value is assumed to be an empty list.
///
/// ## `tasks.$TASK`
///
/// The key must be either a Cortex-M exception or a device specific interrupt. `PENDSV`, `SVCALL`,
/// `SYS_TICK` are considered as exceptions. All other names are assumed to be interrupts.
///
/// ## `tasks.$TASK.enabled`
///
/// This key is optional for interrupts and forbidden for exceptions. Its value must be a boolean
/// and indicates whether the interrupt will be enabled (`true`) or disabled (`false`) after `init`
/// ends and before `idle` starts.
///
/// If this key is omitted its value defaults to `true`.
///
/// ## `tasks.$TASK.path`
///
/// The value of this key is a Rust path, like `foo::bar::baz`, that points to the handler of this
/// task.
///
/// ## `tasks.$TASK.priority`
///
/// This key is optional. Its value is an integer with type `u8` that specifies the priority of this
/// task. The minimum valid priority is 1. The maximum valid priority depends on the number of the
/// NVIC priority bits the device has; if the device has 4 priority bits the maximum allowed value
/// would be 16.
///
/// If this key is omitted its value defaults to `1`.
///
/// ## `tasks.$TASK.resources`
///
/// This key is optional. Its value is a list of resources this task has access to. The resources in
/// this list must be a subset of the resources listed in the top `resources` key.
///
/// If omitted its value defaults to an empty list.
#[proc_macro] #[proc_macro]
pub fn app(ts: TokenStream) -> TokenStream { pub fn app(ts: TokenStream) -> TokenStream {
match run(ts) { match run(ts) {
@ -177,10 +30,10 @@ pub fn app(ts: TokenStream) -> TokenStream {
fn run(ts: TokenStream) -> Result<TokenStream> { fn run(ts: TokenStream) -> Result<TokenStream> {
let app = App::parse(ts)?.check()?; let app = App::parse(ts)?.check()?;
let app = check::app(app)?; check::app(&app)?;
let ownerships = analyze::app(&app); let ctxt = analyze::app(&app);
let tokens = trans::app(&app, &ownerships); let tokens = trans::app(&ctxt, &app);
Ok(tokens.into()) Ok(tokens.into())
} }

1311
macros/src/trans.rs
View file

File diff suppressed because it is too large Load diff

49
src/examples/_0_zero_tasks.rs
View file

@ -1,49 +0,0 @@
//! Minimal example with zero tasks
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! // IMPORTANT always include this feature gate
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m_rtfm as rtfm; // IMPORTANT always do this rename
//! extern crate stm32f103xx; // the device crate
//!
//! // import the procedural macro
//! use rtfm::app;
//!
//! // This macro call indicates that this is a RTFM application
//! //
//! // This macro will expand to a `main` function so you don't need to supply
//! // `main` yourself.
//! app! {
//! // this is the path to the device crate
//! device: stm32f103xx,
//! }
//!
//! // The initialization phase.
//! //
//! // This runs first and within a *global* critical section. Nothing can preempt
//! // this function.
//! fn init(p: init::Peripherals) {
//! // This function has access to all the peripherals of the device
//! p.core.SYST;
//! p.device.GPIOA;
//! p.device.RCC;
//! // ..
//! }
//!
//! // The idle loop.
//! //
//! // This runs after `init` and has a priority of 0. All tasks can preempt this
//! // function. This function can never return so it must contain some sort of
//! // endless loop.
//! fn idle() -> ! {
//! loop {
//! // This puts the processor to sleep until there's a task to service
//! rtfm::wfi();
//! }
//! }
//! ```
// Auto-generated. Do not modify.

