From 97a48983d2859740983cbf342e1287182426ed44 Mon Sep 17 00:00:00 2001 From: Emil Fresk Date: Thu, 10 Dec 2020 20:33:13 +0100 Subject: [PATCH] More work --- examples/test_new_monotonic.rs | 6 +- macros/src/codegen.rs | 14 ++- macros/src/codegen/assertions.rs | 8 +- macros/src/codegen/dispatchers.rs | 2 +- macros/src/codegen/init.rs | 53 +------- macros/src/codegen/module.rs | 198 +++++++++++++++--------------- macros/src/codegen/pre_init.rs | 35 +++--- macros/src/codegen/timer_queue.rs | 2 +- src/export.rs | 8 ++ src/lib.rs | 5 +- 10 files changed, 155 insertions(+), 176 deletions(-) diff --git a/examples/test_new_monotonic.rs b/examples/test_new_monotonic.rs index b3890581c2..d2530c660b 100644 --- a/examples/test_new_monotonic.rs +++ b/examples/test_new_monotonic.rs @@ -9,10 +9,10 @@ use rtic::app; #[app(device = lm3s6965, dispatchers = [UART])] mod app { #[monotonic(binds = SomeISR1)] - type Mono1 = hal::Mono1; + type MyMono1 = hal::Mono1; - #[monotonic(binds = SomeISR2)] - type Mono2 = hal::Mono2; + #[monotonic(binds = SomeISR2, default = true)] + type MyMono2 = hal::Mono2; #[init] fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs index 52940bc3e0..03bac849e2 100644 --- a/macros/src/codegen.rs +++ b/macros/src/codegen.rs @@ -27,13 +27,13 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { let mut user = vec![]; // Generate the `main` function - let assertion_stmts = assertions::codegen(analysis); + let assertion_stmts = assertions::codegen(app, analysis); - let pre_init_stmts = pre_init::codegen(&app, analysis, extra); + let pre_init_stmts = pre_init::codegen(app, analysis, extra); let (mod_app_init, root_init, user_init, call_init) = init::codegen(app, analysis, extra); - let post_init_stmts = post_init::codegen(&app, analysis); + let post_init_stmts = post_init::codegen(app, analysis); let (mod_app_idle, root_idle, user_idle, call_idle) = idle::codegen(app, analysis, extra); @@ -104,12 +104,20 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { )); } + let monotonic_imports: Vec<_> = app.monotonics.iter().map(|(_, monotonic)| { + let name = &monotonic.ident; + let ty = &monotonic.ty; + quote!(pub type #name = #ty;) + }).collect(); + quote!( /// Implementation details pub mod #name { /// Always include the device crate which contains the vector table use #device as you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml; + #(#monotonic_imports)* + #(#user_imports)* /// User code from within the module diff --git a/macros/src/codegen/assertions.rs b/macros/src/codegen/assertions.rs index 4d9aae4725..a8a4491bdf 100644 --- a/macros/src/codegen/assertions.rs +++ b/macros/src/codegen/assertions.rs @@ -2,9 +2,10 @@ use proc_macro2::TokenStream as TokenStream2; use quote::quote; use crate::analyze::Analysis; +use rtic_syntax::ast::App; /// Generates compile-time assertions that check that types implement the `Send` / `Sync` traits -pub fn codegen(analysis: &Analysis) -> Vec { +pub fn codegen(app: &App, analysis: &Analysis) -> Vec { let mut stmts = vec![]; for ty in &analysis.send_types { @@ -15,5 +16,10 @@ pub fn codegen(analysis: &Analysis) -> Vec { stmts.push(quote!(rtic::export::assert_sync::<#ty>();)); } + for (_, monotonic) in &app.monotonics { + let ty = &monotonic.ty; + stmts.push(quote!(rtic::export::assert_monotonic::<#ty>();)); + } + stmts } diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs index d0a3ba01da..01fb511930 100644 --- a/macros/src/codegen/dispatchers.rs +++ b/macros/src/codegen/dispatchers.rs @@ -5,7 +5,7 @@ use rtic_syntax::ast::App; use crate::{analyze::Analysis, check::Extra, codegen::util}; /// Generates task dispatchers -pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec { +pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec { let mut items = vec![]; let interrupts = &analysis.interrupts; diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs index 6b57add1b2..66c3bc4e69 100644 --- a/macros/src/codegen/init.rs +++ b/macros/src/codegen/init.rs @@ -5,7 +5,7 @@ use rtic_syntax::{ast::App, Context}; use crate::{ analyze::Analysis, check::Extra, - codegen::{locals, module, resources_struct, util}, + codegen::{locals, module, resources_struct}, }; type CodegenResult = ( @@ -32,50 +32,6 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult { let mut root_init = vec![]; - let late_fields = analysis - .late_resources - .iter() - .flat_map(|resources| { - resources.iter().map(|name| { - let ty = &app.late_resources[name].ty; - let cfgs = &app.late_resources[name].cfgs; - - quote!