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-rw-r--r--Cargo.toml3
-rw-r--r--book/en/src/internals/tasks.md8
-rw-r--r--examples/shared.rs12
-rw-r--r--examples/static.rs12
-rw-r--r--macros/src/codegen/dispatchers.rs6
-rw-r--r--macros/src/codegen/software_tasks.rs10
-rw-r--r--macros/src/codegen/timer_queue.rs4
-rw-r--r--macros/src/codegen/util.rs15
-rw-r--r--src/export.rs9
-rw-r--r--src/linked_list.rs57
-rw-r--r--src/tq.rs8
11 files changed, 50 insertions, 94 deletions
diff --git a/Cargo.toml b/Cargo.toml
index 44f5786c..e3cb010b 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -44,9 +44,8 @@ cortex-m = "0.7.0"
cortex-m-rtic-macros = { path = "macros", version = "0.6.0-alpha.5" }
rtic-monotonic = "0.1.0-alpha.2"
rtic-core = "0.3.1"
-heapless = "0.6.1"
+heapless = "0.7.1"
bare-metal = "1.0.0"
-generic-array = "0.14"
[dependencies.dwt-systick-monotonic]
version = "0.1.0-alpha.3"
diff --git a/book/en/src/internals/tasks.md b/book/en/src/internals/tasks.md
index a533dc0c..0407176d 100644
--- a/book/en/src/internals/tasks.md
+++ b/book/en/src/internals/tasks.md
@@ -78,8 +78,8 @@ mod app {
}
// ready queue of the task dispatcher
- // `U4` is a type-level integer that represents the capacity of this queue
- static mut RQ1: Queue<Ready<T1>, U4> = Queue::new();
+ // `5-1=4` represents the capacity of this queue
+ static mut RQ1: Queue<Ready<T1>, 5> = Queue::new();
// interrupt handler chosen to dispatch tasks at priority `1`
#[no_mangle]
@@ -153,7 +153,7 @@ mod app {
// used to track how many more `bar` messages can be enqueued
// `U2` is the capacity of the `bar` task; a max of two instances can be queued
// this queue is filled by the framework before `init` runs
- static mut bar_FQ: Queue<(), U2> = Queue::new();
+ static mut bar_FQ: Queue<(), 3> = Queue::new();
// Priority ceiling for the consumer endpoint of `bar_FQ`
const bar_FQ_CEILING: u8 = 2;
@@ -227,7 +227,7 @@ mod app {
// the free queue: used to track free slots in the `baz_INPUTS` array
// this queue is initialized with values `0` and `1` before `init` is executed
- static mut baz_FQ: Queue<u8, U2> = Queue::new();
+ static mut baz_FQ: Queue<u8, 3> = Queue::new();
// Priority ceiling for the consumer endpoint of `baz_FQ`
const baz_FQ_CEILING: u8 = 2;
diff --git a/examples/shared.rs b/examples/shared.rs
index c3fa07b9..9585c388 100644
--- a/examples/shared.rs
+++ b/examples/shared.rs
@@ -10,23 +10,19 @@ use panic_semihosting as _;
#[rtic::app(device = lm3s6965)]
mod app {
use cortex_m_semihosting::{debug, hprintln};
- use heapless::{
- consts::*,
- i,
- spsc::{Consumer, Producer, Queue},
- };
+ use heapless::spsc::{Consumer, Producer, Queue};
use lm3s6965::Interrupt;
#[shared]
struct Shared {
- p: Producer<'static, u32, U4>,
- c: Consumer<'static, u32, U4>,
+ p: Producer<'static, u32, 5>,
+ c: Consumer<'static, u32, 5>,
}
#[local]
struct Local {}
- #[init(local = [q: Queue<u32, U4> = Queue(i::Queue::new())])]
+ #[init(local = [q: Queue<u32, 5> = Queue::new()])]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
let (p, c) = cx.local.q.split();
diff --git a/examples/static.rs b/examples/static.rs
index f51c5f2d..0ea5d2df 100644
--- a/examples/static.rs
+++ b/examples/static.rs
@@ -11,23 +11,19 @@ use panic_semihosting as _;
mod app {
use cortex_m_semihosting::{debug, hprintln};
- use heapless::{
- consts::*,
- i,
- spsc::{Consumer, Producer, Queue},
- };
+ use heapless::spsc::{Consumer, Producer, Queue};
use lm3s6965::Interrupt;
#[shared]
struct Shared {
- p: Producer<'static, u32, U4>,
- c: Consumer<'static, u32, U4>,
+ p: Producer<'static, u32, 5>,
+ c: Consumer<'static, u32, 5>,
}
#[local]
struct Local {}
- #[init(local = [q: Queue<u32, U4> = Queue(i::Queue::new())])]
+ #[init(local = [q: Queue<u32, 5> = Queue::new()])]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
let (p, c) = cx.local.q.split();
diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index ac550036..c239b0f8 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -42,15 +42,13 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