101
src/examples/_1_one_task.rs
View file

@ -1,101 +0,0 @@
//! An application with one task
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m;
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f103xx;
//!
//! use cortex_m::peripheral::syst::SystClkSource;
//! use rtfm::{app, Threshold};
//! use stm32f103xx::GPIOC;
//!
//! app! {
//! device: stm32f103xx,
//!
//! // Here data resources are declared
//! //
//! // Data resources are static variables that are safe to share across tasks
//! resources: {
//! // Declaration of resources looks exactly like declaration of static
//! // variables
//! static ON: bool = false;
//! },
//!
//! // Here tasks are declared
//! //
//! // Each task corresponds to an interrupt or an exception. Every time the
//! // interrupt or exception becomes *pending* the corresponding task handler
//! // will be executed.
//! tasks: {
//! // Here we declare that we'll use the SYS_TICK exception as a task
//! SYS_TICK: {
//! // Path to the task handler
//! path: sys_tick,
//!
//! // These are the resources this task has access to.
//! //
//! // The resources listed here must also appear in `app.resources`
//! resources: [ON],
//! },
//! }
//! }
//!
//! fn init(mut p: init::Peripherals, r: init::Resources) {
//! // `init` can modify all the `resources` declared in `app!`
//! r.ON;
//!
//! // power on GPIOC
//! p.device.RCC.apb2enr.modify(|_, w| w.iopcen().enabled());
//!
//! // configure PC13 as output
//! p.device.GPIOC.bsrr.write(|w| w.bs13().set());
//! p.device
//! .GPIOC
//! .crh
//! .modify(|_, w| w.mode13().output().cnf13().push());
//!
//! // configure the system timer to generate one interrupt every second
//! p.core.SYST.set_clock_source(SystClkSource::Core);
//! p.core.SYST.set_reload(8_000_000); // 1s
//! p.core.SYST.enable_interrupt();
//! p.core.SYST.enable_counter();
//! }
//!
//! fn idle() -> ! {
//! loop {
//! rtfm::wfi();
//! }
//! }
//!
//! // This is the task handler of the SYS_TICK exception
//! //
//! // `_t` is the preemption threshold token. We won't use it in this program.
//! //
//! // `r` is the set of resources this task has access to. `SYS_TICK::Resources`
//! // has one field per resource declared in `app!`.
//! #[allow(unsafe_code)]
//! fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
//! // toggle state
//! *r.ON = !*r.ON;
//!
//! if *r.ON {
//! // set the pin PC13 high
//! // NOTE(unsafe) atomic write to a stateless register
//! unsafe {
//! (*GPIOC::ptr()).bsrr.write(|w| w.bs13().set());
//! }
//! } else {
//! // set the pin PC13 low
//! // NOTE(unsafe) atomic write to a stateless register
//! unsafe {
//! (*GPIOC::ptr()).bsrr.write(|w| w.br13().reset());
//! }
//! }
//! }
//! ```
// Auto-generated. Do not modify.

63
src/examples/_2_two_tasks.rs
View file

@ -1,63 +0,0 @@
//! Two tasks running at the *same* priority with access to the same resource
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f103xx;
//!
//! use rtfm::{app, Threshold};
//!
//! app! {
//! device: stm32f103xx,
//!
//! resources: {
//! static COUNTER: u64 = 0;
//! },
//!
//! // Both SYS_TICK and TIM2 have access to the `COUNTER` data
//! tasks: {
//! SYS_TICK: {
//! path: sys_tick,
//! resources: [COUNTER],
//! },
//!
//! TIM2: {
//! path: tim2,
//! resources: [COUNTER],
//! },
//! },
//! }
//!
//! fn init(_p: init::Peripherals, _r: init::Resources) {
//! // ..
//! }
//!
//! fn idle() -> ! {
//! loop {
//! rtfm::wfi();
//! }
//! }
//!
//! // As both tasks are running at the same priority one can't preempt the other.
//! // Thus both tasks have direct access to the resource
//! fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
//! // ..
//!
//! *r.COUNTER += 1;
//!
//! // ..
//! }
//!
//! fn tim2(_t: &mut Threshold, mut r: TIM2::Resources) {
//! // ..
//!
//! *r.COUNTER += 1;
//!
//! // ..
//! }
//! ```
// Auto-generated. Do not modify.

72
src/examples/_3_preemption.rs
View file

@ -1,72 +0,0 @@
//! Two tasks running at *different* priorities with access to the same resource
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f103xx;
//!
//! use rtfm::{app, Resource, Threshold};
//!
//! app! {
//! device: stm32f103xx,
//!
//! resources: {
//! static COUNTER: u64 = 0;
//! },
//!
//! tasks: {
//! // The `SYS_TICK` task has higher priority than `TIM2`
//! SYS_TICK: {
//! path: sys_tick,
//! priority: 2,
//! resources: [COUNTER],
//! },
//!
//! TIM2: {
//! path: tim2,
//! priority: 1,
//! resources: [COUNTER],
//! },
//! },
//! }
//!
//! fn init(_p: init::Peripherals, _r: init::Resources) {
//! // ..
//! }
//!
//! fn idle() -> ! {
//! loop {
//! rtfm::wfi();
//! }
//! }
//!
//! fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
//! // ..
//!
//! // This task can't be preempted by `tim2` so it has direct access to the
//! // resource data
//! *r.COUNTER += 1;
//!
//! // ..
//! }
//!
//! fn tim2(t: &mut Threshold, mut r: TIM2::Resources) {
//! // ..
//!
//! // As this task runs at lower priority it needs a critical section to
//! // prevent `sys_tick` from preempting it while it modifies this resource
//! // data. The critical section is required to prevent data races which can
//! // lead to undefined behavior.
//! r.COUNTER.claim_mut(t, |counter, _t| {
//! // `claim_mut` creates a critical section
//! *counter += 1;
//! });
//!
//! // ..
//! }
//! ```
// Auto-generated. Do not modify.