( - #(#cfgs)* - pub #name: #ty - ) - }) - }) - .collect::>(); - - let late_resources = util::late_resources_ident(&name); - - root_init.push(quote!( - /// Resources initialized at runtime - #[allow(non_snake_case)] - pub struct #late_resources { - #(#late_fields),* - } - )); - - let monotonic_types: Vec<_> = app - .monotonics - .iter() - .map(|(_, monotonic)| { - let mono = &monotonic.ty; - quote! {#mono} - }) - .collect(); - let monotonics = util::monotonics_ident(&name); - - root_init.push(quote!( - /// Monotonics used by the system - #[allow(non_snake_case)] - pub struct #monotonics( - #(#monotonic_types),* - ); - )); - let mut locals_pat = None; let mut locals_new = None; if !init.locals.is_empty() { @@ -91,15 +47,12 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult { let stmts = &init.stmts; let locals_pat = locals_pat.iter(); - let mut user_init_return = vec![quote! {#name::LateResources}]; - if !app.monotonics.is_empty() { - user_init_return.push(quote! {#name::Monotonics}); - } + let user_init_return = quote! {#name::LateResources, #name::Monotonics}; let user_init = Some(quote!( #(#attrs)* #[allow(non_snake_case)] - fn #name(#(#locals_pat,)* #context: #name::Context) -> (#(#user_init_return,)*) { + fn #name(#(#locals_pat,)* #context: #name::Context) -> (#user_init_return) { #(#stmts)* } )); diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs index 2c42adce70..6dd6e9a7f4 100644 --- a/macros/src/codegen/module.rs +++ b/macros/src/codegen/module.rs @@ -19,29 +19,13 @@ pub fn codegen( let name = ctxt.ident(app); - let mut needs_instant = false; let mut lt = None; match ctxt { Context::Init => { - // TODO: What fields are needed? - // if let Some(m) = &extra.monotonic { - // fields.push(quote!( - // /// System start time = `Instant(0 /* cycles */)` - // pub start: <#m as rtic::Monotonic>::Instant - // )); - - // values.push(quote!(start: <#m as rtic::Monotonic>::zero())); - - // fields.push(quote!( - // /// Core (Cortex-M) peripherals minus the SysTick - // pub core: rtic::Peripherals - // )); - // } else { - // fields.push(quote!( - // /// Core (Cortex-M) peripherals - // pub core: rtic::export::Peripherals - // )); - // } + fields.push(quote!( + /// Core (Cortex-M) peripherals + pub core: rtic::export::Peripherals + )); if extra.peripherals { let device = &extra.device; @@ -68,31 +52,11 @@ pub fn codegen( Context::Idle => {} Context::HardwareTask(..) => { - // TODO: What fields are needed for monotonic? - // if let Some(m) = &extra.monotonic { - // fields.push(quote!( - // /// Time at which this handler started executing - // pub start: <#m as rtic::Monotonic>::Instant - // )); - - // values.push(quote!(start: instant)); - - // needs_instant = true; - // } + // None for now. } Context::SoftwareTask(..) => { - // TODO: What fields are needed for monotonic? - // if let Some(m) = &extra.monotonic { - // fields.push(quote!( - // /// The time at which this task was scheduled to run - // pub scheduled: <#m as rtic::Monotonic>::Instant - // )); - - // values.push(quote!(scheduled: instant)); - - // needs_instant = true; - // } + // None for now. } } @@ -132,18 +96,45 @@ pub fn codegen( } if let Context::Init = ctxt { - let init = &app.inits.first().unwrap(); - let late_resources = util::late_resources_ident(&init.name); - let monotonics = util::monotonics_ident(&init.name); + let late_fields = analysis + .late_resources + .iter() + .flat_map(|resources| { + resources.iter().map(|name| { + let ty = &app.late_resources[name].ty; + let cfgs = &app.late_resources[name].cfgs; + + quote!( + #(#cfgs)* + pub #name: #ty + ) + }) + }) + .collect::>(); items.push(quote!( - #[doc(inline)] - pub use super::#late_resources as LateResources; + /// Resources initialized at runtime + #[allow(non_snake_case)] + pub struct LateResources { + #(#late_fields),* + } )); + let monotonic_types: Vec<_> = app + .monotonics + .iter() + .map(|(_, monotonic)| { + let mono = &monotonic.ident; + quote! {#mono} + }) + .collect(); + items.push(quote!( - #[doc(inline)] - pub use super::#monotonics as Monotonics; + /// Monotonics used by the system + #[allow(non_snake_case)] + pub struct Monotonics( + #(#monotonic_types),* + ); )); } @@ -166,16 +157,6 @@ pub fn codegen( Some(quote!(priority: &#lt rtic::export::Priority)) }; - // TODO: What is needed for the new monotonic? - // let instant = if needs_instant { - // let m = extra.monotonic.clone().expect("RTIC-ICE: UNREACHABLE"); - - // Some(quote!(, instant: <#m as rtic::Monotonic>::Instant)) - // } else { - // None - // }; - let instant = quote!