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-rw-r--r--examples/spawn.rs33
-rw-r--r--examples/spawn2.rs39
-rw-r--r--macros/src/codegen/dispatchers.rs4
-rw-r--r--macros/src/codegen/hardware_tasks.rs1
-rw-r--r--macros/src/codegen/idle.rs3
-rw-r--r--macros/src/codegen/init.rs8
-rw-r--r--macros/src/codegen/module.rs69
-rw-r--r--macros/src/codegen/software_tasks.rs7
8 files changed, 154 insertions, 10 deletions
diff --git a/examples/spawn.rs b/examples/spawn.rs
new file mode 100644
index 00000000..62635632
--- /dev/null
+++ b/examples/spawn.rs
@@ -0,0 +1,33 @@
+//! examples/message.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965)]
+mod app {
+ #[init(spawn = [foo])]
+ fn init(_c: init::Context) {
+ foo::spawn(1, 2).unwrap();
+ }
+
+ #[task()]
+ fn foo(_c: foo::Context, x: i32, y: u32) {
+ hprintln!("foo {}, {}", x, y).unwrap();
+ if x == 2 {
+ debug::exit(debug::EXIT_SUCCESS);
+ }
+ foo::spawn(2, 3).unwrap();
+ }
+
+ // RTIC requires that unused interrupts are declared in an extern block when
+ // using software tasks; these free interrupts will be used to dispatch the
+ // software tasks.
+ extern "C" {
+ fn SSI0();
+ }
+}
diff --git a/examples/spawn2.rs b/examples/spawn2.rs
new file mode 100644
index 00000000..07ed53a4
--- /dev/null
+++ b/examples/spawn2.rs
@@ -0,0 +1,39 @@
+//! examples/message.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965)]
+mod app {
+ #[init(spawn = [foo, foo2])]
+ fn init(_c: init::Context) {
+ foo::spawn(1, 2).unwrap();
+ }
+
+ #[task()]
+ fn foo(_c: foo::Context, x: i32, y: u32) {
+ hprintln!("foo {}, {}", x, y).unwrap();
+ if x == 2 {
+ debug::exit(debug::EXIT_SUCCESS);
+ }
+ foo2::spawn(2).unwrap();
+ }
+
+ #[task()]
+ fn foo2(_c: foo2::Context, x: i32) {
+ hprintln!("foo2 {}", x).unwrap();
+ foo::spawn(x, 0).unwrap();
+ }
+
+ // RTIC requires that unused interrupts are declared in an extern block when
+ // using software tasks; these free interrupts will be used to dispatch the
+ // software tasks.
+ extern "C" {
+ fn SSI0();
+ }
+}
diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index 300aa996..eac0371d 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -35,7 +35,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
#[doc = #doc]
- enum #t {
+ pub enum #t {
#(#variants,)*
}
));
@@ -57,7 +57,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
);
items.push(quote!(
#[doc = #doc]
- static mut #rq: #rq_ty = #rq_expr;
+ pub static mut #rq: #rq_ty = #rq_expr;
));
if let Some(ceiling) = channel.ceiling {
diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index 25f1df41..b6365ac3 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -97,6 +97,7 @@ pub fn codegen(
Context::HardwareTask(name),
needs_lt,
app,
+ analysis,
extra,
));
diff --git a/macros/src/codegen/idle.rs b/macros/src/codegen/idle.rs
index 2e2932d7..78fac96b 100644
--- a/macros/src/codegen/idle.rs
+++ b/macros/src/codegen/idle.rs
@@ -62,7 +62,8 @@ pub fn codegen(
root_idle.push(locals);
}
- root_idle.push(module::codegen(Context::Idle, needs_lt, app, extra));
+ root_idle.push(module::codegen(Context::Idle, needs_lt, app,analysis, extra));
+
let attrs = &idle.attrs;
let context = &idle.context;
diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs
index 8942439b..465a927d 100644
--- a/macros/src/codegen/init.rs
+++ b/macros/src/codegen/init.rs
@@ -116,7 +116,13 @@ pub fn codegen(
quote!(let late = crate::#name(#(#locals_new,)* #name::Context::new(core.into()));),
);