130
src/examples/_4_nested.rs
View file

@ -1,130 +0,0 @@
//! Nesting claims and how the preemption threshold works
//!
//! If you run this program you'll hit the breakpoints as indicated by the
//! letters in the comments: A, then B, then C, etc.
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f103xx;
//!
//! use stm32f103xx::Interrupt;
//! use rtfm::{app, Resource, Threshold};
//!
//! app! {
//! device: stm32f103xx,
//!
//! resources: {
//! static LOW: u64 = 0;
//! static HIGH: u64 = 0;
//! },
//!
//! tasks: {
//! EXTI0: {
//! path: exti0,
//! priority: 1,
//! resources: [LOW, HIGH],
//! },
//!
//! EXTI1: {
//! path: exti1,
//! priority: 2,
//! resources: [LOW],
//! },
//!
//! EXTI2: {
//! path: exti2,
//! priority: 3,
//! resources: [HIGH],
//! },
//! },
//! }
//!
//! fn init(_p: init::Peripherals, _r: init::Resources) {}
//!
//! fn idle() -> ! {
//! // A
//! rtfm::bkpt();
//!
//! // Sets task `exti0` as pending
//! //
//! // Because `exti0` has higher priority than `idle` it will be executed
//! // immediately
//! rtfm::set_pending(Interrupt::EXTI0); // ~> exti0
//!
//! loop {
//! rtfm::wfi();
//! }
//! }
//!
//! #[allow(non_snake_case)]
//! fn exti0(
//! t: &mut Threshold,
//! EXTI0::Resources { mut LOW, mut HIGH }: EXTI0::Resources,
//! ) {
//! // Because this task has a priority of 1 the preemption threshold `t` also
//! // starts at 1
//!
//! // B
//! rtfm::bkpt();
//!
//! // Because `exti1` has higher priority than `exti0` it can preempt it
//! rtfm::set_pending(Interrupt::EXTI1); // ~> exti1
//!
//! // A claim creates a critical section
//! LOW.claim_mut(t, |_low, t| {
//! // This claim increases the preemption threshold to 2
//! //
//! // 2 is just high enough to not race with task `exti1` for access to the
//! // `LOW` resource
//!
//! // D
//! rtfm::bkpt();
//!
//! // Now `exti1` can't preempt this task because its priority is equal to
//! // the current preemption threshold
//! rtfm::set_pending(Interrupt::EXTI1);
//!
//! // But `exti2` can, because its priority is higher than the current
//! // preemption threshold
//! rtfm::set_pending(Interrupt::EXTI2); // ~> exti2
//!
//! // F
//! rtfm::bkpt();
//!
//! // Claims can be nested
//! HIGH.claim_mut(t, |_high, _| {
//! // This claim increases the preemption threshold to 3
//!
//! // Now `exti2` can't preempt this task
//! rtfm::set_pending(Interrupt::EXTI2);
//!
//! // G
//! rtfm::bkpt();
//! });
//!
//! // Upon leaving the critical section the preemption threshold drops back
//! // to 2 and `exti2` immediately preempts this task
//! // ~> exti2
//! });
//!
//! // Once again the preemption threshold drops but this time to 1. Now the
//! // pending `exti1` task can preempt this task
//! // ~> exti1
//! }
//!
//! fn exti1(_t: &mut Threshold, _r: EXTI1::Resources) {
//! // C, I
//! rtfm::bkpt();
//! }
//!
//! fn exti2(_t: &mut Threshold, _r: EXTI2::Resources) {
//! // E, H
//! rtfm::bkpt();
//! }
//! ```
// Auto-generated. Do not modify.

91
src/examples/_5_late_resources.rs
View file

@ -1,91 +0,0 @@
//! Demonstrates initialization of resources in `init`.
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f103xx;
//!
//! use rtfm::{app, Threshold};
//!
//! app! {
//! device: stm32f103xx,
//!
//! resources: {
//! // Usually, resources are initialized with a constant initializer:
//! static ON: bool = false;
//!
//! // However, there are cases where this is not possible or not desired.
//! // For example, there may not be a sensible value to use, or the type may
//! // not be constructible in a constant (like `Vec`).
//! //
//! // While it is possible to use an `Option` in some cases, that requires
//! // you to properly initialize it and `.unwrap()` it at every use. It
//! // also consumes more memory.
//! //
//! // To solve this, it is possible to defer initialization of resources to
//! // `init` by omitting the initializer. Doing that will require `init` to
//! // return the values of all "late" resources.
//! static IP_ADDRESS: u32;
//!
//! // PORT is used by 2 tasks, making it a shared resource. This just tests
//! // another internal code path and is not important for the example.
//! static PORT: u16;
//! },
//!
//! idle: {
//! // Test that late resources can be used in idle
//! resources: [IP_ADDRESS],
//! },
//!
//! tasks: {
//! SYS_TICK: {
//! priority: 1,
//! path: sys_tick,
//! resources: [IP_ADDRESS, PORT, ON],
//! },
//!
//! EXTI0: {
//! priority: 2,
//! path: exti0,
//! resources: [PORT],
//! }
//! }
//! }
//!
//! // The signature of `init` is now required to have a specific return type.
//! fn init(_p: init::Peripherals, _r: init::Resources) -> init::LateResources {
//! // `init::Resources` does not contain `IP_ADDRESS`, since it is not yet
//! // initialized.
//! //_r.IP_ADDRESS; // doesn't compile
//!
//! // ...obtain value for IP_ADDRESS from EEPROM/DHCP...
//! let ip_address = 0x7f000001;
//!
//! init::LateResources {
//! // This struct will contain fields for all resources with omitted
//! // initializers.
//! IP_ADDRESS: ip_address,
//! PORT: 0,
//! }
//! }
//!
//! fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
//! // Other tasks can access late resources like any other, since they are
//! // guaranteed to be initialized when tasks are run.
//!
//! r.IP_ADDRESS;
//! }
//!
//! fn exti0(_t: &mut Threshold, _r: EXTI0::Resources) {}
//!
//! fn idle(_t: &mut Threshold, _r: idle::Resources) -> ! {
//! loop {
//! rtfm::wfi();
//! }
//! }
//! ```
// Auto-generated. Do not modify.

