rtfm-syntax refactor + heterogeneous multi-core support

1 files changed, 147 insertions, 0 deletions

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
new file mode 100644
index 00000000..cb845774
--- /dev/null
+++ b/macros/src/codegen/timer_queue.rs
@@ -0,0 +1,147 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_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> {
+    let mut items = vec![];
+
+    for (&sender, timer_queue) in &analysis.timer_queues {
+        let cfg_sender = util::cfg_core(sender, app.args.cores);
+        let t = util::schedule_t_ident(sender);
+
+        // Enumeration of `schedule`-able tasks
+        {
+            let variants = timer_queue
+                .tasks
+                .iter()
+                .map(|name| {
+                    let cfgs = &app.software_tasks[name].cfgs;
+
+                    quote!(
+                        #(#cfgs)*
+                        #name
+                    )
+                })
+                .collect::<Vec<_>>();
+
+            let doc = format!("Tasks that can be scheduled from core #{}", sender);
+            items.push(quote!(
+                #cfg_sender
+                #[doc = #doc]
+                #[allow(non_camel_case_types)]
+                #[derive(Clone, Copy)]
+                enum #t {
+                    #(#variants,)*
+                }
+            ));
+        }
+
+        let tq = util::tq_ident(sender);
+
+        // Static variable and resource proxy
+        {
+            let doc = format!("Core #{} timer queue", sender);
+            let m = extra.monotonic();
+            let n = util::capacity_typenum(timer_queue.capacity, false);
+            let tq_ty = quote!(rtfm::export::TimerQueue<#m, #t, #n>);
+
+            items.push(quote!(
+                #cfg_sender
+                #[doc = #doc]
+                static mut #tq: #tq_ty = rtfm::export::TimerQueue(
+                    rtfm::export::BinaryHeap(
+                        rtfm::export::iBinaryHeap::new()
+                    )
+                );
+
+                #cfg_sender
+                struct #tq<'a> {
+                    priority: &'a rtfm::export::Priority,
+                }
+            ));
+
+            items.push(util::impl_mutex(
+                extra,
+                &[],
+                cfg_sender.as_ref(),
+                false,
+                &tq,
+                tq_ty,
+                timer_queue.ceiling,
+                quote!(&mut #tq),
+            ));
+        }
+
+        // Timer queue handler
+        {
+            let device = extra.device;
+            let arms = timer_queue
+                .tasks
+                .iter()
+                .map(|name| {
+                    let task = &app.software_tasks[name];
+
+                    let cfgs = &task.cfgs;
+                    let priority = task.args.priority;
+                    let receiver = task.args.core;
+                    let rq = util::rq_ident(receiver, priority, sender);
+                    let rqt = util::spawn_t_ident(receiver, priority, sender);
+                    let interrupt = &analysis.interrupts[&receiver][&priority];
+
+                    let pend = if sender != receiver {
+                        quote!(
+                            #device::xpend(#receiver, #device::Interrupt::#interrupt);
+                        )
+                    } else {
+                        quote!(
+                            rtfm::pend(#device::Interrupt::#interrupt);
+                        )
+                    };
+
+                    quote!(
+                        #(#cfgs)*
+                        #t::#name => {
+                            (#rq { priority: &rtfm::export::Priority::new(PRIORITY) }).lock(|rq| {
+                                rq.split().0.enqueue_unchecked((#rqt::#name, index))
+                            });
+
+                            #pend
+                        }
+                    )
+                })
+                .collect::<Vec<_>>();
+
+            let priority = timer_queue.priority;
+            items.push(quote!(
+                #cfg_sender
+                #[no_mangle]
+                unsafe fn SysTick() {
+                    use rtfm::Mutex as _;
+
+                    /// The priority of this handler
+                    const PRIORITY: u8 = #priority;
+
+                    rtfm::export::run(PRIORITY, || {
+                        while let Some((task, index)) = (#tq {
+                            // NOTE dynamic priority is always the static priority at this point
+                            priority: &rtfm::export::Priority::new(PRIORITY),
+                        })
+                        // NOTE `inline(always)` produces faster and smaller code
+                            .lock(#[inline(always)]
+                                  |tq| tq.dequeue())
+                        {
+                            match task {
+                                #(#arms)*
+                            }
+                        }
+                    });
+                }
+            ));
+        }
+    }
+
+    items
+}