diff --git a/examples/periodic-payload.rs b/examples/periodic-payload.rs
index bd6cf76303..3330f7f841 100644
--- a/examples/periodic-payload.rs
+++ b/examples/periodic-payload.rs
@@ -23,8 +23,8 @@
// ## -O3
//
// init
-// a(bl=8000000, now=8000170, input=0)
-// a(bl=16000000, now=16000170, input=1)
+// a(bl=8000000, now=8000172, input=0)
+// a(bl=16000000, now=16000172, input=1)
//
// ## -Os
//
diff --git a/examples/periodic-preemption-payload.rs b/examples/periodic-preemption-payload.rs
index b92d474943..85d23ed65f 100644
--- a/examples/periodic-preemption-payload.rs
+++ b/examples/periodic-preemption-payload.rs
@@ -35,16 +35,16 @@
//
// ## -O3
//
-// a(bl=16000000, now=16000215, input=0)
-// b(bl=24000000, now=24000214, input=0)
-// a(bl=32000000, now=32000215, input=1)
-// b(bl=48000000, now=48000236, input=1)
-// a(bl=48000000, now=48002281, input=2)
-// a(bl=64000000, now=64000215, input=3)
-// b(bl=72000000, now=72000214, input=2)
-// a(bl=80000000, now=80000215, input=4)
-// b(bl=96000000, now=96000236, input=3)
-// a(bl=96000000, now=96002281, input=5)
+// a(bl=16000000, now=16000207, input=0)
+// b(bl=24000000, now=24000202, input=0)
+// a(bl=32000000, now=32000207, input=1)
+// b(bl=48000000, now=48000229, input=1)
+// a(bl=48000000, now=48001984, input=2)
+// a(bl=64000000, now=64000207, input=3)
+// b(bl=72000000, now=72000202, input=2)
+// a(bl=80000000, now=80000207, input=4)
+// b(bl=96000000, now=96000229, input=3)
+// a(bl=96000000, now=96001984, input=5)
//
// ## -Os
//
diff --git a/examples/periodic-preemption.rs b/examples/periodic-preemption.rs
index 1527864e3e..d042c19a91 100644
--- a/examples/periodic-preemption.rs
+++ b/examples/periodic-preemption.rs
@@ -37,16 +37,16 @@
// ## -O3
//
// init
-// a(bl=16000000, now=16000213)
-// b(bl=24000000, now=24000212)
-// a(bl=32000000, now=32000213)
-// b(bl=48000000, now=48000234)
-// a(bl=48000000, now=48001650)
-// a(bl=64000000, now=64000213)
-// b(bl=72000000, now=72000212)
-// a(bl=80000000, now=80000213)
-// b(bl=96000000, now=96000234)
-// a(bl=96000000, now=96001650)
+// a(bl=16000000, now=16000198)
+// b(bl=24000000, now=24000205)
+// a(bl=32000000, now=32000198)
+// b(bl=48000000, now=48000232)
+// a(bl=48000000, now=48001454)
+// a(bl=64000000, now=64000198)
+// b(bl=72000000, now=72000205)
+// a(bl=80000000, now=80000198)
+// b(bl=96000000, now=96000232)
+// a(bl=96000000, now=96001454)
//
// ## -Os
//
diff --git a/examples/periodic.rs b/examples/periodic.rs
index 544b37612c..ae63afa0a9 100644
--- a/examples/periodic.rs
+++ b/examples/periodic.rs
@@ -26,8 +26,8 @@
// ## -O3
//
// init
-// a(bl=8000000, now=8000167)
-// a(bl=16000000, now=16000167)
+// a(bl=8000000, now=8000169)
+// a(bl=16000000, now=16000169)
#![deny(unsafe_code)]
#![deny(warnings)]
diff --git a/macros/src/trans.rs b/macros/src/trans.rs
index 635855f060..822540f38b 100644
--- a/macros/src/trans.rs
+++ b/macros/src/trans.rs
@@ -364,7 +364,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
// XXX or take `self`?