- root_init.push(module::codegen(Context::Init, needs_lt, app, extra));
+ root_init.push(module::codegen(
+ Context::Init,
+ needs_lt,
+ app,
+ analysis,
+ extra,
+ ));
(mod_app, root_init, user_init, user_init_imports, call_init)
} else {
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 2e51e7db..526bf491 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -2,9 +2,15 @@ use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtic_syntax::{ast::App, Context};
-use crate::{check::Extra, codegen::util};
-
-pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> TokenStream2 {
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+pub fn codegen(
+ ctxt: Context,
+ resources_tick: bool,
+ app: &App,
+ analysis: &Analysis,
+ extra: &Extra,
+) -> TokenStream2 {
let mut items = vec![];
let mut fields = vec![];
let mut values = vec![];
@@ -316,6 +322,63 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
}
));
+ // not sure if this is the right way, maybe its backwards,
+ // that spawn_module should put in in root
+
+ if let Context::SoftwareTask(..) = ctxt {
+ let spawnee = &app.software_tasks[name];
+ let priority = spawnee.args.priority;
+ let t = util::spawn_t_ident(priority);
+ let cfgs = &spawnee.cfgs;
+ let (args, tupled, _untupled, ty) = util::regroup_inputs(&spawnee.inputs);
+ let args = &args;
+ let tupled = &tupled;
+ let fq = util::fq_ident(name);
+ let rq = util::rq_ident(priority);
+ let inputs = util::inputs_ident(name);
+
+ eprintln!("app name: {}", app.name);
+ eprintln!("inputs {}", &inputs);
+ eprintln!("task name: {}", name);
+ eprintln!("fq {}", fq);
+ eprintln!("rq {}", rq);
+ let app_name = &app.name;
+ let app_path = quote! {crate::#app_name};
+
+ let device = extra.device;
+ let enum_ = util::interrupt_ident();
+ let interrupt = &analysis.interrupts.get(&priority);
+
+ items.push(quote!(
+ #(#cfgs)*
+ pub fn spawn(#(#args,)*) -> Result<(), #ty> {
+ // #let_instant // do we need it?
+ use rtic::Mutex as _;
+
+ let input = #tupled;
+
+ if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
+ unsafe {
+ #app_path::#inputs
+ .get_unchecked_mut(usize::from(index))
+ .as_mut_ptr()
+ .write(input);
+ }
+
+ rtic::export::interrupt::free(|_| {
+ #app_path::#rq.enqueue_unchecked((#app_path::#t::#name, index));
+ });
+
+ rtic::pend(#device::#enum_::#interrupt);
+
+ Ok(())
+ } else {
+ Err(input)
+ }
+
+ }));
+ }
+
if !items.is_empty() {
quote!(
#[allow(non_snake_case)]
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index 4ae37e4e..b240d7aa 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -54,7 +54,7 @@ pub fn codegen(
mod_app.push(quote!(
/// Queue version of a free-list that keeps track of empty slots in
/// the following buffers
- static mut #fq: #fq_ty = #fq_expr;
+ pub static mut #fq: #fq_ty = #fq_expr;
));
// Generate a resource proxy if needed
@@ -88,7 +88,7 @@ pub fn codegen(
mod_app.push(quote!(
#uninit
/// Buffer that holds the instants associated to the inputs of a task
- static mut #instants:
+ pub static mut #instants:
[core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] =
[#(#elems,)*];
));
@@ -99,7 +99,7 @@ pub fn codegen(
mod_app.push(quote!(
#uninit
/// Buffer that holds the inputs of a task
- static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
+ pub static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
[#(#elems,)*];
));
}
@@ -161,6 +161,7 @@ pub fn codegen(
Context::SoftwareTask(name),
needs_lt,
app,
+ analysis,
extra,
));
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-07-28 10:42:25 +0000