add homogeneous multi-core support

13 files changed, 112 insertions, 19 deletions

diff --git a/macros/Cargo.toml b/macros/Cargo.toml
index 2854dad4..c4e897fa 100644
--- a/macros/Cargo.toml
+++ b/macros/Cargo.toml
@@ -24,3 +24,4 @@ git = "https://github.com/japaric/rtfm-syntax"
 
 [features]
 heterogeneous = []
+homogeneous = []
diff --git a/macros/src/check.rs b/macros/src/check.rs
index c22a0f1f..619ec8fb 100644
--- a/macros/src/check.rs
+++ b/macros/src/check.rs
@@ -20,6 +20,28 @@ impl<'a> Extra<'a> {
 }
 
 pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
+    if cfg!(feature = "homogeneous") {
+        // this RTFM mode uses the same namespace for all cores so we need to check that the
+        // identifiers used for each core `#[init]` and `#[idle]` functions don't collide
+        let mut seen = HashSet::new();
+
+        for name in app
+            .inits
+            .values()
+            .map(|init| &init.name)
+            .chain(app.idles.values().map(|idle| &idle.name))
+        {
+            if seen.contains(name) {
+                return Err(parse::Error::new(
+                    name.span(),
+                    "this identifier is already being used by another core",
+                ));
+            } else {
+                seen.insert(name);
+            }
+        }
+    }
+
     // check that all exceptions are valid; only exceptions with configurable priorities are
     // accepted
     for (name, task) in app
diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs
index 86b4a67e..92766260 100644
--- a/macros/src/codegen.rs
+++ b/macros/src/codegen.rs
@@ -67,10 +67,11 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
         ));
 
         let cfg_core = util::cfg_core(core, app.args.cores);
+        let main = util::suffixed("main", core);
         mains.push(quote!(
             #[no_mangle]
             #cfg_core
-            unsafe fn main() -> ! {
+            unsafe extern "C" fn #main() -> ! {
                 #(#assertion_stmts)*
 
                 #(#pre_init_stmts)*
diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index 65d25c78..988e3c84 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -55,8 +55,14 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                         })),
                     )
                 } else {
+                    let shared = if cfg!(feature = "heterogeneous") {
+                        Some(quote!(#[rtfm::export::shared]))
+                    } else {
+                        None
+                    };
+
                     (
-                        Some(quote!(#[rtfm::export::shared])),
+                        shared,
                         quote!(rtfm::export::MCRQ<#t, #n>),
                         quote!(rtfm::export::Queue(rtfm::export::iQueue::u8())),
                     )
@@ -156,7 +162,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 receiver, level
             );
             let cfg_receiver = util::cfg_core(receiver, app.args.cores);
-            let interrupt = &interrupts[&level];
+            let interrupt = util::suffixed(&interrupts[&level].to_string(), receiver);
             items.push(quote!(
                 #[allow(non_snake_case)]
                 #[doc = #doc]
diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index e65bad56..e7f053d3 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -49,7 +49,11 @@ pub fn codegen(
             quote!(#name::Locals::new(),)
         };
 
-        let symbol = task.args.binds(name);
+        let symbol = if cfg!(feature = "homogeneous") {
+            util::suffixed(&task.args.binds(name).to_string(), core)
+        } else {
+            task.args.binds(name).clone()
+        };
         let priority = task.args.priority;
 
         const_app.push(quote!(
diff --git a/macros/src/codegen/post_init.rs b/macros/src/codegen/post_init.rs
index f492d31d..3f1e4451 100644
--- a/macros/src/codegen/post_init.rs
+++ b/macros/src/codegen/post_init.rs
@@ -27,9 +27,16 @@ pub fn codegen(
         // initialized
         if analysis.initialization_barriers.contains_key(&core) {
             let ib = util::init_barrier(core);
+            let shared = if cfg!(feature = "heterogeneous") {
+                Some(quote!(
+                    #[rtfm::export::shared]
+                ))
+            } else {
+                None
+            };
 
             const_app.push(quote!(
-                #[rtfm::export::shared]
+                #shared
                 static #ib: rtfm::export::Barrier = rtfm::export::Barrier::new();
             ));
 
