diff options
Diffstat (limited to '')
| -rw-r--r-- | examples/async-task-multiple-prios.rs | 73 | ||||
| -rw-r--r-- | macros/src/check.rs | 6 | ||||
| -rw-r--r-- | macros/src/codegen/dispatchers.rs | 47 | ||||
| -rw-r--r-- | macros/src/codegen/idle.rs | 3 |
4 files changed, 109 insertions, 20 deletions
diff --git a/examples/async-task-multiple-prios.rs b/examples/async-task-multiple-prios.rs new file mode 100644 index 00000000..a90c11bd --- /dev/null +++ b/examples/async-task-multiple-prios.rs @@ -0,0 +1,73 @@ +#![no_main] +#![no_std] +#![feature(type_alias_impl_trait)] + +use panic_semihosting as _; + +// NOTES: +// +// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async +// task can have a mutable reference stored. +// - Spawning an async task equates to it being polled once. + +#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)] +mod app { + use cortex_m_semihosting::{debug, hprintln}; + use systick_monotonic::*; + + #[shared] + struct Shared {} + + #[local] + struct Local {} + + #[monotonic(binds = SysTick, default = true)] + type MyMono = Systick<100>; + + #[init] + fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { + hprintln!("init").unwrap(); + + normal_task::spawn().ok(); + async_task::spawn().ok(); + normal_task2::spawn().ok(); + async_task2::spawn().ok(); + + ( + Shared {}, + Local {}, + init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)), + ) + } + + #[idle] + fn idle(_: idle::Context) -> ! { + // debug::exit(debug::EXIT_SUCCESS); + loop { + // hprintln!("idle"); + cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs + } + } + + #[task(priority = 1)] + fn normal_task(_cx: normal_task::Context) { + hprintln!("hello from normal 1").ok(); + } + + #[task(priority = 1)] + async fn async_task(_cx: async_task::Context) { + hprintln!("hello from async 1").ok(); + + debug::exit(debug::EXIT_SUCCESS); + } + + #[task(priority = 2)] + fn normal_task2(_cx: normal_task2::Context) { + hprintln!("hello from normal 2").ok(); + } + + #[task(priority = 2)] + async fn async_task2(_cx: async_task2::Context) { + hprintln!("hello from async 2").ok(); + } +} diff --git a/macros/src/check.rs b/macros/src/check.rs index 374fcedd..4b360738 100644 --- a/macros/src/check.rs +++ b/macros/src/check.rs @@ -40,7 +40,11 @@ pub fn app(app: &App, _analysis: &Analysis) -> parse::Result<Extra> { }) .collect::<HashSet<_>>(); - let need = priorities.len(); + let need = priorities + .iter() + // Only count if not 0 + .filter_map(|prio| if *prio > 0 { Some(prio) } else { None }) + .count(); let given = app.args.extern_interrupts.len(); if need > given { let s = { diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs index 9552451c..cc994402 100644 --- a/macros/src/codegen/dispatchers.rs +++ b/macros/src/codegen/dispatchers.rs @@ -10,6 +10,21 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let interrupts = &analysis.interrupts; + // Generate executor definition in global scope + for (name, task) in app.software_tasks.iter() { + if task.is_async { + let type_name = util::internal_task_ident(name, "F"); + let exec_name = util::internal_task_ident(name, "EXEC"); + + items.push(quote!( + type #type_name = impl core::future::Future + 'static; + static #exec_name: + rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> = + rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new()); + )); + } + } + for (&level, channel) in &analysis.channels { let mut stmts = vec![]; @@ -123,24 +138,17 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream }) .collect::<Vec<_>>(); - for (name, task) in app.software_tasks.iter() { - if task.is_async { - let type_name = util::internal_task_ident(name, "F"); - let exec_name = util::internal_task_ident(name, "EXEC"); - - stmts.push(quote!( - type #type_name = impl core::future::Future + 'static; - static #exec_name: - rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> = - rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new()); - )); - } - } - - let n_executors = app - .software_tasks + let n_executors = channel + .tasks .iter() - .map(|(_, task)| if task.is_async { 1 } else { 0 }) + .map(|name| { + let task = &app.software_tasks[name]; + if task.is_async { + 1 + } else { + 0 + } + }) .sum::<usize>() .max(1); @@ -165,9 +173,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream } )); - for (name, _task) in app.software_tasks.iter().filter_map(|(name, task)| { + for name in channel.tasks.iter().filter_map(|name| { + let task = &app.software_tasks[name]; if task.is_async { - Some((name, task)) + Some(name) } else { None } diff --git a/macros/src/codegen/idle.rs b/macros/src/codegen/idle.rs index 83b85d7b..ea23f814 100644 --- a/macros/src/codegen/idle.rs +++ b/macros/src/codegen/idle.rs @@ -80,6 +80,9 @@ pub fn codegen( (mod_app, root_idle, user_idle, call_idle) } else { + // TODO: No idle defined, check for 0-priority tasks and generate an executor if needed + + // ( vec![], vec![], |