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| author |  bors[bot] <26634292+bors[bot]@users.noreply.github.com>
| 2021-03-04 19:12:35 +0000 |
|---|---|---|
| committer |  GitHub <noreply@github.com>
| 2021-03-04 19:12:35 +0000 |
| commit | 89a5c8004efaa8f42c86a1aedb609f49ec511333 (patch) | |
| tree | 6db5b553e24a540284edc3f3fbf87043c638defc | |
| parent | 81a8a591353b1ea0208c68b28ee81286629039cc (diff) | |
| parent | 2e4a4ffd87c8a031f27635c060042019511523dc (diff) | |
| download | rtic-89a5c8004efaa8f42c86a1aedb609f49ec511333.tar.gz rtic-89a5c8004efaa8f42c86a1aedb609f49ec511333.tar.zst rtic-89a5c8004efaa8f42c86a1aedb609f49ec511333.zip | |
Merge #436v0.6.0-alpha.1
436: New monotonic r=AfoHT a=korken89
Design document: https://hackmd.io/vWa9GvssR8qBfUYgMZm0CQ
Closes #433
Closes #432
Closes #427
Closes #426
Closes #403
Closes #332
Closes #312
Closes #309
Closes #299
Closes #292
Closes #247
Closes #219
Co-authored-by: Emil Fresk <emil.fresk@gmail.com>
91 files changed, 914 insertions, 904 deletions
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index d9be5200..e5f99434 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -474,7 +474,7 @@ jobs: with: use-cross: false command: test - args: --test single --features __v7 + args: --test tests --features __v7 # Run test suite for thumbv6m testv6: @@ -515,7 +515,7 @@ jobs: with: use-cross: false command: test - args: --test single + args: --test tests # Build documentation, check links docs: @@ -13,16 +13,12 @@ license = "MIT OR Apache-2.0" name = "cortex-m-rtic" readme = "README.md" repository = "https://github.com/rtic-rs/cortex-m-rtic" -version = "0.6.0-alpha.0" +version = "0.6.0-alpha.1" [lib] name = "rtic" [[example]] -name = "baseline" -required-features = ["__v7"] - -[[example]] name = "periodic" required-features = ["__v7"] @@ -57,16 +53,20 @@ required-features = ["__v7"] [dependencies] cortex-m = "0.7.0" cortex-m-rtic-macros = { path = "macros", version = "0.6.0-alpha.0" } +rtic-monotonic = "0.1.0-alpha.0" rtic-core = "0.3.1" -heapless = "0.5.0" +heapless = "0.6.1" bare-metal = "1.0.0" +[dependencies.dwt-systick-monotonic] +version = "0.1.0-alpha.0" +optional = true + [build-dependencies] version_check = "0.9" [dev-dependencies] lm3s6965 = "0.1.3" -panic-halt = "0.2.0" cortex-m-semihosting = "0.3.3" [dev-dependencies.panic-semihosting] @@ -78,8 +78,8 @@ trybuild = "1" [features] # used for testing this crate; do not use in applications -__v7 =[] -__min_r1_43 =[] +__v7 = ["dwt-systick-monotonic"] +__min_r1_43 = [] [profile.release] codegen-units = 1 diff --git a/examples/baseline.rs b/examples/baseline.rs deleted file mode 100644 index 17278748..00000000 --- a/examples/baseline.rs +++ /dev/null @@ -1,50 +0,0 @@ -//! examples/baseline.rs - -#![deny(unsafe_code)] -#![deny(warnings)] -#![no_main] -#![no_std] - -use panic_semihosting as _; - -// NOTE: does NOT properly work on QEMU -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] -mod app { - use cortex_m_semihosting::{debug, hprintln}; - use lm3s6965::Interrupt; - - #[init] - fn init(cx: init::Context) -> init::LateResources { - // omitted: initialization of `CYCCNT` - - hprintln!("init(baseline = {:?})", cx.start).unwrap(); - - // `foo` inherits the baseline of `init`: `Instant(0)` - foo::spawn().unwrap(); - - init::LateResources {} - } - - #[task] - fn foo(cx: foo::Context) { - static mut ONCE: bool = true; - - hprintln!("foo(baseline = {:?})", cx.scheduled).unwrap(); - - if *ONCE { - *ONCE = false; - - rtic::pend(Interrupt::UART0); - } else { - debug::exit(debug::EXIT_SUCCESS); - } - } - - #[task(binds = UART0)] - fn uart0(cx: uart0::Context) { - hprintln!("UART0(baseline = {:?})", cx.start).unwrap(); - - // `foo` inherits the baseline of `UART0`: its `start` time - foo::spawn().unwrap(); - } -} diff --git a/examples/big-struct-opt.rs b/examples/big-struct-opt.rs index 85ec5e61..e6a5c172 100644 --- a/examples/big-struct-opt.rs +++ b/examples/big-struct-opt.rs @@ -6,7 +6,7 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; /// Some big struct pub struct BigStruct { @@ -31,7 +31,7 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { let big_struct = unsafe { static mut BIG_STRUCT: MaybeUninit<BigStruct> = MaybeUninit::uninit(); @@ -40,9 +40,12 @@ mod app { &mut *BIG_STRUCT.as_mut_ptr() }; - init::LateResources { - // assign the reference so we can use the resource - big_struct, - } + ( + init::LateResources { + // assign the reference so we can use the resource + big_struct, + }, + init::Monotonics(), + ) } } diff --git a/examples/binds.rs b/examples/binds.rs index f681aa57..9cbe2994 100644 --- a/examples/binds.rs +++ b/examples/binds.rs @@ -14,12 +14,12 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); hprintln!("init").unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/capacity.rs b/examples/capacity.rs index b25a7584..06bd921e 100644 --- a/examples/capacity.rs +++ b/examples/capacity.rs @@ -13,10 +13,10 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = UART0)] diff --git a/examples/cfg-whole-task.rs b/examples/cfg-whole-task.rs index b19c280c..47c3530e 100644 --- a/examples/cfg-whole-task.rs +++ b/examples/cfg-whole-task.rs @@ -24,11 +24,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn().unwrap(); foo::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/cfg.rs b/examples/cfg.rs index d3f2cea1..43c2593c 100644 --- a/examples/cfg.rs +++ b/examples/cfg.rs @@ -21,11 +21,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn().unwrap(); foo::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/destructure.rs b/examples/destructure.rs index d843978b..d085e4bf 100644 --- a/examples/destructure.rs +++ b/examples/destructure.rs @@ -24,11 +24,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // Direct destructure diff --git a/examples/double_schedule.rs b/examples/double_schedule.rs index 32477efe..403f3583 100644 --- a/examples/double_schedule.rs +++ b/examples/double_schedule.rs @@ -7,29 +7,37 @@ use panic_semihosting as _; -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { - use rtic::cyccnt::U32Ext; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + use rtic::time::duration::Seconds; - #[resources] - struct Resources { - nothing: (), - } + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { task1::spawn().ok(); - init::LateResources { nothing: () } + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; + + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); + + (init::LateResources {}, init::Monotonics(mono)) } #[task] fn task1(_cx: task1::Context) { - task2::schedule(_cx.scheduled + 100.cycles()).ok(); + task2::spawn_after(Seconds(1_u32)).ok(); } #[task] fn task2(_cx: task2::Context) { - task1::schedule(_cx.scheduled + 100.cycles()).ok(); + task1::spawn_after(Seconds(1_u32)).ok(); } } diff --git a/examples/extern_binds.rs b/examples/extern_binds.rs index 632f4ca0..3c8786dd 100644 --- a/examples/extern_binds.rs +++ b/examples/extern_binds.rs @@ -20,12 +20,12 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); hprintln!("init").unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/extern_spawn.rs b/examples/extern_spawn.rs index 1be3d512..275ac539 100644 --- a/examples/extern_spawn.rs +++ b/examples/extern_spawn.rs @@ -22,10 +22,10 @@ mod app { use crate::foo; #[init] - fn init(_c: init::Context) -> init::LateResources { + fn init(_c: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn(1, 2).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } extern "Rust" { diff --git a/examples/generics.rs b/examples/generics.rs index f3829a06..eabfff7e 100644 --- a/examples/generics.rs +++ b/examples/generics.rs @@ -21,11 +21,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = UART0, resources = [shared])] diff --git a/examples/hardware.rs b/examples/hardware.rs index 99e8da2e..3cf98807 100644 --- a/examples/hardware.rs +++ b/examples/hardware.rs @@ -13,14 +13,14 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { // Pends the UART0 interrupt but its handler won't run until *after* // `init` returns because interrupts are disabled rtic::pend(Interrupt::UART0); // equivalent to NVIC::pend hprintln!("init").unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/idle.rs b/examples/idle.rs index 1aac56c2..db03dc70 100644 --- a/examples/idle.rs +++ b/examples/idle.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { hprintln!("init").unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/init.rs b/examples/init.rs index ca67a2b7..9de79581 100644 --- a/examples/init.rs +++ b/examples/init.rs @@ -12,7 +12,7 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(cx: init::Context) -> init::LateResources { + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { static mut X: u32 = 0; // Cortex-M peripherals @@ -32,6 +32,6 @@ mod app { debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } } diff --git a/examples/late.rs b/examples/late.rs index d4efaba3..e65b6e69 100644 --- a/examples/late.rs +++ b/examples/late.rs @@ -25,13 +25,13 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { static mut Q: Queue<u32, U4> = Queue(i::Queue::new()); let (p, c) = Q.split(); // Initialization of late resources - init::LateResources { p, c } + (init::LateResources { p, c }, init::Monotonics()) } #[idle(resources = [c])] diff --git a/examples/lock.rs b/examples/lock.rs index 2fbf7608..75d47d24 100644 --- a/examples/lock.rs +++ b/examples/lock.rs @@ -19,10 +19,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::GPIOA); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // when omitted priority is assumed to be `1` diff --git a/examples/message.rs b/examples/message.rs index 4c5d8997..722e73a7 100644 --- a/examples/message.rs +++ b/examples/message.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn(/* no message */).