36
src/examples/_6_safe_static_mut_ref.rs
View file

@ -1,36 +0,0 @@
//! Safe creation of `&'static mut` references
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f103xx;
//!
//! use rtfm::app;
//!
//! app! {
//! device: stm32f103xx,
//!
//! resources: {
//! static BUFFER: [u8; 16] = [0; 16];
//! },
//!
//! init: {
//! resources: [BUFFER],
//! },
//! }
//!
//! fn init(_p: init::Peripherals, r: init::Resources) {
//! let _buf: &'static mut [u8; 16] = r.BUFFER;
//! }
//!
//! fn idle() -> ! {
//! loop {
//! rtfm::wfi();
//! }
//! }
//! ```
// Auto-generated. Do not modify.

78
src/examples/_7_generics.rs
View file

@ -1,78 +0,0 @@
//! Working with resources in a generic fashion
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f103xx;
//!
//! use rtfm::{app, Resource, Threshold};
//! use stm32f103xx::{SPI1, GPIOA};
//!
//! app! {
//! device: stm32f103xx,
//!
//! resources: {
//! static GPIOA: GPIOA;
//! static SPI1: SPI1;
//! },
//!
//! tasks: {
//! EXTI0: {
//! path: exti0,
//! priority: 1,
//! resources: [GPIOA, SPI1],
//! },
//!
//! EXTI1: {
//! path: exti1,
//! priority: 2,
//! resources: [GPIOA, SPI1],
//! },
//! },
//! }
//!
//! fn init(p: init::Peripherals) -> init::LateResources {
//! init::LateResources {
//! GPIOA: p.device.GPIOA,
//! SPI1: p.device.SPI1,
//! }
//! }
//!
//! fn idle() -> ! {
//! loop {
//! rtfm::wfi();
//! }
//! }
//!
//! // A generic function that uses some resources
//! fn work<G, S>(t: &mut Threshold, gpioa: &G, spi1: &S)
//! where
//! G: Resource<Data = GPIOA>,
//! S: Resource<Data = SPI1>,
//! {
//! gpioa.claim(t, |_gpioa, t| {
//! // drive NSS low
//!
//! spi1.claim(t, |_spi1, _| {
//! // transfer data
//! });
//!
//! // drive NSS high
//! });
//! }
//!
//! // This task needs critical sections to access the resources
//! fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
//! work(t, &r.GPIOA, &r.SPI1);
//! }
//!
//! // This task has direct access to the resources
//! fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
//! work(t, &r.GPIOA, &r.SPI1);
//! }
//! ```
// Auto-generated. Do not modify.

88
src/examples/_8_full_syntax.rs
View file

@ -1,88 +0,0 @@
//! A showcase of the `app!` macro syntax
//!
//! ```
//! #![deny(unsafe_code)]
//! #![deny(warnings)]
//! #![feature(proc_macro)]
//! #![no_std]
//!
//! extern crate cortex_m_rtfm as rtfm;
//! extern crate stm32f103xx;
//!
//! use rtfm::{app, Threshold};
//!
//! app! {
//! device: stm32f103xx,
//!
//! resources: {
//! static CO_OWNED: u32 = 0;
//! static ON: bool = false;
//! static OWNED: bool = false;
//! static SHARED: bool = false;
//! },
//!
//! init: {
//! // This is the path to the `init` function
//! //
//! // `init` doesn't necessarily has to be in the root of the crate
//! path: main::init,
//! },
//!
//! idle: {
//! // This is a path to the `idle` function
//! //
//! // `idle` doesn't necessarily has to be in the root of the crate
//! path: main::idle,
//! resources: [OWNED, SHARED],
//! },
//!
//! tasks: {
//! SYS_TICK: {
//! path: sys_tick,
//! // If omitted priority is assumed to be 1
//! // priority: 1,
//! resources: [CO_OWNED, ON, SHARED],
//! },
//!
//! TIM2: {
//! // Tasks are enabled, between `init` and `idle`, by default but they
//! // can start disabled if `false` is specified here
//! enabled: false,
//! path: tim2,
//! priority: 1,
//! resources: [CO_OWNED],
//! },
//! },
//! }
//!
//! mod main {
//! use rtfm::{self, Resource, Threshold};
//!
//! pub fn init(_p: ::init::Peripherals, _r: ::init::Resources) {}
//!
//! pub fn idle(t: &mut Threshold, mut r: ::idle::Resources) -> ! {
//! loop {
//! *r.OWNED != *r.OWNED;
//!
//! if *r.OWNED {
//! if r.SHARED.claim(t, |shared, _| *shared) {
//! rtfm::wfi();
//! }
//! } else {
//! r.SHARED.claim_mut(t, |shared, _| *shared = !*shared);
//! }
//! }
//! }
//! }
//!
//! fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
//! *r.ON = !*r.ON;
//!
//! *r.CO_OWNED += 1;
//! }
//!
//! fn tim2(_t: &mut Threshold, mut r: TIM2::Resources) {
//! *r.CO_OWNED += 1;
//! }
//! ```
// Auto-generated. Do not modify.