}
));
- let n = util::capacity_typenum(channel.capacity, true);
+ let n = util::capacity_literal(channel.capacity as usize + 1);
let rq = util::rq_ident(level);
let rq = util::mark_internal_ident(&rq);
let (rq_ty, rq_expr) = {
(
quote!(rtic::export::SCRQ<#t, #n>),
- quote!(rtic::export::Queue(unsafe {
- rtic::export::iQueue::u8_sc()
- })),
+ quote!(rtic::export::Queue::new()),
)
};
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index cfd21e40..0b073359 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -32,8 +32,8 @@ pub fn codegen(
let (_, _, _, input_ty) = util::regroup_inputs(inputs);
let cap = task.args.capacity;
- let cap_lit = util::capacity_literal(cap);
- let cap_ty = util::capacity_typenum(cap, true);
+ let cap_lit = util::capacity_literal(cap as usize);
+ let cap_lit_p1 = util::capacity_literal(cap as usize + 1);
// Create free queues and inputs / instants buffers
let fq = util::fq_ident(name);
@@ -41,10 +41,8 @@ pub fn codegen(
let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
(
- quote!(rtic::export::SCFQ<#cap_ty>),
- quote!(rtic::export::Queue(unsafe {
- rtic::export::iQueue::u8_sc()
- })),
+ quote!(rtic::export::SCFQ<#cap_lit_p1>),
+ quote!(rtic::export::Queue::new()),
Box::new(|| util::link_section_uninit()),
)
};
diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index 9e30d100..abddbadc 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -62,12 +62,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
{
// For future use
// let doc = &format!("Timer queue for {}", monotonic_name);
- let cap = app
+ let cap: u8 = app
.software_tasks
.iter()
.map(|(_name, task)| task.args.capacity)
.sum();
- let n = util::capacity_typenum(cap, false);
+ let n = util::capacity_literal(cap as usize);
let tq_ty =
quote!(core::mem::MaybeUninit<rtic::export::TimerQueue<#mono_type, #t, #n>>);
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index 86bd6955..c2330d46 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -8,23 +8,10 @@ use syn::{Attribute, Ident, LitInt, PatType};
use crate::check::Extra;
/// Turns `capacity` into an unsuffixed integer literal
-pub fn capacity_literal(capacity: u8) -> LitInt {
+pub fn capacity_literal(capacity: usize) -> LitInt {
LitInt::new(&capacity.to_string(), Span::call_site())
}
-/// Turns `capacity` into a type-level (`typenum`) integer
-pub fn capacity_typenum(capacity: u8, round_up_to_power_of_two: bool) -> TokenStream2 {
- let capacity = if round_up_to_power_of_two {
- capacity.checked_next_power_of_two().expect("UNREACHABLE")
- } else {
- capacity
- };
-
- let ident = Ident::new(&format!("U{}", capacity), Span::call_site());
-
- quote!(rtic::export::consts::#ident)
-}
-
/// Identifier for the free queue
pub fn fq_ident(task: &Ident) -> Ident {
Ident::new(&format!("{}_FQ", task.to_string()), Span::call_site())
diff --git a/src/export.rs b/src/export.rs
index 91a4a5ef..e449ef41 100644
--- a/src/export.rs
+++ b/src/export.rs
@@ -13,13 +13,12 @@ pub use cortex_m::{
peripheral::{scb::SystemHandler, syst::SystClkSource, DWT, NVIC},
Peripherals,
};
-use heapless::spsc::SingleCore;
-pub use heapless::{consts, i::Queue as iQueue, spsc::Queue};
-pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap};
+pub use heapless::spsc::Queue;
+pub use heapless::BinaryHeap;
pub use rtic_monotonic as monotonic;
-pub type SCFQ<N> = Queue<u8, N, u8, SingleCore>;
-pub type SCRQ<T, N> = Queue<(T, u8), N, u8, SingleCore>;
+pub type SCFQ<const N: usize> = Queue<u8, N>;
+pub type SCRQ<T, const N: usize> = Queue<(T, u8), N>;
#[cfg(armv7m)]
#[inline(always)]
diff --git a/src/linked_list.rs b/src/linked_list.rs
index 9ea4d19f..bbb935f8 100644
--- a/src/linked_list.rs
+++ b/src/linked_list.rs
@@ -3,8 +3,6 @@ use core::marker::PhantomData;
use core::mem::MaybeUninit;
use core::ops::{Deref, DerefMut};
use core::ptr;
-pub use generic_array::ArrayLength;
-use generic_array::GenericArray;
#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
struct LinkedIndex(u16);
@@ -37,21 +35,19 @@ pub struct Node<T> {
}
/// Iterator for the linked list.