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/multilock.rs b/examples/multilock.rs index a6985dfa..ad9d72ab 100644 --- a/examples/multilock.rs +++ b/examples/multilock.rs @@ -25,10 +25,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::GPIOA); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // when omitted priority is assumed to be `1` diff --git a/examples/not-sync.rs b/examples/not-sync.rs index 21c316ae..f01d4043 100644 --- a/examples/not-sync.rs +++ b/examples/not-sync.rs @@ -6,7 +6,7 @@ #![no_std] use core::marker::PhantomData; -use panic_halt as _; +use panic_semihosting as _; pub struct NotSync { _0: PhantomData<*const ()>, @@ -25,10 +25,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(resources = [&shared])] diff --git a/examples/only-shared-access.rs b/examples/only-shared-access.rs index 8d42fd4d..2c6ad4c4 100644 --- a/examples/only-shared-access.rs +++ b/examples/only-shared-access.rs @@ -18,11 +18,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources { key: 0xdeadbeef } + (init::LateResources { key: 0xdeadbeef }, init::Monotonics()) } #[task(binds = UART0, resources = [&key])] diff --git a/examples/periodic.rs b/examples/periodic.rs index 3ff9c907..82c21280 100644 --- a/examples/periodic.rs +++ b/examples/periodic.rs @@ -8,27 +8,33 @@ use panic_semihosting as _; // NOTE: does NOT work on QEMU! -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { - use cortex_m_semihosting::hprintln; - use rtic::cyccnt::{Instant, U32Ext}; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + use rtic::time::duration::Seconds; - const PERIOD: u32 = 8_000_000; + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[init] - fn init(cx: init::Context) -> init::LateResources { - // omitted: initialization of `CYCCNT` + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; - foo::schedule(cx.start + PERIOD.cycles()).unwrap(); + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); - init::LateResources {} + foo::spawn_after(Seconds(1_u32)).unwrap(); + + (init::LateResources {}, init::Monotonics(mono)) } #[task] - fn foo(cx: foo::Context) { - let now = Instant::now(); - hprintln!("foo(scheduled = {:?}, now = {:?})", cx.scheduled, now).unwrap(); - - foo::schedule(cx.scheduled + PERIOD.cycles()).unwrap(); + fn foo(_cx: foo::Context) { + // Periodic + foo::spawn_after(Seconds(1_u32)).unwrap(); } } diff --git a/examples/peripherals-taken.rs b/examples/peripherals-taken.rs index 98f06b08..6b4a282b 100644 --- a/examples/peripherals-taken.rs +++ b/examples/peripherals-taken.rs @@ -10,10 +10,10 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { assert!(cortex_m::Peripherals::take().is_none()); debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } } diff --git a/examples/pool.rs b/examples/pool.rs index eaad9c09..44405b49 100644 --- a/examples/pool.rs +++ b/examples/pool.rs @@ -25,7 +25,7 @@ mod app { use super::P; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { static mut MEMORY: [u8; 512] = [0; 512]; // Increase the capacity of the memory pool by ~4 @@ -33,7 +33,7 @@ mod app { rtic::pend(Interrupt::I2C0); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = I2C0, priority = 2)] diff --git a/examples/preempt.rs b/examples/preempt.rs index ee75c46f..14b3a0a6 100644 --- a/examples/preempt.rs +++ b/examples/preempt.rs @@ -12,10 +12,10 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::GPIOA); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = GPIOA, priority = 1)] diff --git a/examples/ramfunc.rs b/examples/ramfunc.rs index b5aa17b9..d9c8143f 100644 --- a/examples/ramfunc.rs +++ b/examples/ramfunc.rs @@ -19,10 +19,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[inline(never)] diff --git a/examples/resource-user-struct.rs b/examples/resource-user-struct.rs index a550bb2a..6ad540b0 100644 --- a/examples/resource-user-struct.rs +++ b/examples/resource-user-struct.rs @@ -27,11 +27,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // `shared` cannot be accessed from this context diff --git a/examples/resource.rs b/examples/resource.rs index 60aa52b0..c8c57bf5 100644 --- a/examples/resource.rs +++ b/examples/resource.rs @@ -20,11 +20,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // `shared` cannot be accessed from this context diff --git a/examples/schedule.rs b/examples/schedule.rs index 5f73c500..d6d44998 100644 --- a/examples/schedule.rs +++ b/examples/schedule.rs @@ -5,45 +5,47 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; // NOTE: does NOT work on QEMU! -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { - use cortex_m::peripheral::DWT; use cortex_m_semihosting::hprintln; - use rtic::cyccnt::{Instant, U32Ext as _}; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + use rtic::time::duration::Seconds; + + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[init()] - fn init(mut cx: init::Context) -> init::LateResources { - // Initialize (enable) the monotonic timer (CYCCNT) - cx.core.DCB.enable_trace(); - // required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7) - DWT::unlock(); - cx.core.DWT.enable_cycle_counter(); + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; - // semantically, the monotonic timer is frozen at time "zero" during `init` - // NOTE do *not* call `Instant::now` in this context; it will return a nonsense value - let now = cx.start; // the start time of the system + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); - hprintln!("init @ {:?}", now).unwrap(); + hprintln!("init").unwrap(); - // Schedule `foo` to run 8e6 cycles (clock cycles) in the future - foo::schedule(now + 8_000_000.cycles()).unwrap(); + // Schedule `foo` to run 1 second in the future + foo::spawn_after(Seconds(1_u32)).unwrap(); - // Schedule `bar` to run 4e6 cycles in the future - bar::schedule(now + 4_000_000.cycles()).unwrap(); + // Schedule `bar` to run 2 seconds in the future + bar::spawn_after(Seconds(2_u32)).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics(mono)) } #[task] fn foo(_: foo::Context) { - hprintln!("foo @ {:?}", Instant::now()).unwrap(); + hprintln!("foo").unwrap(); } #[task] fn bar(_: bar::Context) { - hprintln!("bar @ {:?}", Instant::now()).unwrap(); + hprintln!("bar").unwrap(); } } diff --git a/examples/spawn.rs b/examples/spawn.rs index 449fcfb9..987ebf7d 100644 --- a/examples/spawn.rs +++ b/examples/spawn.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_c: init::Context) -> init::LateResources { + fn init(_c: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn(1, 2).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task()] diff --git a/examples/spawn2.rs b/examples/spawn2.rs index c485b922..be113f79 100644 --- a/examples/spawn2.rs +++ b/examples/spawn2.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_c: init::Context) -> init::LateResources { + fn init(_c: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn(1, 2).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/static.rs b/examples/static.rs index 7626c712..cbbc5399 100644 --- a/examples/static.rs +++ b/examples/static.rs @@ -26,13 +26,13 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { static mut Q: Queue<u32, U4> = Queue(i::Queue::new()); let (p, c) = Q.split(); // Initialization of late resources - init::LateResources { p, c } + (init::LateResources { p, c }, init::Monotonics()) } #[idle(resources = [c])] diff --git a/examples/t-binds.rs b/examples/t-binds.rs index 8d52f58a..fbc89e88 100644 --- a/examples/t-binds.rs +++ b/examples/t-binds.rs @@ -5,13 +5,13 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; #[rtic::app(device = lm3s6965)] mod app { #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources {} + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources {}, init::Monotonics()) } // Cortex-M exception diff --git a/examples/t-cfg-resources.rs b/examples/t-cfg-resources.rs index 61eb4c7b..1adcb905 100644 --- a/examples/t-cfg-resources.rs +++ b/examples/t-cfg-resources.rs @@ -3,7 +3,7 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; #[rtic::app(device = lm3s6965)] mod app { @@ -18,13 +18,16 @@ mod app { dummy: (), // dummy such that we have at least one late resource } #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources { - // The feature needs to be applied everywhere x is defined or used - #[cfg(feature = "feature_x")] - x: 0, - dummy: (), // dummy such that we have at least one late resource - } + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + ( + init::LateResources { + // The feature needs to be applied everywhere x is defined or used + #[cfg(feature = "feature_x")] + x: 0, + dummy: (), // dummy such that we have at least one late resource + }, + init::Monotonics(), + ) } #[idle] diff --git a/examples/t-cfg.rs b/examples/t-cfg.rs index 5bcef0af..ef591c4d 100644 --- a/examples/t-cfg.rs +++ b/examples/t-cfg.rs @@ -3,9 +3,9 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0, QEI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])] mod app { #[resources] struct Resources { @@ -15,11 +15,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { #[cfg(never)] static mut BAR: u32 = 0; - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/t-htask-main.rs b/examples/t-htask-main.rs index 57076eca..2d480d0b 100644 --- a/examples/t-htask-main.rs +++ b/examples/t-htask-main.rs @@ -10,10 +10,10 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(lm3s6965::Interrupt::UART0); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = UART0)] diff --git a/examples/t-idle-main.rs b/examples/t-idle-main.rs index 42dac904..891896fa 100644 --- a/examples/t-idle-main.rs +++ b/examples/t-idle-main.rs @@ -10,8 +10,8 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources {} + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/t-init-main.rs b/examples/t-init-main.rs index 0456e874..b77a7df8 100644 --- a/examples/t-init-main.rs +++ b/examples/t-init-main.rs @@ -10,9 +10,9 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } } diff --git a/examples/t-late-not-send.rs b/examples/t-late-not-send.rs index ce3bcbac..579f8436 100644 --- a/examples/t-late-not-send.rs +++ b/examples/t-late-not-send.rs @@ -5,7 +5,7 @@ use core::marker::PhantomData; -use panic_halt as _; +use panic_semihosting as _; pub struct NotSend { _0: PhantomData<*const ()>, @@ -24,10 +24,13 