add homogeneous multi-core support

8 files changed, 149 insertions, 25 deletions

diff --git a/mc/Cargo.toml b/heterogeneous/Cargo.toml
index 7c75335d..fd05d07e 100644
--- a/mc/Cargo.toml
+++ b/heterogeneous/Cargo.toml
@@ -1,13 +1,13 @@
 [package]
 authors = ["Jorge Aparicio <jorge@japaric.io>"]
 edition = "2018"
-name = "mc"
+name = "heterogeneous"
 # this crate is only used for testing
 publish = false
 version = "0.0.0-alpha.0"
 
 [dependencies]
-cortex-m = "0.6.0"
+bare-metal = "0.2.4"
 
 [dependencies.cortex-m-rtfm]
 path = ".."
diff --git a/heterogeneous/README.md b/heterogeneous/README.md
new file mode 100644
index 00000000..8e49ff8b
--- /dev/null
+++ b/heterogeneous/README.md
@@ -0,0 +1 @@
+This directory contains *heterogeneous* multi-core compile pass tests.
diff --git a/heterogeneous/examples/smallest.rs b/heterogeneous/examples/smallest.rs
new file mode 100644
index 00000000..9b6bb82d
--- /dev/null
+++ b/heterogeneous/examples/smallest.rs
@@ -0,0 +1,7 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous)]
+const APP: () = {};
diff --git a/heterogeneous/examples/x-init-2.rs b/heterogeneous/examples/x-init-2.rs
new file mode 100644
index 00000000..b9c39197
--- /dev/null
+++ b/heterogeneous/examples/x-init-2.rs
@@ -0,0 +1,39 @@
+//! [compile-pass] Cross initialization of late resources
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous)]
+const APP: () = {
+    extern "C" {
+        // owned by core #1 but initialized by core #0
+        static mut X: u32;
+
+        // owned by core #0 but initialized by core #1
+        static mut Y: u32;
+    }
+
+    #[init(core = 0, late = [X])]
+    fn a(_: a::Context) -> a::LateResources {
+        a::LateResources { X: 0 }
+    }
+
+    #[idle(core = 0, resources = [Y])]
+    fn b(_: b::Context) -> ! {
+        loop {}
+    }
+
+    #[init(core = 1)]
+    fn c(_: c::Context) -> c::LateResources {
+        c::LateResources { Y: 0 }
+    }
+
+    #[idle(core = 1, resources = [X])]
+    fn d(_: d::Context) -> ! {
+        loop {}
+    }
+};
diff --git a/heterogeneous/examples/x-init.rs b/heterogeneous/examples/x-init.rs
new file mode 100644
index 00000000..53e73805
--- /dev/null
+++ b/heterogeneous/examples/x-init.rs
@@ -0,0 +1,26 @@
+//! [compile-pass] Split initialization of late resources
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous)]
+const APP: () = {
+    extern "C" {
+        static mut X: u32;
+        static mut Y: u32;
+    }
+
+    #[init(core = 0, late = [X])]
+    fn a(_: a::Context) -> a::LateResources {
+        a::LateResources { X: 0 }
+    }
+
+    #[init(core = 1)]
+    fn b(_: b::Context) -> b::LateResources {
+        b::LateResources { Y: 0 }
+    }
+};
diff --git a/heterogeneous/examples/x-schedule.rs b/heterogeneous/examples/x-schedule.rs
new file mode 100644
index 00000000..cbfc01f9
--- /dev/null
+++ b/heterogeneous/examples/x-schedule.rs
@@ -0,0 +1,36 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous, monotonic = heterogeneous::MT)]
+const APP: () = {
+    #[init(core = 0, spawn = [ping])]
+    fn init(c: init::Context) {
+        c.spawn.ping().ok();
+    }
+
+    #[task(core = 0, schedule = [ping])]
+    fn pong(c: pong::Context) {
+        c.schedule.ping(c.scheduled + 1_000_000).ok();
+    }
+
+    #[task(core = 1, schedule = [pong])]
+    fn ping(c: ping::Context) {
+        c.schedule.pong(c.scheduled + 1_000_000).ok();
+    }
+
+    extern "C" {
+        #[core = 0]
+        fn I0();
+
+        #[core = 0]
+        fn I1();
+
+        #[core = 1]
+        fn I0();
+
+        #[core = 1]
+        fn I1();
+    }
+};
diff --git a/heterogeneous/examples/x-spawn.rs b/heterogeneous/examples/x-spawn.rs
new file mode 100644
index 00000000..3fc64f6f
--- /dev/null
+++ b/heterogeneous/examples/x-spawn.rs
@@ -0,0 +1,20 @@
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtfm::app(cores = 2, device = heterogeneous)]
+const APP: () = {
+    #[init(core = 0, spawn = [foo])]
+    fn init(c: init::Context) {
+        c.spawn.foo().ok();
+    }
+
+    #[task(core = 1)]
+    fn foo(_: foo::Context) {}
+
+    extern "C" {
+        #[core = 1]
+        fn I0();
+    }
+};
diff --git a/mc/src/lib.rs b/heterogeneous/src/lib.rs
index d86c0e8e..a4f0ec57 100644
--- a/mc/src/lib.rs
+++ b/heterogeneous/src/lib.rs
@@ -7,14 +7,15 @@ use core::{
     ops::{Add, Sub},
 };
 
-use cortex_m::interrupt::Nr;
+use bare_metal::Nr;
 use rtfm::Monotonic;
 
+// both cores have the exact same interrupts
+pub use Interrupt_0 as Interrupt_1;
+
 // Fake priority bits
 pub const NVIC_PRIO_BITS: u8 = 3;
 
-pub struct CrossPend;
-
 pub fn xpend(_core: u8, _interrupt: impl Nr) {}
 
 /// Fake monotonic timer
@@ -72,28 +73,22 @@ impl PartialOrd for Instant {
 }
 
 // Fake interrupts
-pub enum Interrupt {
-    I0,
-    I1,
-    I2,
-    I3,
-    I4,
-    I5,
-    I6,
-    I7,
+#[allow(non_camel_case_types)]
+#[derive(Clone, Copy)]
+#[repr(u8)]
+pub enum Interrupt_0 {
+    I0 = 0,
+    I1 = 1,
+    I2 = 2,
+    I3 = 3,
+    I4 = 4,
+    I5 = 5,
+    I6 = 6,
+    I7 = 7,
 }
 
-unsafe impl Nr for Interrupt {
+unsafe impl Nr for Interrupt_0 {
     fn nr(&self) -> u8 {
-        match self {
-            Interrupt::I0 => 0,
-            Interrupt::I1 => 1,
-            Interrupt::I2 => 2,
-            Interrupt::I3 => 3,
-            Interrupt::I4 => 4,
-            Interrupt::I5 => 5,
-            Interrupt::I6 => 6,
-            Interrupt::I7 => 7,
-        }
+        *self as u8
     }
 }