11
src/examples/mod.rs
View file

@ -1,11 +0,0 @@
//! Examples
// Auto-generated. Do not modify.
pub mod _0_zero_tasks;
pub mod _1_one_task;
pub mod _2_two_tasks;
pub mod _3_preemption;
pub mod _4_nested;
pub mod _5_late_resources;
pub mod _6_safe_static_mut_ref;
pub mod _7_generics;
pub mod _8_full_syntax;

60
src/instant.rs Normal file
View file

@ -0,0 +1,60 @@
use core::cmp::Ordering;
use core::ops;
use cortex_m::peripheral::DWT;
#[doc(hidden)]
#[derive(Clone, Copy, Debug)]
pub struct Instant(u32);
impl Into<u32> for Instant {
fn into(self) -> u32 {
self.0
}
}
impl Instant {
pub unsafe fn new(timestamp: u32) -> Self {
Instant(timestamp)
}
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)
}
}

233
src/lib.rs
View file

@ -1,177 +1,110 @@
//! Real Time For the Masses (RTFM) framework for ARM Cortex-M microcontrollers
//!
//! This crate is based on [the RTFM framework] created by the Embedded Systems
//! group at [Luleå University of Technology][ltu], led by Prof. Per Lindgren,
//! and uses a simplified version of the Stack Resource Policy as scheduling
//! policy (check the [references] for details).
//!
//! [the RTFM framework]: http://www.rtfm-lang.org/
//! [ltu]: https://www.ltu.se/?l=en
//! [per]: https://www.ltu.se/staff/p/pln-1.11258?l=en
//! [references]: ./index.html#references
//!
//! # Features
//!
//! - **Event triggered tasks** as the unit of concurrency.
//! - Support for prioritization of tasks and, thus, **preemptive
//! multitasking**.
//! - **Efficient and data race free memory sharing** through fine grained *non
//! global* critical sections.
//! - **Deadlock free execution** guaranteed at compile time.
//! - **Minimal scheduling overhead** as the scheduler has no "software
//! component": the hardware does all the scheduling.
//! - **Highly efficient memory usage**: All the tasks share a single call stack
//! and there's no hard dependency on a dynamic memory allocator.
//! - **All Cortex M devices are fully supported**.
//! - This task model is amenable to known WCET (Worst Case Execution Time)
//! analysis and scheduling analysis techniques. (Though we haven't yet
//! developed Rust friendly tooling for that.)
//!
//! # Constraints
//!
//! - Tasks must run to completion. That's it, tasks can't contain endless
//! loops. However, you can run an endless event loop in the `idle` *loop*.
//!
//! - Task priorities must remain constant at runtime.
//!
//! # Dependencies
//!
//! The application crate must depend on a device crate generated using
//! [`svd2rust`] v0.12.x and the "rt" feature of that crate must be enabled. The
//! SVD file used to generate the device crate *must* contain [`<cpu>`]
//! information.
//!
//! [`svd2rust`]: https://docs.rs/svd2rust/0.12.0/svd2rust/
//! [`<cpu>`]: https://www.keil.com/pack/doc/CMSIS/SVD/html/elem_cpu.html
//!
//! # `app!`
//!
//! The `app!` macro is documented [here].
//!
//! [here]: https://docs.rs/cortex-m-rtfm-macros/0.3.0/cortex_m_rtfm_macros/fn.app.html
//!
//! # Important: Cortex-M7 devices
//!
//! If targeting a Cortex-M7 device with revision r0p1 then you MUST enable the `cm7-r0p1` Cargo
//! feature of this crate or the `Resource.claim` and `Resource.claim_mut` methods WILL misbehave.
//!
//! # Examples
//!
//! In increasing grade of complexity. See the [examples](./examples/index.html)
//! module.
//!
//! # References
//!
//! - Baker, T. P. (1991). Stack-based scheduling of realtime processes.
//! *Real-Time Systems*, 3(1), 67-99.
//!
//! > The original Stack Resource Policy paper. [PDF][srp].
//!
//! [srp]: http://www.cs.fsu.edu/~baker/papers/mstacks3.pdf
//!
//! - Eriksson, J., Häggström, F., Aittamaa, S., Kruglyak, A., & Lindgren, P.
//! (2013, June). Real-time for the masses, step 1: Programming API and static
//! priority SRP kernel primitives. In Industrial Embedded Systems (SIES),
//! 2013 8th IEEE International Symposium on (pp. 110-113). IEEE.
//!
//! > A description of the RTFM task and resource model. [PDF][rtfm]
//!
//! [rtfm]: http://www.diva-portal.org/smash/get/diva2:1005680/FULLTEXT01.pdf
// #![deny(missing_docs)] // #![deny(missing_docs)]
// #![deny(warnings)] // #![deny(warnings)]
#![allow(warnings)]
#![feature(const_fn)] #![feature(const_fn)]