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources { - x: NotSend { _0: PhantomData }, - } + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + ( + init::LateResources { + x: NotSend { _0: PhantomData }, + }, + init::Monotonics(), + ) } #[idle(resources = [x, y])] diff --git a/examples/t-resource.rs b/examples/t-resource.rs index 0a9f3bad..6e83069d 100644 --- a/examples/t-resource.rs +++ b/examples/t-resource.rs @@ -5,7 +5,7 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; #[rtic::app(device = lm3s6965)] mod app { @@ -32,8 +32,8 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources {} + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources {}, init::Monotonics()) } #[idle(resources = [o2, &o4, s1, &s3])] diff --git a/examples/t-schedule-core-stable.rs b/examples/t-schedule-core-stable.rs index 10539014..98d42ce7 100644 --- a/examples/t-schedule-core-stable.rs +++ b/examples/t-schedule-core-stable.rs @@ -5,15 +5,15 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { #[init] - fn init(c: init::Context) -> init::LateResources { - let _c: rtic::Peripherals = c.core; + fn init(c: init::Context) -> (init::LateResources, init::Monotonics) { + let _c: cortex_m::Peripherals = c.core; - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/t-schedule.rs b/examples/t-schedule.rs index 9c94d1b4..bd0ab668 100644 --- a/examples/t-schedule.rs +++ b/examples/t-schedule.rs @@ -5,52 +5,47 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { - use rtic::cyccnt::{Instant, U32Ext as _}; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + use rtic::time::duration::Seconds; + + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[init] - fn init(c: init::Context) -> init::LateResources { - let _: Result<(), ()> = foo::schedule(c.start + 10.cycles()); - let _: Result<(), u32> = bar::schedule(c.start + 20.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(c.start + 30.cycles(), 0, 1); + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; + + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); - init::LateResources {} + let _: Result<(), ()> = foo::spawn_after(Seconds(1_u32)); + let _: Result<(), u32> = bar::spawn_after(Seconds(2_u32), 0); + let _: Result<(), (u32, u32)> = baz::spawn_after(Seconds(3_u32), 0, 1); + + (init::LateResources {}, init::Monotonics(mono)) } #[idle] fn idle(_: idle::Context) -> ! { - let _: Result<(), ()> = foo::schedule(Instant::now() + 40.cycles()); - let _: Result<(), u32> = bar::schedule(Instant::now() + 50.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(Instant::now() + 60.cycles(), 0, 1); + let _: Result<(), ()> = foo::spawn_at(MyMono::now() + Seconds(3_u32)); + let _: Result<(), u32> = bar::spawn_at(MyMono::now() + Seconds(4_u32), 0); + let _: Result<(), (u32, u32)> = baz::spawn_at(MyMono::now() + Seconds(5_u32), 0, 1); loop { cortex_m::asm::nop(); } } - #[task(binds = SVCall)] - fn svcall(c: svcall::Context) { - let _: Result<(), ()> = foo::schedule(c.start + 70.cycles()); - let _: Result<(), u32> = bar::schedule(c.start + 80.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(c.start + 90.cycles(), 0, 1); - } - - #[task(binds = UART0)] - fn uart0(c: uart0::Context) { - let _: Result<(), ()> = foo::schedule(c.start + 100.cycles()); - let _: Result<(), u32> = bar::schedule(c.start + 110.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(c.start + 120.cycles(), 0, 1); - } - #[task] - fn foo(c: foo::Context) { - let _: Result<(), ()> = foo::schedule(c.scheduled + 130.cycles()); - let _: Result<(), u32> = bar::schedule(c.scheduled + 140.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(c.scheduled + 150.cycles(), 0, 1); - } + fn foo(_: foo::Context) {} #[task] fn bar(_: bar::Context, _x: u32) {} diff --git a/examples/t-spawn.rs b/examples/t-spawn.rs index c9949ef9..ca5c61b2 100644 --- a/examples/t-spawn.rs +++ b/examples/t-spawn.rs @@ -5,17 +5,17 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; #[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { let _: Result<(), ()> = foo::spawn(); let _: Result<(), u32> = bar::spawn(0); let _: Result<(), (u32, u32)> = baz::spawn(0, 1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/t-stask-main.rs b/examples/t-stask-main.rs index 034ad7c5..cfc93425 100644 --- a/examples/t-stask-main.rs +++ b/examples/t-stask-main.rs @@ -10,10 +10,10 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { taskmain::spawn().ok(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/task-local-minimal.rs b/examples/task-local-minimal.rs index 6e25c10d..f83493c2 100644 --- a/examples/task-local-minimal.rs +++ b/examples/task-local-minimal.rs @@ -18,8 +18,8 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources { l: 42 } + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources { l: 42 }, init::Monotonics()) } // l is task_local diff --git a/examples/task-local.rs b/examples/task-local.rs index e86197a0..3020c3b3 100644 --- a/examples/task-local.rs +++ b/examples/task-local.rs @@ -38,10 +38,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources { e2: 2, l2: 2 } + (init::LateResources { e2: 2, l2: 2 }, init::Monotonics()) } // `shared` cannot be accessed from this context diff --git a/examples/task.rs b/examples/task.rs index 5e4769a5..9d4492f2 100644 --- a/examples/task.rs +++ b/examples/task.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/task_named_main.rs b/examples/task_named_main.rs index c3d21b58..c2c4e62d 100644 --- a/examples/task_named_main.rs +++ b/examples/task_named_main.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { main::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/types.rs b/examples/types.rs index bcdd30a9..ff7deb84 100644 --- a/examples/types.rs +++ b/examples/types.rs @@ -7,10 +7,16 @@ use panic_semihosting as _; -#[rtic::app(device = lm3s6965, peripherals = true, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, peripherals = true, dispatchers = [SSI0])] mod app { use cortex_m_semihosting::debug; - use rtic::cyccnt; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[resources] struct Resources { @@ -19,14 +25,19 @@ mod app { } #[init] - fn init(cx: init::Context) -> init::LateResources { - let _: cyccnt::Instant = cx.start; - let _: rtic::Peripherals = cx.core; + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { + let _: cortex_m::Peripherals = cx.core; let _: lm3s6965::Peripherals = cx.device; debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; + + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); + + (init::LateResources {}, init::Monotonics(mono)) } #[idle] @@ -38,13 +49,11 @@ mod app { #[task(binds = UART0, resources = [shared])] fn uart0(cx: uart0::Context) { - let _: cyccnt::Instant = cx.start; let _: resources::shared = cx.resources.shared; } #[task(priority = 2, resources = [shared])] fn foo(cx: foo::Context) { - let _: cyccnt::Instant = cx.scheduled; let _: resources::shared = cx.resources.shared; let _: foo::Resources = cx.resources; } diff --git a/macros/Cargo.toml b/macros/Cargo.toml index 3af48c76..f14b1046 100644 --- a/macros/Cargo.toml +++ b/macros/Cargo.toml @@ -12,7 +12,7 @@ license = "MIT OR Apache-2.0" name = "cortex-m-rtic-macros" readme = "../README.md" repository = "https://github.com/rtic-rs/cortex-m-rtic" -version = "0.6.0-alpha.0" +version = "0.6.0-alpha.1" [lib] proc-macro = true @@ -22,5 +22,5 @@ proc-macro2 = "1" proc-macro-error = "1" quote = "1" syn = "1" -rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax", branch = "master", version = "0.5.0-alpha.0" } +rtic-syntax = "0.5.0-alpha.1" diff --git a/macros/src/check.rs b/macros/src/check.rs index e3161cb9..374fcedd 100644 --- a/macros/src/check.rs +++ b/macros/src/check.rs @@ -6,7 +6,6 @@ use syn::{parse, Path}; pub struct Extra { pub device: Path, - pub monotonic: Option<Path>, pub peripherals: bool, } @@ -62,18 +61,6 @@ pub fn app(app: &App, _analysis: &Analysis) -> parse::Result<Extra> { for (name, task) in &app.hardware_tasks { let name_s = task.args.binds.to_string(); match &*name_s { - "SysTick" => { - // If the timer queue is used, then SysTick is unavailable - if app.args.monotonic.is_some() { - return Err(parse::Error::new( - name.span(), - "this exception can't be used because it's being used by the runtime", - )); - } else { - // OK - } - } - "NonMaskableInt" | "HardFault" => { return Err(parse::Error::new( name.span(), @@ -88,7 +75,6 @@ pub fn app(app: &App, _analysis: &Analysis) -> parse::Result<Extra> { if let Some(device) = app.args.device.clone() { Ok(Extra { device, - monotonic: app.args.monotonic.clone(), peripherals: app.args.peripherals, }) } else { diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs index 3cddf570..c5d95687 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); @@ -57,12 +57,11 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { let main = util::suffixed("main"); mains.push(quote!( + #[doc(hidden)] mod rtic_ext { use super::*; #[no_mangle] unsafe extern "C" fn #main() -> ! { - let _TODO: () = (); - #(#assertion_stmts)* #(#pre_init_stmts)* @@ -90,27 +89,69 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { let user_code = &app.user_code; let name = &app.name; let device = &extra.device; - - // Get the list of all tasks - // Currently unused, might be useful - let task_list = analysis.tasks.clone(); - - let mut tasks = vec![]; - - if !task_list.is_empty() { - tasks.push(quote!( - #[allow(non_camel_case_types)] - pub enum Tasks { - #(#task_list),* + let app_name = &app.name; + let app_path = quote! {crate::#app_name}; + + let monotonic_parts: Vec<_> = app + .monotonics + .iter() + .map(|(_, monotonic)| { + let name = &monotonic.ident; + let name_str = &name.to_string(); + let ty = &monotonic.ty; + let ident = util::monotonic_ident(&name_str); + let ident = util::mark_internal_ident(&ident); + let panic_str = &format!( + "Use of monotonic '{}' before it was passed to the runtime", + name_str + ); + let doc = &format!