@@ -84,9 +91,16 @@ pub fn codegen(
             if core == FIRST {
                 for &i in analysis.timer_queues.keys() {
                     let rv = util::rendezvous_ident(i);
+                    let shared = if cfg!(feature = "heterogeneous") {
+                        Some(quote!(
+                            #[rtfm::export::shared]
+                        ))
+                    } else {
+                        None
+                    };
 
                     const_app.push(quote!(
-                        #[rtfm::export::shared]
+                        #shared
                         static #rv: rtfm::export::Barrier = rtfm::export::Barrier::new();
                     ));
 
diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs
index 3ba17dcf..19fc6461 100644
--- a/macros/src/codegen/pre_init.rs
+++ b/macros/src/codegen/pre_init.rs
@@ -39,7 +39,8 @@ pub fn codegen(
     }
 
     stmts.push(quote!(
-        let mut core = rtfm::export::Peripherals::steal();
+        // NOTE(transmute) to avoid debug_assertion in multi-core mode
+        let mut core: rtfm::export::Peripherals = core::mem::transmute(());
     ));
 
     let device = extra.device;
@@ -64,25 +65,33 @@ pub fn codegen(
         stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
 
         // NOTE this also checks that the interrupt exists in the `Interrupt` enumeration
+        let interrupt = util::interrupt_ident(core, app.args.cores);
         stmts.push(quote!(
             core.NVIC.set_priority(
-                #device::Interrupt::#name,
+                #device::#interrupt::#name,
                 rtfm::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!(core.NVIC.enable(#device::Interrupt::#name);));
+        stmts.push(quote!(core.NVIC.enable(#device::#interrupt::#name);));
     }
 
     // cross-spawn barriers: now that priorities have been set and the interrupts have been unmasked
     // we are ready to receive messages from *other* cores
     if analysis.spawn_barriers.contains_key(&core) {
         let sb = util::spawn_barrier(core);
+        let shared = if cfg!(feature = "heterogeneous") {
+            Some(quote!(
+                #[rtfm::export::shared]
+            ))
+        } else {
+            None
+        };
 
         const_app.push(quote!(
-            #[rtfm::export::shared]
+            #shared
             static #sb: rtfm::export::Barrier = rtfm::export::Barrier::new();
         ));
 
diff --git a/macros/src/codegen/resources.rs b/macros/src/codegen/resources.rs
index 2dd10eac..2425681b 100644
--- a/macros/src/codegen/resources.rs
+++ b/macros/src/codegen/resources.rs
@@ -33,7 +33,13 @@ pub fn codegen(
                 } => util::cfg_core(*core, app.args.cores),
 
                 // shared `static`s and cross-initialized resources need to be in `.shared` memory
-                _ => Some(quote!(#[rtfm::export::shared])),
+                _ => {
+                    if cfg!(feature = "heterogeneous") {
+                        Some(quote!(#[rtfm::export::shared]))
+                    } else {
+                        None
+                    }
+                }
             };
 
             let (ty, expr) = if let Some(expr) = expr {
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index 8b2c0cd5..383a5d82 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -52,8 +52,14 @@ pub fn codegen(
                         })),
                     )
                 } else {
+                    let shared = if cfg!(feature = "heterogeneous") {
+                        Some(quote!(#[rtfm::export::shared]))
+                    } else {
+                        None
+                    };
+
                     (
-                        Some(quote!(#[rtfm::export::shared])),
+                        shared,
                         quote!(rtfm::export::MCFQ<#cap_ty>),
                         quote!(rtfm::export::Queue(rtfm::export::iQueue::u8())),
                     )
diff --git a/macros/src/codegen/spawn_body.rs b/macros/src/codegen/spawn_body.rs
index 83cb5c0a..98bce074 100644
--- a/macros/src/codegen/spawn_body.rs
+++ b/macros/src/codegen/spawn_body.rs
@@ -45,14 +45,15 @@ pub fn codegen(
     };
 