#![feature(proc_macro)] #![feature(proc_macro)]
#![feature(untagged_unions)] #![feature(untagged_unions)]
#![feature(unsize)] #![feature(never_type)]
#![no_std] #![no_std]
extern crate cortex_m; extern crate cortex_m;
extern crate cortex_m_rtfm_macros; extern crate cortex_m_rtfm_macros;
extern crate heapless; extern crate heapless;
extern crate rtfm_core; extern crate typenum;
extern crate untagged_option;
use core::{mem, u8}; mod instant;
mod node;
mod resource;
mod tq;
pub use cortex_m::asm::{bkpt, wfi}; use core::mem;
#[doc(hidden)]
pub use cortex_m::interrupt;
use cortex_m::interrupt::Nr;
#[doc(hidden)]
pub use cortex_m::peripheral::syst::SystClkSource;
#[cfg(any(has_fpu, target_arch = "x86_64"))]
use cortex_m::peripheral::FPU;
use cortex_m::peripheral::{Peripherals, CPUID, DCB, DWT, MPU, NVIC, SCB, SYST};
#[cfg(any(armv7m, target_arch = "x86_64"))]
use cortex_m::peripheral::{CBP, FPB, ITM, TPIU};
pub use cortex_m_rtfm_macros::app; pub use cortex_m_rtfm_macros::app;
pub use rtfm_core::{Resource, Threshold}; use heapless::ring_buffer::RingBuffer;
#[doc(hidden)] pub use typenum::consts::*;
pub use untagged_option::UntaggedOption; pub use typenum::{Max, Maximum, Unsigned};
use cortex_m::interrupt::{self, Nr}; pub use instant::Instant;
use cortex_m::peripheral::NVIC; pub use node::Node;
#[cfg(not(armv6m))] use node::{Slot, TaggedPayload};
use cortex_m::register::basepri; pub use resource::{Resource, Threshold};
pub use tq::{dispatch, TimerQueue};
pub mod examples; pub type PayloadQueue<T, N> = RingBuffer<TaggedPayload<T>, N, u8>;
#[doc(hidden)] pub type SlotQueue<T, N> = RingBuffer<Slot<T>, N, u8>;
pub mod ll; pub type Ceiling<R> = <R as Resource>::Ceiling;
/// Executes the closure `f` in a preemption free context pub struct Core {
/// #[cfg(any(armv7m, target_arch = "x86_64"))]
/// During the execution of the closure no task can preempt the current task. pub CBP: CBP,
pub fn atomic<R, F>(t: &mut Threshold, f: F) -> R pub CPUID: CPUID,
where pub DCB: DCB,
F: FnOnce(&mut Threshold) -> R, // pub DWT: DWT,
{ #[cfg(any(armv7m, target_arch = "x86_64"))]
if t.value() == u8::MAX { pub FPB: FPB,
f(t) #[cfg(any(has_fpu, target_arch = "x86_64"))]
} else { pub FPU: FPU,
interrupt::disable(); #[cfg(any(armv7m, target_arch = "x86_64"))]
let r = f(&mut unsafe { Threshold::max() }); pub ITM: ITM,
unsafe { interrupt::enable() }; pub MPU: MPU,
r pub SCB: SCB,
// pub SYST: SYST,
#[cfg(any(armv7m, target_arch = "x86_64"))]
pub TPIU: TPIU,
}
impl Core {
pub unsafe fn steal() -> (Core, DWT, NVIC, SYST) {
let p = Peripherals::steal();
(
Core {
#[cfg(any(armv7m, target_arch = "x86_64"))]
CBP: p.CBP,
CPUID: p.CPUID,
DCB: p.DCB,
#[cfg(any(armv7m, target_arch = "x86_64"))]
FPB: p.FPB,
#[cfg(any(has_fpu, target_arch = "x86_64"))]
FPU: p.FPU,
#[cfg(any(armv7m, target_arch = "x86_64"))]
ITM: p.ITM,
MPU: p.MPU,
SCB: p.SCB,
#[cfg(any(armv7m, target_arch = "x86_64"))]
TPIU: p.TPIU,
},
p.DWT,
p.NVIC,
p.SYST,
)
} }
} }
#[inline]
#[doc(hidden)] #[doc(hidden)]
pub unsafe fn claim<T, R, F>( pub const unsafe fn uninitialized<T>() -> T {
data: T, #[allow(unions_with_drop_fields)]
ceiling: u8, union U<T> {
_nvic_prio_bits: u8, some: T,
t: &mut Threshold, none: (),
f: F,
) -> R
where
F: FnOnce(T, &mut Threshold) -> R,
{
if ceiling > t.value() {
match () {
#[cfg(armv6m)]
() => atomic(t, |t| f(data, t)),
#[cfg(not(armv6m))]
() => {
let max_priority = 1 << _nvic_prio_bits;
if ceiling == max_priority {
atomic(t, |t| f(data, t))
} else {
let old = basepri::read();
let hw = (max_priority - ceiling) << (8 - _nvic_prio_bits);
basepri::write(hw);
let ret = f(data, &mut Threshold::new(ceiling));
basepri::write(old);
ret
}
}
}
} else {
f(data, t)
} }
U { none: () }.some
} }
/// Sets an interrupt, that is a task, as pending pub unsafe fn set_pending<I>(interrupt: I)
///
/// If the task priority is high enough the task will be serviced immediately,
/// otherwise it will be serviced at some point after the current task ends.
pub fn set_pending<I>(interrupt: I)
where where
I: Nr, I: Nr,
{ {
// NOTE(safe) atomic write mem::transmute::<(), NVIC>(()).set_pending(interrupt)
let mut nvic: NVIC = unsafe { mem::transmute(()) };
nvic.set_pending(interrupt);
} }