( + "This module holds the static implementation for `{}::now()`", + name_str + ); + let user_imports = &app.user_imports; + + quote! { + pub use rtic::Monotonic as _; + + #[doc = #doc] + #[allow(non_snake_case)] + pub mod #name { + #( + #[allow(unused_imports)] + #user_imports + )* + + /// Read the current time from this monotonic + pub fn now() -> rtic::time::Instant<#ty> { + rtic::export::interrupt::free(|_| { + use rtic::Monotonic as _; + use rtic::time::Clock as _; + if let Some(m) = unsafe{ #app_path::#ident.as_ref() } { + if let Ok(v) = m.try_now() { + v + } else { + unreachable!("Your monotonic is not infallible!") + } + } else { + panic!(#panic_str); + } + }) + } + } } - )); - } + }) + .collect(); + + let rt_err = util::rt_err_ident(); quote!( - /// Implementation details + /// The RTIC application module 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; + use #device as #rt_err; + + #(#monotonic_parts)* #(#user_imports)* @@ -132,9 +173,6 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { #(#root_software_tasks)* - /// Unused - #(#tasks)* - /// app module #(#mod_app)* diff --git a/macros/src/codegen/assertions.rs b/macros/src/codegen/assertions.rs index 4d9aae47..a8a4491b 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<TokenStream2> { +pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> { let mut stmts = vec![]; for ty in &analysis.send_types { @@ -15,5 +16,10 @@ pub fn codegen(analysis: &Analysis) -> Vec<TokenStream2> { 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 a6c695f1..dc33b1af 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<TokenStream2> { +pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStream2> { let mut items = vec![]; let interrupts = &analysis.interrupts; @@ -26,15 +26,16 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream }) .collect::<Vec<_>>(); - let doc = format!( - "Software tasks to be dispatched at priority level {}", - level, - ); + // let doc = format!( + // "Software tasks to be dispatched at priority level {}", + // level, + // ); let t = util::spawn_t_ident(level); items.push(quote!( #[allow(non_camel_case_types)] #[derive(Clone, Copy)] - #[doc = #doc] + // #[doc = #doc] + #[doc(hidden)] pub enum #t { #(#variants,)* } @@ -42,6 +43,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let n = util::capacity_typenum(channel.capacity, true); let rq = util::rq_ident(level); + let rq = util::mark_internal_ident(&rq); let (rq_ty, rq_expr) = { ( quote!(rtic::export::SCRQ<#t, #n>), @@ -51,12 +53,12 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream ) }; - let doc = format!( - "Queue of tasks ready to be dispatched at priority level {}", - level - ); + // let doc = format!( + // "Queue of tasks ready to be dispatched at priority level {}", + // level + // ); items.push(quote!( - #[doc = #doc] + #[doc(hidden)] static mut #rq: #rq_ty = #rq_expr; )); @@ -67,23 +69,11 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let task = &app.software_tasks[name]; let cfgs = &task.cfgs; let fq = util::fq_ident(name); + let fq = util::mark_internal_ident(&fq); let inputs = util::inputs_ident(name); + let inputs = util::mark_internal_ident(&inputs); let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs); - let (let_instant, instant) = if extra.monotonic.is_some() { - let instants = util::instants_ident(name); - - ( - quote!( - let instant = - #instants.get_unchecked(usize::from(index)).as_ptr().read(); - ), - quote!(, instant), - ) - } else { - (quote!(), quote!()) - }; - let locals_new = if task.locals.is_empty() { quote!() } else { @@ -97,12 +87,11 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream #t::#name => { let #tupled = #inputs.get_unchecked(usize::from(index)).as_ptr().read(); - #let_instant #fq.split().0.enqueue_unchecked(index); let priority = &rtic::export::Priority::new(PRIORITY); #app_path::#name( #locals_new - #name::Context::new(priority #instant) + #name::Context::new(priority) #(,#pats)* ) } diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs index 6930d3e0..4a1d7492 100644 --- a/macros/src/codegen/hardware_tasks.rs +++ b/macros/src/codegen/hardware_tasks.rs @@ -29,15 +29,6 @@ pub fn codegen( let mut user_tasks = vec![]; for (name, task) in &app.hardware_tasks { - let (let_instant, instant) = if let Some(ref m) = extra.monotonic { - ( - Some(quote!(let instant = <#m as rtic::Monotonic>::now();)), - Some(quote!(, instant)), - ) - } else { - (None, None) - }; - let locals_new = if task.locals.is_empty() { quote!() } else { @@ -55,12 +46,10 @@ pub fn codegen( unsafe fn #symbol() { const PRIORITY: u8 = #priority; - #let_instant - rtic::export::run(PRIORITY, || { #app_path::#name( #locals_new - #name::Context::new(&rtic::export::Priority::new(PRIORITY) #instant) + #name::Context::new(&rtic::export::Priority::new(PRIORITY)) ) }); } diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs index 6376ce31..aa9adcb0 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 = ( @@ -32,32 +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::<Vec<_>>(); - - 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 mut locals_pat = None; let mut locals_new = None; if !init.locals.is_empty() { @@ -72,10 +46,13 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult { let attrs = &init.attrs; let stmts = &init.stmts; let locals_pat = locals_pat.iter(); + + 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) -> #name::LateResources { + fn #name(#(#locals_pat,)* #context: #name::Context) -> (#user_init_return) { #(#stmts)* } )); @@ -92,7 +69,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult { let app_path = quote! {crate::#app_name}; let locals_new = locals_new.iter(); let call_init = Some( - quote!(let late = #app_path::#name(#(#locals_new,)* #name::Context::new(core.into()));), + quote!(let (late, mut monotonics) = #app_path::#name(#(#locals_new,)* #name::Context::new(core.into()));), ); root_init.push(module::codegen( diff --git a/macros/src/codegen/locals.rs b/macros/src/codegen/locals.rs index 336c0b21..5725a151 100644 --- a/macros/src/codegen/locals.rs +++ b/macros/src/codegen/locals.rs @@ -49,6 +49,7 @@ pub fn codegen( )); items.push(quote!( #(#cfgs)* + #[doc(hidden)] static mut #name: #ty = #expr )); values.push(quote!( diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs index 2ff4801e..75435b54 100644 --- a/macros/src/codegen/module.rs +++ b/macros/src/codegen/module.rs @@ -18,29 +18,16 @@ pub fn codegen( let mut task_cfgs = vec![]; let name = ctxt.ident(app); + let app_name = &app.name; + let app_path = quote! {crate::#app_name}; - let mut needs_instant = false; let mut lt = None; match ctxt { Context::Init => { - 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; @@ -66,31 +53,9 @@ pub fn codegen( Context::Idle => {} - Context::HardwareTask(..) => { - if let Some(m) = &extra.monotonic { - fields.push(quote!( - /// Time at which this handler started executing - pub start: <#m as rtic::Monotonic>::Instant - )); + Context::HardwareTask(_) => {} - values.push(quote!(start: instant)); - - needs_instant = true; - } - } - - Context::SoftwareTask(..) => { - 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; - } - } + Context::SoftwareTask(_) => {} } if ctxt.has_locals(app) { @@ -103,6 +68,7 @@ pub fn codegen( if ctxt.has_resources(app) { let ident = util::resources_ident(ctxt, app); + let ident = util::mark_internal_ident(&ident); let lt = if resources_tick { lt = Some(quote!('a)); Some(quote!('a)) @@ -129,12 +95,45 @@ pub fn codegen( } if let Context::Init = ctxt { - let init = &app.inits.first().unwrap(); - let late_resources = util::late_resources_ident(&init.name); + let 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::<Vec<_>>(); 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.ty; + quote! {#mono} + }) + .collect(); + + items.push(quote!( + /// Monotonics used by the system + #[allow(non_snake_case)] + pub struct Monotonics( + #(pub #monotonic_types),* + ); )); } @@ -146,11 +145,7 @@ pub fn codegen( }; let core = if ctxt.is_init() { - if extra.monotonic.is_some() { - Some(quote!(core: rtic::Peripherals,)) - } else { - Some(quote!(core: rtic::export::Peripherals,)) - } + Some(quote!(core: rtic::export::Peripherals,)) } else { None }; @@ -161,14 +156,6 @@ pub fn codegen( Some(quote!(priority: &#lt rtic::export::Priority)) }; - let instant = if needs_instant { - let m = extra.monotonic.clone().expect("RTIC-ICE: UNREACHABLE"); - - Some(quote!(, instant: <#m as rtic::Monotonic>::Instant)) - } else { - None - }; - items.push(quote!( /// Execution context pub struct Context<#lt> { @@ -177,7 +164,7 @@ 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,)* } @@ -195,15 +182,15 @@ 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); + let fq = util::mark_internal_ident(&fq); let rq = util::rq_ident(priority); + let rq = util::mark_internal_ident(&rq); let inputs = util::inputs_ident(name); - - let app_name = &app.name; - let app_path = quote! {crate::#app_name}; + let inputs = util::mark_internal_ident(&inputs); let device = &extra.device; let enum_ = util::interrupt_ident(); @@ -216,11 +203,8 @@ pub fn codegen( // Spawn caller items.push(quote!( #(#cfgs)* + /// Spawns the task directly pub fn spawn(#(#args,)*) -> Result<(), #ty> { - // #let_instant // do we need it? - use rtic::Mutex as _; - use rtic::mutex_prelude::*; - let input = #tupled; unsafe { @@ -245,45 +229,114 @@ pub fn codegen( })); // Schedule caller - if let Some(m) = &extra.monotonic { - let instants = util::instants_ident(name); + for (_, monotonic) in &app.monotonics { + let instants = util::monotonic_instants_ident(name, &monotonic.ident); + let instants = util::mark_internal_ident(&instants); + let monotonic_name = monotonic.ident.to_string(); - let tq = util::tq_ident(); + let tq = util::tq_ident(&monotonic.ident.to_string()); + let tq = util::mark_internal_ident(&tq); let t = util::schedule_t_ident(); + let m = &monotonic.ident; + let mono_type = &monotonic.ty; + let m_ident = util::monotonic_ident(&monotonic_name); + let m_ident = util::mark_internal_ident(&m_ident); + let m_isr = &monotonic.args.binds; + let enum_ = util::interrupt_ident(); + + if monotonic.args.default { + items.push(quote!