(); - items.push(quote!( /// Execution context pub struct Context<#lt> { @@ -184,7 +165,7 @@ pub fn codegen( impl<#lt> Context<#lt> { #[inline(always)] - pub unsafe fn new(#core #priority #instant) -> Self { + pub unsafe fn new(#core #priority) -> Self { Context { #(#values,)* } @@ -202,7 +183,7 @@ pub fn codegen( let cfgs = &spawnee.cfgs; // Store a copy of the task cfgs task_cfgs = cfgs.clone(); - let (args, tupled, _untupled, ty) = util::regroup_inputs(&spawnee.inputs); + let (args, tupled, untupled, ty) = util::regroup_inputs(&spawnee.inputs); let args = &args; let tupled = &tupled; let fq = util::fq_ident(name); @@ -251,51 +232,70 @@ pub fn codegen( })); - // TODO: Needs updating for new monotonic. - // // Schedule caller - // if let Some(m) = &extra.monotonic { - // let instants = util::instants_ident(name); + // Schedule caller + for (_, monotonic) in &app.monotonics { + let instants = util::instants_ident(name); - // let tq = util::tq_ident(); - // let t = util::schedule_t_ident(); + let tq = util::tq_ident(&monotonic.ident.to_string()); + let t = util::schedule_t_ident(); + let m = &monotonic.ident; - // items.push(quote!( - // #(#cfgs)* - // pub fn schedule( - // instant: <#m as rtic::Monotonic>::Instant - // #(,#args)* - // ) -> Result<(), #ty> { - // unsafe { - // use rtic::Mutex as _; - // use rtic::mutex_prelude::*; + if monotonic.args.default { + items.push(quote!(pub use #m::spawn_after;)); + items.push(quote!(pub use #m::spawn_at;)); + } - // let input = #tupled; - // if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) { - // #app_path::#inputs - // .get_unchecked_mut(usize::from(index)) - // .as_mut_ptr() - // .write(input); + items.push(quote!( + pub mod #m { + #(#cfgs)* + pub fn spawn_after( + duration: rtic::Duration, + #(,#args)* + ) -> Result<(), #ty> { + let instant = <#app_path::#m as rtic::Monotonic>::now(); - // #app_path::#instants - // .get_unchecked_mut(usize::from(index)) - // .as_mut_ptr() - // .write(instant); + spawn_at(instant + duration, #(,#untupled)*) + } - // let nr = rtic::export::NotReady { - // instant, - // index, - // task: #app_path::#t::#name, - // }; + #(#cfgs)* + pub fn spawn_at( + instant: Instant<#app_path::#m as rtic::Monotonic> + #(,#args)* + ) -> Result<(), #ty> { + unsafe { + use rtic::Mutex as _; + use rtic::mutex_prelude::*; - // rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(nr)); + let input = #tupled; + if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) { + #app_path::#inputs + .get_unchecked_mut(usize::from(index)) + .as_mut_ptr() + .write(input); - // Ok(()) - // } else { - // Err(input) - // } - // } - // })); - // } + #app_path::#instants + .get_unchecked_mut(usize::from(index)) + .as_mut_ptr() + .write(instant); + + let nr = rtic::export::NotReady { + instant, + index, + task: #app_path::#t::#name, + }; + + rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(nr)); + + // TODO: After adding the scheduled task, check and setup the timer. + + Ok(()) + } else { + Err(input) + } + } + } + })); + } } if !items.is_empty() { diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs index dfdb30a07e..26ba558c8f 100644 --- a/macros/src/codegen/pre_init.rs +++ b/macros/src/codegen/pre_init.rs @@ -74,25 +74,26 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec Vec { +pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec { let mut items = vec![]; if !app.monotonics.is_empty() { diff --git a/src/export.rs b/src/export.rs index dedff2fb2e..080b1f6717 100644 --- a/src/export.rs +++ b/src/export.rs @@ -16,6 +16,7 @@ pub use cortex_m::{ use heapless::spsc::SingleCore; pub use heapless::{consts, i::Queue as iQueue, spsc::Queue}; pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap}; +pub use rtic_core::monotonic::Monotonic; pub type SCFQ = Queue; pub type SCRQ = Queue<(T, u8), N, u8, SingleCore>; @@ -112,6 +113,13 @@ where { } +#[inline(always)] +pub fn assert_monotonic() +where + T: Monotonic, +{ +} + /// Lock the resource proxy by setting the BASEPRI /// and running the closure with interrupt::free /// diff --git a/src/lib.rs b/src/lib.rs index c1930b034e..ade126781e 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -39,7 +39,10 @@ use core::ops::Sub; use cortex_m::{interrupt::Nr, peripheral::NVIC}; pub use cortex_m_rtic_macros::app; -pub use rtic_core::{prelude as mutex_prelude, Exclusive, monotonic::Monotonic, Mutex}; +pub use rtic_core::{ + monotonic::{Clock, Instant, Monotonic}, + prelude as mutex_prelude, Exclusive, Mutex, +}; #[doc(hidden)] pub mod export;