Merge branch 'master' into master

5 files changed, 38 insertions, 1 deletions

diff --git a/rtic-macros/src/analyze.rs b/rtic-macros/src/analyze.rs
index 65774f6c..2227308d 100644
--- a/rtic-macros/src/analyze.rs
+++ b/rtic-macros/src/analyze.rs
@@ -11,6 +11,7 @@ use syn::Ident;
 pub struct Analysis {
     parent: analyze::Analysis,
     pub interrupts: BTreeMap<Priority, (Ident, Dispatcher)>,
+    pub max_async_prio: Option<u8>,
 }
 
 impl ops::Deref for Analysis {
@@ -42,8 +43,16 @@ pub fn app(analysis: analyze::Analysis, app: &App) -> Analysis {
         .map(|p| (p, available_interrupt.pop().expect("UNREACHABLE")))
         .collect();
 
+    let max_async_prio = app
+        .hardware_tasks
+        .iter()
+        .map(|(_, task)| task.args.priority)
+        .min()
+        .map(|v| v - 1); // One less than the smallest HW task
+
     Analysis {
         parent: analysis,
         interrupts,
+        max_async_prio,
     }
 }
diff --git a/rtic-macros/src/codegen.rs b/rtic-macros/src/codegen.rs
index 48ee5e33..c04f2131 100644
--- a/rtic-macros/src/codegen.rs
+++ b/rtic-macros/src/codegen.rs
@@ -45,6 +45,7 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
     let device = &app.args.device;
 
     let rt_err = util::rt_err_ident();
+    let async_limit = bindings::async_prio_limit(app, analysis);
 
     quote!(
         /// The RTIC application module
@@ -52,6 +53,8 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
             /// Always include the device crate which contains the vector table
             use #device as #rt_err;
 
+            #(#async_limit)*
+
             #(#user_imports)*
 
             #(#user_code)*
diff --git a/rtic-macros/src/codegen/bindings/cortex.rs b/rtic-macros/src/codegen/bindings/cortex.rs
index 767befa9..eba2afca 100644
--- a/rtic-macros/src/codegen/bindings/cortex.rs
+++ b/rtic-macros/src/codegen/bindings/cortex.rs
@@ -322,3 +322,19 @@ pub fn interrupt_entry(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStre
 pub fn interrupt_exit(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
     vec![]
 }
+
+pub fn async_prio_limit(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+    let max = if let Some(max) = analysis.max_async_prio {
+        quote!(#max)
+    } else {
+        // No limit
+        let device = &app.args.device;
+        quote!(1 << #device::NVIC_PRIO_BITS)
+    };
+
+    vec![quote!(
+        /// Holds the maximum priority level for use by async HAL drivers.
+        #[no_mangle]
+        static RTIC_ASYNC_MAX_LOGICAL_PRIO: u8 = #max;
+    )]
+}
diff --git a/rtic-macros/src/codegen/bindings/template.rs b/rtic-macros/src/codegen/bindings/template.rs
index 18f88fe0..a33bae8e 100644
--- a/rtic-macros/src/codegen/bindings/template.rs
+++ b/rtic-macros/src/codegen/bindings/template.rs
@@ -42,3 +42,7 @@ pub fn interrupt_entry(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStre
 pub fn interrupt_exit(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
     vec![]
 }
+
+pub fn async_prio_limit(app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+    vec![]
+}
diff --git a/rtic-macros/src/syntax/parse.rs b/rtic-macros/src/syntax/parse.rs
index 72eeeaf6..823bd82e 100644
--- a/rtic-macros/src/syntax/parse.rs
+++ b/rtic-macros/src/syntax/parse.rs
@@ -289,11 +289,13 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
             // Handle comma: ,
             let _: Token![,] = content.parse()?;
         }
-        let priority = priority.unwrap_or(1);
         let shared_resources = shared_resources.unwrap_or_default();
         let local_resources = local_resources.unwrap_or_default();
 
         Ok(if let Some(binds) = binds {
+            // Hardware tasks can't run at anything lower than 1
+            let priority = priority.unwrap_or(1);
+
             if priority == 0 {
                 return Err(parse::Error::new(
                     prio_span.unwrap(),
@@ -308,6 +310,9 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
                 local_resources,
             })
         } else {
+            // Software tasks start at idle priority
+            let priority = priority.unwrap_or(0);
+
             Either::Right(SoftwareTaskArgs {
                 priority,
                 shared_resources,