(pub use #m::spawn_after;)); + items.push(quote!(pub use #m::spawn_at;)); + } + + let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" { + ( + quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()) + .enable_interrupt()), + quote!(cortex_m::peripheral::SCB::set_pendst()), + ) + } else { + let rt_err = util::rt_err_ident(); + ( + quote!(rtic::export::NVIC::unmask(#app_path::#rt_err::#enum_::#m_isr)), + quote!(rtic::pend(#app_path::#rt_err::#enum_::#m_isr)), + ) + }; + + let user_imports = &app.user_imports; 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::*; - - 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); - - #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)); - - Ok(()) + /// Holds methods related to this monotonic + pub mod #m { + #( + #[allow(unused_imports)] + #user_imports + )* + + #(#cfgs)* + /// Spawns the task after a set duration relative to the current time + /// + /// This will use the time `Instant::new(0)` as baseline if called in `#[init]`, + /// so if you use a non-resetable timer use `spawn_at` when in `#[init]` + pub fn spawn_after<D>( + duration: D + #(,#args)* + ) -> Result<(), #ty> + where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint, + D::T: Into<<#app_path::#mono_type as rtic::time::Clock>::T>, + { + + let instant = if rtic::export::interrupt::free(|_| unsafe { #app_path::#m_ident.is_none() }) { + rtic::time::Instant::new(0) } else { - Err(input) + #app_path::#m::now() + }; + + spawn_at(instant + duration #(,#untupled)*) + } + + #(#cfgs)* + /// Spawns the task at a fixed time instant + pub fn spawn_at( + instant: rtic::time::Instant<#app_path::#mono_type> + #(,#args)* + ) -> Result<(), #ty> { + unsafe { + 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); + + #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(|_| + if let Some(mono) = #app_path::#m_ident.as_mut() { + #app_path::#tq.enqueue_unchecked( + nr, + || #enable_interrupt, + || #pend, + mono) + } else { + // We can only use the timer queue if `init` has returned, and it + // writes the `Some(monotonic)` we are accessing here. + core::hint::unreachable_unchecked() + }); + + Ok(()) + } else { + Err(input) + } } } })); diff --git a/macros/src/codegen/post_init.rs b/macros/src/codegen/post_init.rs index 5545944d..96c5df80 100644 --- a/macros/src/codegen/post_init.rs +++ b/macros/src/codegen/post_init.rs @@ -1,6 +1,7 @@ -use proc_macro2::TokenStream as TokenStream2; +use proc_macro2::{Span, TokenStream as TokenStream2}; use quote::quote; use rtic_syntax::ast::App; +use syn::Index; use crate::{analyze::Analysis, codegen::util}; @@ -12,7 +13,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> { if !analysis.late_resources.is_empty() { // BTreeSet wrapped in a vector for name in analysis.late_resources.first().unwrap() { - let mangled_name = util::mangle_ident(&name); + let mangled_name = util::mark_internal_ident(&name); // If it's live let cfgs = app.late_resources[name].cfgs.clone(); if analysis.locations.get(name).is_some() { @@ -25,6 +26,19 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> { } } + for (i, (monotonic, _)) in app.monotonics.iter().enumerate() { + let idx = Index { + index: i as u32, + span: Span::call_site(), + }; + stmts.push(quote!(monotonics.#idx.reset();)); + + // Store the monotonic + let name = util::monotonic_ident(&monotonic.to_string()); + let name = util::mark_internal_ident(&name); + stmts.push(quote!(#name = Some(monotonics.#idx);)); + } + // Enable the interrupts -- this completes the `init`-ialization phase stmts.push(quote!(rtic::export::interrupt::enable();)); diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs index 969de84a..d5105445 100644 --- a/macros/src/codegen/pre_init.rs +++ b/macros/src/codegen/pre_init.rs @@ -8,6 +8,8 @@ use crate::{analyze::Analysis, check::Extra, codegen::util}; pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> { let mut stmts = vec![]; + let rt_err = util::rt_err_ident(); + // Disable interrupts -- `init` must run with interrupts disabled stmts.push(quote!(rtic::export::interrupt::disable();)); @@ -15,6 +17,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream for (name, task) in &app.software_tasks { let cap = task.args.capacity; let fq_ident = util::fq_ident(name); + let fq_ident = util::mark_internal_ident(&fq_ident); stmts.push(quote!( (0..#cap).for_each(|i| #fq_ident.enqueue_unchecked(i)); @@ -47,14 +50,14 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let interrupt = util::interrupt_ident(); stmts.push(quote!( core.NVIC.set_priority( - you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#interrupt::#name, + #rt_err::#interrupt::#name, rtic::export::logical2hw(#priority, #nvic_prio_bits), ); )); // NOTE unmask the interrupt *after* setting its priority: changing the priority of a pended // interrupt is implementation defined - stmts.push(quote!(rtic::export::NVIC::unmask(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#interrupt::#name);)); + stmts.push(quote!(rtic::export::NVIC::unmask(#rt_err::#interrupt::#name);)); } // Set exception priorities @@ -74,23 +77,48 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream );)); } - // Initialize the SysTick if there exist a TimerQueue - if extra.monotonic.is_some() { - let priority = analysis.channels.keys().max().unwrap(); + // Initialize monotonic's interrupts + for (_, monotonic) in app.monotonics.iter() + //.map(|(ident, monotonic)| (ident, &monotonic.args.priority, &monotonic.args.binds)) + { + let priority = &monotonic.args.priority; + let binds = &monotonic.args.binds; // Compile time assert that this priority is supported by the device stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];)); - stmts.push(quote!(core.SCB.set_priority( - rtic::export::SystemHandler::SysTick, - rtic::export::logical2hw(#priority, #nvic_prio_bits), - );)); - - stmts.push(quote!( - core.SYST.set_clock_source(rtic::export::SystClkSource::Core); - core.SYST.enable_counter(); - core.DCB.enable_trace(); - )); + let app_name = &app.name; + let app_path = quote! {crate::#app_name}; + let mono_type = &monotonic.ty; + + if &*binds.to_string() == "SysTick" { + stmts.push(quote!( + core.SCB.set_priority( + rtic::export::SystemHandler::SysTick, + rtic::export::logical2hw(#priority, #nvic_prio_bits), + ); + + // Always enable monotonic interrupts if they should never be off + if !<#mono_type as rtic::Monotonic>::DISABLE_INTERRUPT_ON_EMPTY_QUEUE { + core::mem::transmute::<_, cortex_m::peripheral::SYST>(()) + .enable_interrupt(); + } + )); + } else { + // NOTE this also checks that the interrupt exists in the `Interrupt` enumeration + let interrupt = util::interrupt_ident(); + stmts.push(quote!( + core.NVIC.set_priority( + #rt_err::#interrupt::#binds, + rtic::export::logical2hw(#priority, #nvic_prio_bits), + ); + + // Always enable monotonic interrupts if they should never be off + if !<#mono_type as rtic::Monotonic>::DISABLE_INTERRUPT_ON_EMPTY_QUEUE { + rtic::export::NVIC::unmask(#app_path::#rt_err::#interrupt::#binds); + } + )); + } } // If there's no user `#[idle]` then optimize returning from interrupt handlers diff --git a/macros/src/codegen/resources.rs b/macros/src/codegen/resources.rs index 76871e59..fa52b86d 100644 --- a/macros/src/codegen/resources.rs +++ b/macros/src/codegen/resources.rs @@ -21,7 +21,7 @@ pub fn codegen( for (name, res, expr, _) in app.resources(analysis) { let cfgs = &res.cfgs; let ty = &res.ty; - let mangled_name = util::mangle_ident(&name); + let mangled_name = util::mark_internal_ident(&name); { let section = if expr.is_none() { @@ -42,6 +42,7 @@ pub fn codegen( let attrs = &res.attrs; mod_app.push(quote!( #[allow(non_upper_case_globals)] + #[doc(hidden)] #(#attrs)* #(#cfgs)* #section diff --git a/macros/src/codegen/resources_struct.rs b/macros/src/codegen/resources_struct.rs index bffe9431..8ed8a291 100644 --- a/macros/src/codegen/resources_struct.rs +++ b/macros/src/codegen/resources_struct.rs @@ -31,7 +31,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2, None }; let ty = &res.ty; - let mangled_name = util::mangle_ident(&name); + let mangled_name = util::mark_internal_ident(&name); // let ownership = &analysis.ownerships[name]; let r_prop = &res.properties; @@ -112,6 +112,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2, let doc = format!("Resources `{}` has access to", ctxt.ident(app)); let ident = util::resources_ident(ctxt, app); + let ident = util::mark_internal_ident(&ident); let item = quote!( #[allow(non_snake_case)] #[doc = #doc] diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs index 9cb5f7a9..a39fe4cc 100644 --- a/macros/src/codegen/software_tasks.rs +++ b/macros/src/codegen/software_tasks.rs @@ -37,6 +37,7 @@ pub fn codegen( // Create free queues and inputs / instants buffers let fq = util::fq_ident(name); + let fq = util::mark_internal_ident(&fq); let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = { ( @@ -48,8 +49,9 @@ pub fn codegen( ) }; mod_app.push(quote!( - /// Queue version of a free-list that keeps track of empty slots in - /// the following buffers + // /// Queue version of a free-list that keeps track of empty slots in + // /// the following buffers + #[doc(hidden)] static mut #fq: #fq_ty = #fq_expr; )); @@ -57,24 +59,29 @@ pub fn codegen( .map(|_| quote!(core::mem::MaybeUninit::uninit())) .collect::<Vec<_>>(); - if let Some(m) = &extra.monotonic { - let instants = util::instants_ident(name); + for (_, monotonic) in &app.monotonics { + let instants = util::monotonic_instants_ident(name, &monotonic.ident); + let instants = util::mark_internal_ident(&instants); + let mono_type = &monotonic.ty; let uninit = mk_uninit(); mod_app.push(quote!( #uninit - /// Buffer that holds the instants associated to the inputs of a task + // /// Buffer that holds the instants associated to the inputs of a task + #[doc(hidden)] static mut #instants: - [core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] = + [core::mem::MaybeUninit<rtic::time::Instant<#mono_type>>; #cap_lit] = [#(#elems,)*]; )); } let uninit = mk_uninit(); let inputs_ident = util::inputs_ident(name); + let inputs_ident = util::mark_internal_ident(&inputs_ident); mod_app.push(quote!