117
src/ll.rs → src/node.rs
View file

@ -1,19 +1,15 @@
use core::cmp::Ordering; use core::cmp::Ordering;
use core::marker::Unsize;
use core::ops;
use core::{mem, ptr}; use core::{mem, ptr};
use cortex_m::peripheral::{DWT, SYST}; use instant::Instant;
use heapless::binary_heap::{BinaryHeap, Min};
pub use heapless::ring_buffer::{Consumer, Producer, RingBuffer};
#[doc(hidden)]
#[repr(C)] #[repr(C)]
pub struct Node<T> pub struct Node<T>
where where
T: 'static, T: 'static,
{ {
baseline: Instant, baseline: Instant,
next: Option<Slot<T>>,
payload: T, payload: T,
} }
@ -37,6 +33,7 @@ impl<T> PartialOrd for Node<T> {
} }
} }
#[doc(hidden)]
pub struct Slot<T> pub struct Slot<T>
where where
T: 'static, T: 'static,
@ -45,10 +42,6 @@ where
} }
impl<T> Slot<T> { impl<T> Slot<T> {
pub fn new(node: &'static mut Node<T>) -> Self {
Slot { node }
}
pub fn write(self, bl: Instant, data: T) -> Payload<T> { pub fn write(self, bl: Instant, data: T) -> Payload<T> {
self.node.baseline = bl; self.node.baseline = bl;
unsafe { ptr::write(&mut self.node.payload, data) } unsafe { ptr::write(&mut self.node.payload, data) }
@ -56,31 +49,13 @@ impl<T> Slot<T> {
} }
} }
pub struct FreeList<T> impl<T> Into<Slot<T>> for &'static mut Node<T> {
where fn into(self) -> Slot<T> {
T: 'static, Slot { node: self }
{
head: Option<Slot<T>>,
}
impl<T> FreeList<T> {
pub const fn new() -> Self {
FreeList { head: None }
}
pub fn pop(&mut self) -> Option<Slot<T>> {
self.head.take().map(|head| {
self.head = head.node.next.take();
head
})
}
pub fn push(&mut self, slot: Slot<T>) {
slot.node.next = self.head.take();
self.head = Some(slot);
} }
} }
#[doc(hidden)]
pub struct Payload<T> pub struct Payload<T>
where where
T: 'static, T: 'static,
@ -105,6 +80,7 @@ impl<T> Payload<T> {
} }
} }
#[doc(hidden)]
pub struct TaggedPayload<A> pub struct TaggedPayload<A>
where where
A: Copy, A: Copy,
@ -172,80 +148,3 @@ where
Some(self.cmp(rhs)) 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)
}
}
pub const unsafe fn uninitialized<T>() -> T {
#[allow(unions_with_drop_fields)]
union U<T> {
some: T,
none: (),
}
U { none: () }.some
}