     let device = extra.device;
+    let enum_ = util::interrupt_ident(receiver, app.args.cores);
     let interrupt = &analysis.interrupts[&receiver][&priority];
     let pend = if sender != receiver {
         quote!(
-            #device::xpend(#receiver, #device::Interrupt::#interrupt);
+            #device::xpend(#receiver, #device::#enum_::#interrupt);
         )
     } else {
         quote!(
-            rtfm::pend(#device::Interrupt::#interrupt);
+            rtfm::pend(#device::#enum_::#interrupt);
         )
     };
 
diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index cb845774..d306ed5b 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -89,15 +89,16 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                     let receiver = task.args.core;
                     let rq = util::rq_ident(receiver, priority, sender);
                     let rqt = util::spawn_t_ident(receiver, priority, sender);
+                    let enum_ = util::interrupt_ident(receiver, app.args.cores);
                     let interrupt = &analysis.interrupts[&receiver][&priority];
 
                     let pend = if sender != receiver {
                         quote!(
-                            #device::xpend(#receiver, #device::Interrupt::#interrupt);
+                            #device::xpend(#receiver, #device::#enum_::#interrupt);
                         )
                     } else {
                         quote!(
-                            rtfm::pend(#device::Interrupt::#interrupt);
+                            rtfm::pend(#device::#enum_::#interrupt);
                         )
                     };
 
@@ -115,10 +116,11 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 .collect::<Vec<_>>();
 
             let priority = timer_queue.priority;
+            let sys_tick = util::suffixed("SysTick", sender);
             items.push(quote!(
                 #cfg_sender
                 #[no_mangle]
-                unsafe fn SysTick() {
+                unsafe fn #sys_tick() {
                     use rtfm::Mutex as _;
 
                     /// The priority of this handler
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index 203fcee8..8c43b350 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -27,9 +27,11 @@ pub fn capacity_typenum(capacity: u8, round_up_to_power_of_two: bool) -> TokenSt
 pub fn cfg_core(core: Core, cores: u8) -> Option<TokenStream2> {
     if cores == 1 {
         None
-    } else {
+    } else if cfg!(feature = "heterogeneous") {
         let core = core.to_string();
         Some(quote!(#[cfg(core = #core)]))
+    } else {
+        None
     }
 }
 
@@ -102,6 +104,15 @@ pub fn instants_ident(task: &Ident, sender: Core) -> Ident {
     Ident::new(&format!("{}_S{}_INSTANTS", task, sender), Span::call_site())
 }
 
+pub fn interrupt_ident(core: Core, cores: u8) -> Ident {
+    let span = Span::call_site();
+    if cores == 1 {
+        Ident::new("Interrupt", span)
+    } else {
+        Ident::new(&format!("Interrupt_{}", core), span)
+    }
+}
+
 /// Generates a pre-reexport identifier for the "late resources" struct
 pub fn late_resources_ident(init: &Ident) -> Ident {
     Ident::new(
@@ -245,6 +256,16 @@ pub fn spawn_t_ident(receiver: Core, priority: u8, sender: Core) -> Ident {
     )
 }
 
+pub fn suffixed(name: &str, core: u8) -> Ident {
+    let span = Span::call_site();
+
+    if cfg!(feature = "homogeneous") {
+        Ident::new(&format!("{}_{}", name, core), span)
+    } else {
+        Ident::new(name, span)
+    }
+}
+
 /// Generates an identifier for a timer queue
 ///
 /// At most there's one timer queue per core
diff --git a/macros/src/lib.rs b/macros/src/lib.rs
index 6e1a7978..6502d9ca 100644
--- a/macros/src/lib.rs
+++ b/macros/src/lib.rs
@@ -20,7 +20,7 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
         args,
         input,
         Settings {
-            parse_cores: cfg!(feature = "heterogeneous"),
+            parse_cores: cfg!(feature = "heterogeneous") || cfg!(feature = "homogeneous"),
             parse_exception: true,
             parse_extern_interrupt: true,
             parse_interrupt: true,