( #uninit - /// Buffer that holds the inputs of a task + // /// Buffer that holds the inputs of a task + #[doc(hidden)] static mut #inputs_ident: [core::mem::MaybeUninit<#input_ty>; #cap_lit] = [#(#elems,)*]; )); diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs index fa2c7b36..82d0ac98 100644 --- a/macros/src/codegen/timer_queue.rs +++ b/macros/src/codegen/timer_queue.rs @@ -5,10 +5,10 @@ use rtic_syntax::ast::App; use crate::{analyze::Analysis, check::Extra, codegen::util}; /// Generates timer queues and timer queue handlers -pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> { +pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStream2> { let mut items = vec![]; - if let Some(m) = &extra.monotonic { + if !app.monotonics.is_empty() { let t = util::schedule_t_ident(); // Enumeration of `schedule`-able tasks @@ -26,9 +26,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream }) .collect::<Vec<_>>(); - let doc = "Tasks that can be scheduled".to_string(); + // let doc = "Tasks that can be scheduled".to_string(); items.push(quote!( - #[doc = #doc] + // #[doc = #doc] + #[doc(hidden)] #[allow(non_camel_case_types)] #[derive(Clone, Copy)] enum #t { @@ -36,32 +37,54 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream } )); } + } - let tq = util::tq_ident(); + for (_, monotonic) in &app.monotonics { + let monotonic_name = monotonic.ident.to_string(); + let tq = util::tq_ident(&monotonic_name); + let tq = util::mark_internal_ident(&tq); + let t = util::schedule_t_ident(); + let mono_type = &monotonic.ty; + let m_ident = util::monotonic_ident(&monotonic_name); + let m_ident = util::mark_internal_ident(&m_ident); + let app_name = &app.name; + let app_path = quote! {crate::#app_name}; - // Static variable and resource proxy + // Static variables and resource proxy { - let doc = "Timer queue".to_string(); + // let doc = &format!("Timer queue for {}", monotonic_name); let cap = app .software_tasks .iter() .map(|(_name, task)| task.args.capacity) .sum(); let n = util::capacity_typenum(cap, false); - let tq_ty = quote!(rtic::export::TimerQueue<#m, #t, #n>); + let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n>); items.push(quote!( - #[doc = #doc] + #[doc(hidden)] static mut #tq: #tq_ty = rtic::export::TimerQueue( rtic::export::BinaryHeap( rtic::export::iBinaryHeap::new() ) ); )); + + let mono = util::monotonic_ident(&monotonic_name); + let mono = util::mark_internal_ident(&mono); + // let doc = &format!("Storage for {}", monotonic_name); + + items.push(quote!( + #[doc(hidden)] + static mut #mono: Option<#mono_type> = None; + )); } // Timer queue handler { + let enum_ = util::interrupt_ident(); + let rt_err = util::rt_err_ident(); + let arms = app .software_tasks .iter() @@ -69,13 +92,15 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let cfgs = &task.cfgs; let priority = task.args.priority; let rq = util::rq_ident(priority); + let rq = util::mark_internal_ident(&rq); let rqt = util::spawn_t_ident(priority); - let enum_ = util::interrupt_ident(); + + // The interrupt that runs the task dispatcher let interrupt = &analysis.interrupts.get(&priority).expect("RTIC-ICE: interrupt not found").0; let pend = { quote!( - rtic::pend(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#interrupt); + rtic::pend(#rt_err::#enum_::#interrupt); ) }; @@ -90,21 +115,39 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream }) .collect::<Vec<_>>(); - let sys_tick = util::suffixed("SysTick"); + let bound_interrupt = &monotonic.args.binds; + let disable_isr = if &*bound_interrupt.to_string() == "SysTick" { + quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).disable_interrupt()) + } else { + quote!(rtic::export::NVIC::mask(#rt_err::#enum_::#bound_interrupt)) + }; + items.push(quote!( #[no_mangle] - unsafe fn #sys_tick() { - use rtic::Mutex as _; + #[allow(non_snake_case)] + unsafe fn #bound_interrupt() { - while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue()) + while let Some((task, index)) = rtic::export::interrupt::free(|_| + if let Some(mono) = #app_path::#m_ident.as_mut() { + #tq.dequeue(|| #disable_isr, mono) + } else { + // We can only use the timer queue if `init` has returned, and it + // writes the `Some(monotonic)` we are accessing here. + core::hint::unreachable_unchecked() + }) { match task { #(#arms)* } } + + rtic::export::interrupt::free(|_| if let Some(mono) = #app_path::#m_ident.as_mut() { + mono.on_interrupt(); + }); } )); } } + items } diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs index fb8f1a84..6589f62d 100644 --- a/macros/src/codegen/util.rs +++ b/macros/src/codegen/util.rs @@ -77,8 +77,11 @@ pub fn inputs_ident(task: &Ident) -> Ident { } /// Generates an identifier for the `INSTANTS` buffer (`schedule` API) -pub fn instants_ident(task: &Ident) -> Ident { - Ident::new(&format!("{}_INSTANTS", task), Span::call_site()) +pub fn monotonic_instants_ident(task: &Ident, monotonic: &Ident) -> Ident { + Ident::new( + &format!("{}_{}_INSTANTS", task, monotonic), + Span::call_site(), + ) } pub fn interrupt_ident() -> Ident { @@ -103,16 +106,8 @@ pub fn is_exception(name: &Ident) -> bool { ) } -/// Generates a pre-reexport identifier for the "late resources" struct -pub fn late_resources_ident(init: &Ident) -> Ident { - Ident::new( - &format!("{}LateResources", init.to_string()), - Span::call_site(), - ) -} - -/// Mangle an ident -pub fn mangle_ident(ident: &Ident) -> Ident { +/// Mark an ident as internal +pub fn mark_internal_ident(ident: &Ident) -> Ident { Ident::new( &format!("__rtic_internal_{}", ident.to_string()), Span::call_site(), @@ -222,7 +217,7 @@ pub fn rq_ident(priority: u8) -> Ident { /// Generates an identifier for the `enum` of `schedule`-able tasks pub fn schedule_t_ident() -> Ident { - Ident::new(&"SCHED_T".to_string(), Span::call_site()) + Ident::new(&"SCHED_T", Span::call_site()) } /// Generates an identifier for the `enum` of `spawn`-able tasks @@ -233,14 +228,26 @@ pub fn spawn_t_ident(priority: u8) -> Ident { Ident::new(&format!("P{}_T", priority), Span::call_site()) } +/// Suffixed identifier pub fn suffixed(name: &str) -> Ident { let span = Span::call_site(); Ident::new(name, span) } /// Generates an identifier for a timer queue -/// -/// At most there is one timer queue -pub fn tq_ident() -> Ident { - Ident::new(&"TQ".to_string(), Span::call_site()) +pub fn tq_ident(name: &str) -> Ident { + Ident::new(&format!("TQ_{}", name), Span::call_site()) +} + +/// Generates an identifier for monotonic timer storage +pub fn monotonic_ident(name: &str) -> Ident { + Ident::new(&format!("MONOTONIC_STORAGE_{}", name), Span::call_site()) +} + +/// The name to get better RT flag errors +pub fn rt_err_ident() -> Ident { + Ident::new( + &"you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml", + Span::call_site(), + ) } diff --git a/macros/src/lib.rs b/macros/src/lib.rs index dc37eaea..6ac7e2a4 100644 --- a/macros/src/lib.rs +++ b/macros/src/lib.rs @@ -1,4 +1,4 @@ -#![deny(warnings)] +// #![deny(warnings)] extern crate proc_macro; @@ -20,7 +20,7 @@ mod tests; #[proc_macro_attribute] pub fn app(args: TokenStream, input: TokenStream) -> TokenStream { let mut settings = Settings::default(); - settings.optimize_priorities = true; + settings.optimize_priorities = false; settings.parse_binds = true; settings.parse_extern_interrupt = true; diff --git a/src/export.rs b/src/export.rs index 72d954ab..91a4a5ef 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_monotonic as monotonic; pub type SCFQ<N> = Queue<u8, N, u8, SingleCore>; pub type SCRQ<T, N> = Queue<(T, u8), N, u8, SingleCore>; @@ -112,6 +113,13 @@ where { } +#[inline(always)] +pub fn assert_monotonic<T>() +where + T: monotonic::Monotonic, +{ +} + /// Lock the resource proxy by setting the BASEPRI /// and running the closure with interrupt::free /// @@ -35,123 +35,16 @@ #![deny(warnings)] #![no_std] -use core::ops::Sub; - -use cortex_m::{ - interrupt::InterruptNumber, - peripheral::{CBP, CPUID, DCB, DWT, FPB, FPU, ITM, MPU, NVIC, SCB, TPIU}, -}; +use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC}; pub use cortex_m_rtic_macros::app; pub use rtic_core::{prelude as mutex_prelude, Exclusive, Mutex}; +pub use rtic_monotonic::{self, embedded_time as time, Monotonic}; -#[cfg(armv7m)] -pub mod cyccnt; #[doc(hidden)] pub mod export; #[doc(hidden)] mod tq; -/// `cortex_m::Peripherals` minus `SYST` -#[allow(non_snake_case)] -pub struct Peripherals { - /// Cache and branch predictor maintenance operations (not present on Cortex-M0 variants) - pub CBP: CBP, - - /// CPUID - pub CPUID: CPUID, - - /// Debug Control Block - pub DCB: DCB, - - /// Data Watchpoint and Trace unit - pub DWT: DWT, - - /// Flash Patch and Breakpoint unit (not present on Cortex-M0 variants) - pub FPB: FPB, - - /// Floating Point Unit (only present on `thumbv7em-none-eabihf`) - pub FPU: FPU, - - /// Instrumentation Trace Macrocell (not present on Cortex-M0 variants) - pub ITM: ITM, - - /// Memory Protection Unit - pub MPU: MPU, - - /// Nested Vector Interrupt Controller - pub NVIC: NVIC, - - /// System Control Block - pub SCB: SCB, - - // SysTick: System Timer - // pub SYST: SYST, - /// Trace Port Interface Unit (not present on Cortex-M0 variants) - pub TPIU: TPIU, -} - -impl From<cortex_m::Peripherals> for Peripherals { - fn from(p: cortex_m::Peripherals) -> Self { - Self { - CBP: p.CBP, - CPUID: p.CPUID, - DCB: p.DCB, - DWT: p.DWT, - FPB: p.FPB, - FPU: p.FPU, - ITM: p.ITM, - MPU: p.MPU, - NVIC: p.NVIC, - SCB: p.SCB, - TPIU: p.TPIU, - } - } -} - -/// A fraction -pub struct Fraction { - /// The numerator - pub numerator: u32, - - /// The denominator - pub denominator: u32, -} - -/// A monotonic clock / counter -pub trait Monotonic { - /// A measurement of this clock, use `CYCCNT` as a reference implementation for `Instant`. - /// Note that the