88
src/resource.rs Normal file
View file

@ -0,0 +1,88 @@
use core::marker::PhantomData;
#[cfg(not(armv6m))]
use cortex_m::register::basepri;
use typenum::{Max, Maximum, Unsigned};
pub struct Threshold<N>
where
N: Unsigned,
{
_not_send_or_sync: PhantomData<*const ()>,
_n: PhantomData<N>,
}
impl<N> Threshold<N>
where
N: Unsigned,
{
pub unsafe fn new() -> Self {
Threshold {
_not_send_or_sync: PhantomData,
_n: PhantomData,
}
}
}
pub unsafe trait Resource {
#[doc(hidden)]
const NVIC_PRIO_BITS: u8;
type Ceiling: Unsigned;
type Data: 'static + Send;
#[doc(hidden)]
unsafe fn get() -> &'static mut Self::Data;
fn borrow<'cs>(&'cs self, _t: &'cs Threshold<Self::Ceiling>) -> &'cs Self::Data {
unsafe { Self::get() }
}
fn borrow_mut<'cs>(&'cs mut self, _t: &'cs Threshold<Self::Ceiling>) -> &'cs mut Self::Data {
unsafe { Self::get() }
}
fn claim<'cs, R, F, P>(&self, _t: &mut Threshold<P>, f: F) -> R
where
F: FnOnce(&Self::Data, &mut Threshold<Maximum<P, Self::Ceiling>>) -> R,
P: Max<Self::Ceiling> + Unsigned,
Maximum<P, Self::Ceiling>: Unsigned,
{
unsafe {
if P::to_u8() >= Self::Ceiling::to_u8() {
f(Self::get(), &mut Threshold::new())
} else {
let max = 1 << Self::NVIC_PRIO_BITS;
let new = (max - Self::Ceiling::to_u8()) << (8 - Self::NVIC_PRIO_BITS);
let old = basepri::read();
basepri::write(new);
let r = f(Self::get(), &mut Threshold::new());
basepri::write(old);
r
}
}
}
fn claim_mut<'cs, R, F, P>(&mut self, _t: &mut Threshold<P>, f: F) -> R
where
F: FnOnce(&mut Self::Data, &mut Threshold<Maximum<P, Self::Ceiling>>) -> R,
P: Max<Self::Ceiling> + Unsigned,
Maximum<P, Self::Ceiling>: Unsigned,
{
unsafe {
if P::to_u8() >= Self::Ceiling::to_u8() {
f(Self::get(), &mut Threshold::new())
} else {
let max = 1 << Self::NVIC_PRIO_BITS;
let new = (max - Self::Ceiling::to_u8()) << (8 - Self::NVIC_PRIO_BITS);
let old = basepri::read();
basepri::write(new);
let r = f(Self::get(), &mut Threshold::new());
basepri::write(old);
r
}
}
}
}

109
src/tq.rs Normal file
View file

@ -0,0 +1,109 @@
use core::cmp;
use cortex_m::peripheral::{SCB, SYST};
use heapless::binary_heap::{BinaryHeap, Min};
use heapless::ArrayLength;
use typenum::{Max, Maximum, Unsigned};
use instant::Instant;
use node::{Slot, TaggedPayload};
use resource::{Resource, Threshold};
enum State<T>
where
T: Copy,
{
Payload(TaggedPayload<T>),
Baseline(Instant),
Done,
}
#[doc(hidden)]
pub struct TimerQueue<T, N>
where
N: ArrayLength<TaggedPayload<T>>,
T: Copy,
{
pub syst: SYST,
pub queue: BinaryHeap<TaggedPayload<T>, N, Min>,
}
impl<T, N> TimerQueue<T, N>
where
N: ArrayLength<TaggedPayload<T>>,
T: Copy,
{
pub const fn new(syst: SYST) -> Self {
TimerQueue {
syst,
queue: BinaryHeap::new(),
}
}
#[inline]
pub unsafe fn enqueue(&mut self, bl: Instant, tp: TaggedPayload<T>) {
if self.queue
.peek()
.map(|head| bl < head.baseline())
.unwrap_or(true)
{
self.syst.enable_interrupt();
// set SysTick pending
unsafe { (*SCB::ptr()).icsr.write(1 << 26) }
}
self.queue.push_unchecked(tp);
}
}
pub fn dispatch<T, TQ, N, F, P>(t: &mut Threshold<P>, tq: &mut TQ, mut f: F)
where
F: FnMut(&mut Threshold<P>, TaggedPayload<T>),
Maximum<P, TQ::Ceiling>: Unsigned,
N: 'static + ArrayLength<TaggedPayload<T>>,
P: Unsigned + Max<TQ::Ceiling>,
T: 'static + Copy + Send,
TQ: Resource<Data = TimerQueue<T, N>>,
{
loop {
let state = tq.claim_mut(t, |tq, _| {
if let Some(bl) = tq.queue.peek().map(|p| p.baseline()) {
if Instant::now() >= bl {
// message ready
State::Payload(unsafe { tq.queue.pop_unchecked() })
} else {
// set a new timeout
State::Baseline(bl)
}
} else {
// empty queue
tq.syst.disable_interrupt();
State::Done
}
});
match state {
State::Payload(p) => f(t, p),
State::Baseline(bl) => {
const MAX: u32 = 0x00ffffff;
let diff = bl - Instant::now();
if diff < 0 {
// message became ready
continue;
} else {
tq.claim_mut(t, |tq, _| {
tq.syst.set_reload(cmp::min(MAX, diff as u32));
// start counting from the new reload
tq.syst.clear_current();
});
return;
}
}
State::Done => {
return;
}
}
}
}