simplify timer queue dispatch

examples/periodic-payload.rs

@@ -23,8 +23,8 @@
 // ## -O3
 //
 // init
-// a(bl=8000000, now=8000170, input=0)
+// a(bl=8000000, now=8000172, input=0)
-// a(bl=16000000, now=16000170, input=1)
+// a(bl=16000000, now=16000172, input=1)
 //
 // ## -Os
 //

examples/periodic-preemption-payload.rs

@@ -35,16 +35,16 @@
 //
 // ## -O3
 //
-// a(bl=16000000, now=16000215, input=0)
+// a(bl=16000000, now=16000207, input=0)
-// b(bl=24000000, now=24000214, input=0)
+// b(bl=24000000, now=24000202, input=0)
-// a(bl=32000000, now=32000215, input=1)
+// a(bl=32000000, now=32000207, input=1)
-// b(bl=48000000, now=48000236, input=1)
+// b(bl=48000000, now=48000229, input=1)
-// a(bl=48000000, now=48002281, input=2)
+// a(bl=48000000, now=48001984, input=2)
-// a(bl=64000000, now=64000215, input=3)
+// a(bl=64000000, now=64000207, input=3)
-// b(bl=72000000, now=72000214, input=2)
+// b(bl=72000000, now=72000202, input=2)
-// a(bl=80000000, now=80000215, input=4)
+// a(bl=80000000, now=80000207, input=4)
-// b(bl=96000000, now=96000236, input=3)
+// b(bl=96000000, now=96000229, input=3)
-// a(bl=96000000, now=96002281, input=5)
+// a(bl=96000000, now=96001984, input=5)
 //
 // ## -Os
 //

examples/periodic-preemption.rs

@@ -37,16 +37,16 @@
 // ## -O3
 //
 // init
-// a(bl=16000000, now=16000213)
+// a(bl=16000000, now=16000198)
-// b(bl=24000000, now=24000212)
+// b(bl=24000000, now=24000205)
-// a(bl=32000000, now=32000213)
+// a(bl=32000000, now=32000198)
-// b(bl=48000000, now=48000234)
+// b(bl=48000000, now=48000232)
-// a(bl=48000000, now=48001650)
+// a(bl=48000000, now=48001454)
-// a(bl=64000000, now=64000213)
+// a(bl=64000000, now=64000198)
-// b(bl=72000000, now=72000212)
+// b(bl=72000000, now=72000205)
-// a(bl=80000000, now=80000213)
+// a(bl=80000000, now=80000198)
-// b(bl=96000000, now=96000234)
+// b(bl=96000000, now=96000232)
-// a(bl=96000000, now=96001650)
+// a(bl=96000000, now=96001454)
 //
 // ## -Os
 //

examples/periodic.rs

@@ -26,8 +26,8 @@
 // ## -O3
 //
 // init
-// a(bl=8000000, now=8000167)
+// a(bl=8000000, now=8000169)
-// a(bl=16000000, now=16000167)
+// a(bl=16000000, now=16000169)
 
 #![deny(unsafe_code)]
 #![deny(warnings)]

macros/src/trans.rs

@@ -364,7 +364,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
                         // XXX or take `self`?
                         #[inline]
                         pub fn post<P>(
-                            &self,
+                            &mut self,
                             t: &mut #krate::Threshold<P>,
                             payload: #ty,
                         ) -> Result<(), #ty>
@@ -412,7 +412,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
                         // XXX or take `self`?
                         #[inline]
                         pub fn post<P>(
-                            &self,
+                            &mut self,
                             t: &mut #krate::Threshold<P>,
                             payload: #ty,
                         ) -> Result<(), #ty>

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<P>) -> &'cs Self::Data
     where
         P: IsGreaterOrEqual<Self::Ceiling, Output = True> + 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<P>) -> &'cs mut Self::Data
     where
         P: IsGreaterOrEqual<Self::Ceiling, Output = True> + Unsigned,
@@ -49,6 +51,7 @@ pub unsafe trait Resource {
         unsafe { Self::get() }
     }
 
+    #[inline(always)]
     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,
@@ -71,6 +74,7 @@ pub unsafe trait Resource {
         }
     }
 
+    #[inline(always)]
     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,

src/tq.rs

@@ -34,15 +34,6 @@ impl<T> PartialOrd for Message<T> {
     }
 }
 
-enum State<T>
-where
-    T: Copy,
-{
-    Payload { task: T, index: u8 },
-    Baseline(Instant),
-    Done,
-}
-
 #[doc(hidden)]
 pub struct TimerQueue<T, N>
 where
@@ -67,12 +58,19 @@ where
 
     #[inline]
     pub unsafe fn enqueue(&mut self, m: Message<T>) {
+        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)
         {
+            if is_empty {
                 self.syst.enable_interrupt();
+            }
+
             // set SysTick pending
             unsafe { (*SCB::ptr()).icsr.write(1 << 26) }
         }
@@ -91,48 +89,36 @@ where
     TQ: Resource<Data = TimerQueue<T, N>>,
 {
     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,
+                    Some((m.task, m.index))
-                        index: m.index,
-                    }
                 } else {
-                    // set a new timeout
+                    const MAX: u32 = 0x00ffffff;
-                    State::Baseline(bl)
+
+                    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 {
+        if let Some((task, index)) = next {
-            State::Payload { task, index } => f(t, 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;
         }
     }
 }
-}