Merge #694

694: RTIC 2 r=AfoHT a=korken89



Co-authored-by: Emil Fresk <emil.fresk@gmail.com>
Co-authored-by: Per Lindgren <per.lindgren@ltu.se>

1 files changed, 96 insertions, 0 deletions

diff --git a/rtic-macros/src/codegen/hardware_tasks.rs b/rtic-macros/src/codegen/hardware_tasks.rs
new file mode 100644
index 00000000..2c5254e9
--- /dev/null
+++ b/rtic-macros/src/codegen/hardware_tasks.rs
@@ -0,0 +1,96 @@
+use crate::syntax::{ast::App, Context};
+use crate::{
+    analyze::Analysis,
+    codegen::{
+        bindings::{interrupt_entry, interrupt_exit},
+        local_resources_struct, module, shared_resources_struct,
+    },
+};
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+
+/// Generate support code for hardware tasks (`#[exception]`s and `#[interrupt]`s)
+pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
+    let mut mod_app = vec![];
+    let mut root = vec![];
+    let mut user_tasks = vec![];
+
+    for (name, task) in &app.hardware_tasks {
+        let symbol = task.args.binds.clone();
+        let priority = task.args.priority;
+        let cfgs = &task.cfgs;
+        let attrs = &task.attrs;
+        let entry_stmts = interrupt_entry(app, analysis);
+        let exit_stmts = interrupt_exit(app, analysis);
+
+        mod_app.push(quote!(
+            #[allow(non_snake_case)]
+            #[no_mangle]
+            #(#attrs)*
+            #(#cfgs)*
+            unsafe fn #symbol() {
+                #(#entry_stmts)*
+
+                const PRIORITY: u8 = #priority;
+
+                rtic::export::run(PRIORITY, || {
+                    #name(
+                        #name::Context::new()
+                    )
+                });
+
+                #(#exit_stmts)*
+            }
+        ));
+
+        // `${task}Locals`
+        if !task.args.local_resources.is_empty() {
+            let (item, constructor) =
+                local_resources_struct::codegen(Context::HardwareTask(name), app);
+
+            root.push(item);
+
+            mod_app.push(constructor);
+        }
+
+        // `${task}Resources`
+        if !task.args.shared_resources.is_empty() {
+            let (item, constructor) =
+                shared_resources_struct::codegen(Context::HardwareTask(name), app);
+
+            root.push(item);
+
+            mod_app.push(constructor);
+        }
+
+        // Module generation...
+
+        root.push(module::codegen(Context::HardwareTask(name), app, analysis));
+
+        // End module generation
+
+        if !task.is_extern {
+            let attrs = &task.attrs;
+            let context = &task.context;
+            let stmts = &task.stmts;
+            user_tasks.push(quote!(
+                #(#attrs)*
+                #[allow(non_snake_case)]
+                fn #name(#context: #name::Context) {
+                    use rtic::Mutex as _;
+                    use rtic::mutex::prelude::*;
+
+                    #(#stmts)*
+                }
+            ));
+        }
+    }
+
+    quote!(
+        #(#mod_app)*
+
+        #(#root)*
+
+        #(#user_tasks)*
+    )
+}