Instant must be a signed value such as `i32`. - type Instant: Copy + Ord + Sub; - - /// The ratio between the system timer (SysTick) frequency and this clock frequency, i.e. - /// `Monotonic clock * Fraction = System clock` - /// - /// The ratio must be expressed in *reduced* `Fraction` form to prevent overflows. That is - /// `2 / 3` instead of `4 / 6` - fn ratio() -> Fraction; - - /// Returns the current time - /// - /// # Correctness - /// - /// This function is *allowed* to return nonsensical values if called before `reset` is invoked - /// by the runtime. Therefore application authors should *not* call this function during the - /// `#[init]` phase. - fn now() -> Self::Instant; - - /// Resets the counter to *zero* - /// - /// # Safety - /// - /// This function will be called *exactly once* by the RTIC runtime after `#[init]` returns and - /// before tasks can start; this is also the case in multi-core applications. User code must - /// *never* call this function. - unsafe fn reset(); - - /// A `Self::Instant` that represents a count of *zero* - fn zero() -> Self::Instant; -} - /// Sets the given `interrupt` as pending /// /// This is a convenience function around @@ -1,28 +1,21 @@ -use core::{ - cmp::{self, Ordering}, - convert::TryInto, - mem, - ops::Sub, +use crate::{ + time::{Clock, Instant}, + Monotonic, }; - -use cortex_m::peripheral::{SCB, SYST}; +use core::cmp::Ordering; use heapless::{binary_heap::Min, ArrayLength, BinaryHeap}; -use crate::Monotonic; - -pub struct TimerQueue<M, T, N>(pub BinaryHeap<NotReady<M, T>, N, Min>) +pub struct TimerQueue<Mono, Task, N>(pub BinaryHeap<NotReady<Mono, Task>, N, Min>) where - M: Monotonic, - <M::Instant as Sub>::Output: TryInto<u32>, - N: ArrayLength<NotReady<M, T>>, - T: Copy; + Mono: Monotonic, + N: ArrayLength<NotReady<Mono, Task>>, + Task: Copy; -impl<M, T, N> TimerQueue<M, T, N> +impl<Mono, Task, N> TimerQueue<Mono, Task, N> where - M: Monotonic, - <M::Instant as Sub>::Output: TryInto<u32>, - N: ArrayLength<NotReady<M, T>>, - T: Copy, + Mono: Monotonic, + N: ArrayLength<NotReady<Mono, Task>>, + Task: Copy, { /// # Safety /// @@ -31,7 +24,16 @@ where /// /// Enqueue a task without checking if it is full #[inline] - pub unsafe fn enqueue_unchecked(&mut self, nr: NotReady<M, T>) { + pub unsafe fn enqueue_unchecked<F1, F2>( + &mut self, + nr: NotReady<Mono, Task>, + enable_interrupt: F1, + pend_handler: F2, + mono: &mut Mono, + ) where + F1: FnOnce(), + F2: FnOnce(), + { let mut is_empty = true; // Check if the top contains a non-empty element and if that element is // greater than nr @@ -44,111 +46,118 @@ where }) .unwrap_or(true); if if_heap_max_greater_than_nr { - if is_empty { - mem::transmute::<_, SYST>(()).enable_interrupt(); + if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE && is_empty { + // mem::transmute::<_, SYST>(()).enable_interrupt();A + mono.enable_timer(); + enable_interrupt(); } // Set SysTick pending - SCB::set_pendst(); + // SCB::set_pendst(); + pend_handler(); } self.0.push_unchecked(nr); } + /// Check if the timer queue is empty. + #[inline] + pub fn is_empty(&self) -> bool { + self.0.is_empty() + } + + #[inline] + fn unwrapper<T, E>(val: Result<T, E>) -> T { + if let Ok(v) = val { + v + } else { + unreachable!("Your monotonic is not infallible") + } + } + /// Dequeue a task from the TimerQueue #[inline] - pub fn dequeue(&mut self) -> Option<(T, u8)> { - unsafe { - if let Some(instant) = self.0.peek().map(|p| p.instant) { - let now = M::now(); + pub fn dequeue<F>(&mut self, disable_interrupt: F, mono: &mut Mono) -> Option<(Task, u8)> + where + F: FnOnce(), + { + mono.clear_compare_flag(); + + if let Some(instant) = self.0.peek().map(|p| p.instant) { + if instant <= Self::unwrapper(Clock::try_now(mono)) { + // task became ready + let nr = unsafe { self.0.pop_unchecked() }; + + Some((nr.task, nr.index)) + } else { + // Set compare + mono.set_compare(&instant); - if instant < now { - // task became ready - let nr = self.0.pop_unchecked(); + // Double check that the instant we set is really in the future, else + // dequeue. If the monotonic is fast enough it can happen that from the + // read of now to the set of the compare, the time can overflow. This is to + // guard against this. + if instant <= Self::unwrapper(Clock::try_now(mono)) { + let nr = unsafe { self.0.pop_unchecked() }; Some((nr.task, nr.index)) } else { - // set a new timeout - const MAX: u32 = 0x00ffffff; - - let ratio = M::ratio(); - let dur = match (instant - now).try_into().ok().and_then(|x| { - x.checked_mul(ratio.numerator) - .map(|x| x / ratio.denominator) - }) { - None => MAX, - - // ARM Architecture Reference Manual says: - // "Setting SYST_RVR to zero has the effect of - // disabling the SysTick counter independently - // of the counter enable bit." - Some(0) => 1, - - Some(x) => cmp::min(MAX, x), - }; - mem::transmute::<_, SYST>(()).set_reload(dur); - - // Start counting down from the new reload - mem::transmute::<_, SYST>(()).clear_current(); - None } - } else { - // The queue is empty - mem::transmute::<_, SYST>(()).disable_interrupt(); - - None } + } else { + // The queue is empty, disable the interrupt. + if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE { + disable_interrupt(); + mono.disable_timer(); + } + + None } } } -pub struct NotReady<M, T> +pub struct NotReady<Mono, Task> where - T: Copy, - M: Monotonic, - <M::Instant as Sub>::Output: TryInto<u32>, + Task: Copy, + Mono: Monotonic, { pub index: u8, - pub instant: M::Instant, - pub task: T, + pub instant: Instant<Mono>, + pub task: Task, } -impl<M, T> Eq for NotReady<M, T> +impl<Mono, Task> Eq for NotReady<Mono, Task> where - T: Copy, - M: Monotonic, - <M::Instant as Sub>::Output: TryInto<u32>, + Task: Copy, + Mono: Monotonic, { } -impl<M, T> Ord for NotReady<M, T> +impl<Mono, Task> Ord for NotReady<Mono, Task> where - T: Copy, - M: Monotonic, - <M::Instant as Sub>::Output: TryInto<u32>, + Task: Copy, + Mono: Monotonic, { fn cmp(&self, other: &Self) -> Ordering { self.instant.cmp(&other.instant) } } -impl<M, T> PartialEq for NotReady<M, T> +impl<Mono, Task> PartialEq for NotReady<Mono, Task> where - T: Copy, - M: Monotonic, - <M::Instant as Sub>::Output: TryInto<u32>, + Task: Copy, + Mono: Monotonic, { fn eq(&self, other: &Self) -> bool { self.instant == other.instant } } -impl<M, T> PartialOrd for NotReady<M, T> +impl<Mono, Task> PartialOrd for NotReady<Mono, Task> where - T: Copy, - M: Monotonic, - <M::Instant as Sub>::Output: TryInto<u32>, + Task: Copy, + Mono: Monotonic, { fn partial_cmp(&self, other: &Self) -> Option<Ordering> { Some(self.cmp(&other)) diff --git a/tests/single.rs b/tests/tests.rs index b5d480c7..9fb88a1b 100644 --- a/tests/single.rs +++ b/tests/tests.rs @@ -3,5 +3,5 @@ use trybuild::TestCases; #[test] fn ui() { let t = TestCases::new(); - t.compile_fail("ui/single/*.rs"); + t.compile_fail("ui/*.rs"); } diff --git a/ui/single/exception-invalid.rs b/ui/exception-invalid.rs index 04d9bc75..04d9bc75 100644 --- a/ui/single/exception-invalid.rs +++ b/ui/exception-invalid.rs diff --git a/ui/single/exception-invalid.stderr b/ui/exception-invalid.stderr index 90213768..90213768 100644 --- a/ui/single/exception-invalid.stderr +++ b/ui/exception-invalid.stderr diff --git a/ui/single/extern-interrupt-not-enough.rs b/ui/extern-interrupt-not-enough.rs index f2624036..f2624036 100644 --- a/ui/single/extern-interrupt-not-enough.rs +++ b/ui/extern-interrupt-not-enough.rs diff --git a/ui/single/extern-interrupt-not-enough.stderr b/ui/extern-interrupt-not-enough.stderr index 14f8fe9c..14f8fe9c 100644 --- a/ui/single/extern-interrupt-not-enough.stderr +++ b/ui/extern-interrupt-not-enough.stderr diff --git a/ui/single/extern-interrupt-used.rs b/ui/extern-interrupt-used.rs index 240e7363..240e7363 100644 --- a/ui/single/extern-interrupt-used.rs +++ b/ui/extern-interrupt-used.rs diff --git a/ui/single/extern-interrupt-used.stderr b/ui/extern-interrupt-used.stderr index b4d8d160..b4d8d160 100644 --- a/ui/single/extern-interrupt-used.stderr +++ b/ui/extern-interrupt-used.stderr diff --git a/ui/single/local-cfg-task-local-err.rs b/ui/local-cfg-task-local-err.rs index 412f6142..d4752edf 100644 --- a/ui/single/local-cfg-task-local-err.rs +++ b/ui/local-cfg-task-local-err.rs @@ -26,15 +26,18 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources { - #[cfg(feature = "feature_l2")] - l2: 2, - #[cfg(not(feature = "feature_l2"))] - l2: 5, - } + ( + init::LateResources { + #[cfg(feature = "feature_l2")] + l2: 2, + #[cfg(not(feature = "feature_l2"))] + l2: 5, + }, + init::Monotonics(), + ) } // l1 ok (task_local) diff --git a/ui/single/local-cfg-task-local-err.stderr b/ui/local-cfg-task-local-err.stderr index 9a84ead4..73dfaeb6 100644 --- a/ui/single/local-cfg-task-local-err.stderr +++ b/ui/local-cfg-task-local-err.stderr @@ -5,15 +5,15 @@ error: task local resource "l2" is used by multiple tasks | ^^ error: task local resource "l2" is used by task "uart0" with priority 1 - --> $DIR/local-cfg-task-local-err.rs:51:39 + --> $DIR/local-cfg-task-local-err.rs:54:39 | -51 | #[cfg(feature = "feature_l2")]l2, +54 | #[cfg(feature = "feature_l2")]l2, | ^^ error: task local resource "l2" is used by task "uart1" with priority 1 - --> $DIR/local-cfg-task-local-err.rs:60:44 + --> $DIR/local-cfg-task-local-err.rs:63:44 | -60 | #[cfg(not(feature = "feature_l2"))]l2 +63 | #[cfg(not(feature = "feature_l2"))]l2 | ^^ warning: unused import: `cortex_m_semihosting::debug` diff --git a/ui/single/local-err.rs b/ui/local-err.rs index 0fe98a4b..7ebfc069 100644 --- a/ui/single/local-err.rs +++ b/ui/local-err.rs @@ -39,10 +39,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources { e2: 2, l2: 2 } + (init::LateResources { e2: 2, l2: 2 }, init::Monotonics()) } // `shared` cannot be accessed from this context diff --git a/ui/single/local-err.stderr b/ui/local-err.stderr index 88369d8e..88369d8e 100644 --- a/ui/single/local-err.stderr +++ b/ui/local-err.stderr diff --git a/ui/single/locals-cfg.rs b/ui/locals-cfg.rs index 3bfdaa1e..170d3026 