#[inline]
pub fn post(
- &self,
+ &mut self,
t: &mut #krate::Threshold
,
payload: #ty,
) -> Result<(), #ty>
@@ -412,7 +412,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
// XXX or take `self`?
#[inline]
pub fn post
(
- &self,
+ &mut self,
t: &mut #krate::Threshold
,
payload: #ty,
) -> Result<(), #ty>
diff --git a/src/resource.rs b/src/resource.rs
index d03d684b29..67870cb7be 100644
--- a/src/resource.rs
+++ b/src/resource.rs
@@ -35,6 +35,7 @@ pub unsafe trait Resource {
#[doc(hidden)]
unsafe fn get() -> &'static mut Self::Data;
+ #[inline(always)]
fn borrow<'cs, P>(&'cs self, _t: &'cs Threshold
) -> &'cs Self::Data
where
P: IsGreaterOrEqual + Unsigned,
@@ -42,6 +43,7 @@ pub unsafe trait Resource {
unsafe { Self::get() }
}
+ #[inline(always)]
fn borrow_mut<'cs, P>(&'cs mut self, _t: &'cs Threshold) -> &'cs mut Self::Data
where
P: IsGreaterOrEqual + Unsigned,
@@ -49,6 +51,7 @@ pub unsafe trait Resource {
unsafe { Self::get() }
}
+ #[inline(always)]
fn claim<'cs, R, F, P>(&self, _t: &mut Threshold, f: F) -> R
where
F: FnOnce(&Self::Data, &mut Threshold>) -> R,
@@ -71,6 +74,7 @@ pub unsafe trait Resource {
}
}
+ #[inline(always)]
fn claim_mut<'cs, R, F, P>(&mut self, _t: &mut Threshold, f: F) -> R
where
F: FnOnce(&mut Self::Data, &mut Threshold>) -> R,
diff --git a/src/tq.rs b/src/tq.rs
index 0a8e3ecd72..fc7420829c 100644
--- a/src/tq.rs
+++ b/src/tq.rs
@@ -34,15 +34,6 @@ impl PartialOrd for Message {
}
}
-enum State
-where
- T: Copy,
-{
- Payload { task: T, index: u8 },
- Baseline(Instant),
- Done,
-}
-
#[doc(hidden)]
pub struct TimerQueue
where
@@ -67,12 +58,19 @@ where
#[inline]
pub unsafe fn enqueue(&mut self, m: Message) {
+ let mut is_empty = true;
if self.queue
.peek()
- .map(|head| m.baseline < head.baseline)
+ .map(|head| {
+ is_empty = false;
+ m.baseline < head.baseline
+ })
.unwrap_or(true)
{
- self.syst.enable_interrupt();
+ if is_empty {
+ self.syst.enable_interrupt();
+ }
+
// set SysTick pending
unsafe { (*SCB::ptr()).icsr.write(1 << 26) }
}
@@ -91,48 +89,36 @@ where
TQ: Resource>,
{
loop {
- let state = tq.claim_mut(t, |tq, _| {
+ let next = tq.claim_mut(t, |tq, _| {
if let Some(bl) = tq.queue.peek().map(|p| p.baseline) {
- if Instant::now() >= bl {
+ let diff = bl - Instant::now();
+
+ if diff < 0 {
// message ready
let m = unsafe { tq.queue.pop_unchecked() };
- State::Payload {
- task: m.task,
- index: m.index,
- }
+
+ Some((m.task, m.index))
} else {
- // set a new timeout
- State::Baseline(bl)
+ const MAX: u32 = 0x00ffffff;
+
+ tq.syst.set_reload(cmp::min(MAX, diff as u32));
+
+ // start counting from the new reload
+ tq.syst.clear_current();
+
+ None
}
} else {
// empty queue
tq.syst.disable_interrupt();
- State::Done
+ None
}
});
- match state {
- State::Payload { task, index } => f(t, task, index),
- 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;
- }
+ if let Some((task, index)) = next {
+ f(t, task, index)
+ } else {
+ return;
}
}
}