100644 --- a/ui/single/locals-cfg.rs +++ b/ui/locals-cfg.rs @@ -1,16 +1,17 @@ #![no_main] -use panic_halt as _; + +use panic_semihosting as _; #[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { #[cfg(never)] static mut FOO: u32 = 0; FOO; - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/ui/locals-cfg.stderr b/ui/locals-cfg.stderr new file mode 100644 index 00000000..33a80754 --- /dev/null +++ b/ui/locals-cfg.stderr @@ -0,0 +1,29 @@ +error[E0425]: cannot find value `FOO` in this scope + --> $DIR/locals-cfg.rs:12:9 + | +12 | FOO; + | ^^^ not found in this scope + +error[E0425]: cannot find value `FOO` in this scope + --> $DIR/locals-cfg.rs:22:9 + | +22 | FOO; + | ^^^ not found in this scope + +error[E0425]: cannot find value `FOO` in this scope + --> $DIR/locals-cfg.rs:32:9 + | +32 | FOO; + | ^^^ not found in this scope + +error[E0425]: cannot find value `FOO` in this scope + --> $DIR/locals-cfg.rs:40:9 + | +40 | FOO; + | ^^^ not found in this scope + +error[E0425]: cannot find value `FOO` in this scope + --> $DIR/locals-cfg.rs:48:9 + | +48 | FOO; + | ^^^ not found in this scope diff --git a/ui/single/resources-cfg.rs b/ui/resources-cfg.rs index 2ba65a04..c802a46f 100644 --- a/ui/single/resources-cfg.rs +++ b/ui/resources-cfg.rs @@ -1,5 +1,6 @@ #![no_main] -use panic_halt as _; + +use panic_semihosting as _; #[rtic::app(device = lm3s6965)] mod app { @@ -43,14 +44,14 @@ mod app { } #[init(resources = [o1, o4, o5, o6, s3])] - fn init(c: init::Context) -> init::LateResources { + fn init(c: init::Context) -> (init::LateResources, init::Monotonics) { c.resources.o1; c.resources.o4; c.resources.o5; c.resources.o6; c.resources.s3; - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle(resources = [o2, &o4, s1, &s3])] diff --git a/ui/resources-cfg.stderr b/ui/resources-cfg.stderr new file mode 100644 index 00000000..03612de0 --- /dev/null +++ b/ui/resources-cfg.stderr @@ -0,0 +1,119 @@ +error[E0609]: no field `o1` on type `__rtic_internal_initResources<'_>` + --> $DIR/resources-cfg.rs:48:21 + | +48 | c.resources.o1; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `o4` on type `__rtic_internal_initResources<'_>` + --> $DIR/resources-cfg.rs:49:21 + | +49 | c.resources.o4; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `o5` on type `__rtic_internal_initResources<'_>` + --> $DIR/resources-cfg.rs:50:21 + | +50 | c.resources.o5; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `o6` on type `__rtic_internal_initResources<'_>` + --> $DIR/resources-cfg.rs:51:21 + | +51 | c.resources.o6; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `s3` on type `__rtic_internal_initResources<'_>` + --> $DIR/resources-cfg.rs:52:21 + | +52 | c.resources.s3; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `o2` on type `__rtic_internal_idleResources<'_>` + --> $DIR/resources-cfg.rs:59:21 + | +59 | c.resources.o2; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `o4` on type `__rtic_internal_idleResources<'_>` + --> $DIR/resources-cfg.rs:60:21 + | +60 | c.resources.o4; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `s1` on type `__rtic_internal_idleResources<'_>` + --> $DIR/resources-cfg.rs:61:21 + | +61 | c.resources.s1; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `s3` on type `__rtic_internal_idleResources<'_>` + --> $DIR/resources-cfg.rs:62:21 + | +62 | c.resources.s3; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `o3` on type `__rtic_internal_uart0Resources<'_>` + --> $DIR/resources-cfg.rs:69:21 + | +69 | c.resources.o3; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `s1` on type `__rtic_internal_uart0Resources<'_>` + --> $DIR/resources-cfg.rs:70:21 + | +70 | c.resources.s1; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `s2` on type `__rtic_internal_uart0Resources<'_>` + --> $DIR/resources-cfg.rs:71:21 + | +71 | c.resources.s2; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `s3` on type `__rtic_internal_uart0Resources<'_>` + --> $DIR/resources-cfg.rs:72:21 + | +72 | c.resources.s3; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `s2` on type `__rtic_internal_uart1Resources<'_>` + --> $DIR/resources-cfg.rs:77:21 + | +77 | c.resources.s2; + | ^^ unknown field + | + = note: available fields are: `__marker__` + +error[E0609]: no field `o5` on type `__rtic_internal_uart1Resources<'_>` + --> $DIR/resources-cfg.rs:78:21 + | +78 | c.resources.o5; + | ^^ unknown field + | + = note: available fields are: `__marker__` diff --git a/ui/single/exception-systick-used.rs b/ui/single/exception-systick-used.rs deleted file mode 100644 index 9e94c739..00000000 --- a/ui/single/exception-systick-used.rs +++ /dev/null @@ -1,7 +0,0 @@ -#![no_main] - -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)] -mod app { - #[task(binds = SysTick)] - fn sys_tick(_: sys_tick::Context) {} -} diff --git a/ui/single/exception-systick-used.stderr b/ui/single/exception-systick-used.stderr deleted file mode 100644 index 23b6dc4a..00000000 --- a/ui/single/exception-systick-used.stderr +++ /dev/null @@ -1,5 +0,0 @@ -error: this exception can't be used because it's being used by the runtime - --> $DIR/exception-systick-used.rs:6:8 - | -6 | fn sys_tick(_: sys_tick::Context) {} - | ^^^^^^^^ diff --git a/ui/single/locals-cfg.stderr b/ui/single/locals-cfg.stderr deleted file mode 100644 index 47992b3e..00000000 --- a/ui/single/locals-cfg.stderr +++ /dev/null @@ -1,35 +0,0 @@ -error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:11:9 - | -11 | FOO; - | ^^^ not found in this scope - -error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:21:9 - | -21 | FOO; - | ^^^ not found in this scope - -error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:31:9 - | -31 | FOO; - | ^^^ not found in this scope - -error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:39:9 - | -39 | FOO; - | ^^^ not found in this scope - -error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:47:9 - | -47 | FOO; - | ^^^ not found in this scope - -error: duplicate lang item in crate `panic_halt` (which `$CRATE` depends on): `panic_impl`. - | - = note: the lang item is first defined in crate `std` (which `$CRATE` depends on) - = note: first definition in `std` loaded from /usr/share/rust/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libstd-e12de7683a34c500.rlib - = note: second definition in `panic_halt` loaded from $DIR/target/tests/target/x86_64-unknown-linux-gnu/debug/deps/libpanic_halt-f6dc7d4a3dd7a21d.rmeta diff --git a/ui/single/resources-cfg.stderr b/ui/single/resources-cfg.stderr deleted file mode 100644 index 39f2c1aa..00000000 --- a/ui/single/resources-cfg.stderr +++ /dev/null @@ -1,125 +0,0 @@ -error: duplicate lang item in crate `panic_halt` (which `$CRATE` depends on): `panic_impl`. - | - = note: the lang item is first defined in crate `std` (which `$CRATE` depends on) - = note: first definition in `std` loaded from /usr/share/rust/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libstd-e12de7683a34c500.rlib - = note: second definition in `panic_halt` loaded from $DIR/target/tests/target/x86_64-unknown-linux-gnu/debug/deps/libpanic_halt-f6dc7d4a3dd7a21d.rmeta - -error[E0609]: no field `o1` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:47:21 - | -47 | c.resources.o1; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `o4` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:48:21 - | -48 | c.resources.o4; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `o5` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:49:21 - | -49 | c.resources.o5; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `o6` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:50:21 - | -50 | c.resources.o6; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `s3` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:51:21 - | -51 | c.resources.s3; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `o2` on type `idleResources<'_>` - --> $DIR/resources-cfg.rs:58:21 - | -58 | c.resources.o2; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `o4` on type `idleResources<'_>` - --> $DIR/resources-cfg.rs:59:21 - | -59 | c.resources.o4; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `s1` on type `idleResources<'_>` - --> $DIR/resources-cfg.rs:60:21 - | -60 | c.resources.s1; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `s3` on type `idleResources<'_>` - --> $DIR/resources-cfg.rs:61:21 - | -61 | c.resources.s3; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `o3` on type `uart0Resources<'_>` - --> $DIR/resources-cfg.rs:68:21 - | -68 | c.resources.o3; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `s1` on type `uart0Resources<'_>` - --> $DIR/resources-cfg.rs:69:21 - | -69 | c.resources.s1; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `s2` on type `uart0Resources<'_>` - --> $DIR/resources-cfg.rs:70:21 - | -70 | c.resources.s2; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `s3` on type `uart0Resources<'_>` - --> $DIR/resources-cfg.rs:71:21 - | -71 | c.resources.s3; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `s2` on type `uart1Resources<'_>` - --> $DIR/resources-cfg.rs:76:21 - | -76 | c.resources.s2; - | ^^ unknown field - | - = note: available fields are: `__marker__` - -error[E0609]: no field `o5` on type `uart1Resources<'_>` - --> $DIR/resources-cfg.rs:77:21 - | -77 | c.resources.o5; - | ^^ unknown field - | - = note: available fields are: `__marker__` diff --git a/ui/single/task-priority-too-high.rs b/ui/task-priority-too-high.rs index caa7b8ee..b1cbfa94 100644 --- a/ui/single/task-priority-too-high.rs +++ b/ui/task-priority-too-high.rs @@ -3,8 +3,8 @@ #[rtic::app(device = lm3s6965)] mod app { #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources {} + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources {}, init::Monotonics()) } #[task(binds = GPIOA, priority = 1)] diff --git a/ui/single/task-priority-too-high.stderr b/ui/task-priority-too-high.stderr index 984d3fac..984d3fac 100644 --- a/ui/single/task-priority-too-high.stderr +++ b/ui/task-priority-too-high.stderr |