-pub struct Iter<'a, T, Kind, N>
+pub struct Iter<'a, T, Kind, const N: usize>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
list: &'a LinkedList<T, Kind, N>,
index: LinkedIndex,
}
-impl<'a, T, Kind, N> Iterator for Iter<'a, T, Kind, N>
+impl<'a, T, Kind, const N: usize> Iterator for Iter<'a, T, Kind, N>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
type Item = &'a T;
@@ -66,11 +62,10 @@ where
}
/// Comes from [`LinkedList::find_mut`].
-pub struct FindMut<'a, T, Kind, N>
+pub struct FindMut<'a, T, Kind, const N: usize>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
list: &'a mut LinkedList<T, Kind, N>,
is_head: bool,
@@ -79,11 +74,10 @@ where
maybe_changed: bool,
}
-impl<'a, T, Kind, N> FindMut<'a, T, Kind, N>
+impl<'a, T, Kind, const N: usize> FindMut<'a, T, Kind, N>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
fn pop_internal(&mut self) -> T {
if self.is_head {
@@ -122,11 +116,10 @@ where
}
}
-impl<T, Kind, N> Drop for FindMut<'_, T, Kind, N>
+impl<T, Kind, const N: usize> Drop for FindMut<'_, T, Kind, N>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
fn drop(&mut self) {
// Only resort the list if the element has changed
@@ -137,11 +130,10 @@ where
}
}
-impl<T, Kind, N> Deref for FindMut<'_, T, Kind, N>
+impl<T, Kind, const N: usize> Deref for FindMut<'_, T, Kind, N>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
type Target = T;
@@ -150,11 +142,10 @@ where
}
}
-impl<T, Kind, N> DerefMut for FindMut<'_, T, Kind, N>
+impl<T, Kind, const N: usize> DerefMut for FindMut<'_, T, Kind, N>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
fn deref_mut(&mut self) -> &mut Self::Target {
self.maybe_changed = true;
@@ -162,11 +153,10 @@ where
}
}
-impl<T, Kind, N> fmt::Debug for FindMut<'_, T, Kind, N>
+impl<T, Kind, const N: usize> fmt::Debug for FindMut<'_, T, Kind, N>
where
T: PartialEq + PartialOrd + core::fmt::Debug,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
f.debug_struct("FindMut")
@@ -189,23 +179,21 @@ where
}
/// The linked list.
-pub struct LinkedList<T, Kind, N>
+pub struct LinkedList<T, Kind, const N: usize>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
- list: MaybeUninit<GenericArray<Node<T>, N>>,
+ list: MaybeUninit<[Node<T>; N]>,
head: LinkedIndex,
free: LinkedIndex,
_kind: PhantomData<Kind>,
}
-impl<T, Kind, N> LinkedList<T, Kind, N>
+impl<T, Kind, const N: usize> LinkedList<T, Kind, N>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
/// Internal helper to not do pointer arithmetic all over the place.
#[inline]
@@ -266,7 +254,7 @@ where
_kind: PhantomData,
};
- let len = N::U16;
+ let len = N as u16;
let mut free = 0;
if len == 0 {
@@ -451,11 +439,10 @@ where
}
}
-impl<T, Kind, N> Drop for LinkedList<T, Kind, N>
+impl<T, Kind, const N: usize> Drop for LinkedList<T, Kind, N>
where
T: PartialEq + PartialOrd,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
fn drop(&mut self) {
let mut index = self.head;
@@ -471,11 +458,10 @@ where
}
}
-impl<T, Kind, N> fmt::Debug for LinkedList<T, Kind, N>
+impl<T, Kind, const N: usize> fmt::Debug for LinkedList<T, Kind, N>
where
T: PartialEq + PartialOrd + core::fmt::Debug,
Kind: kind::Kind,
- N: ArrayLength<Node<T>>,
{
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
f.debug_list().entries(self.iter()).finish()
@@ -518,11 +504,10 @@ pub mod kind {
mod tests {
// Note this useful idiom: importing names from outer (for mod tests) scope.
use super::*;
- use generic_array::typenum::consts::*;
#[test]
fn test_peek() {
- let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
+ let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
ll.push(1).unwrap();
assert_eq!(ll.peek().unwrap(), &1);
@@ -533,7 +518,7 @@ mod tests {
ll.push(3).unwrap();
assert_eq!(ll.peek().unwrap(), &3);
- let mut ll: LinkedList<u32, Min, U3> = LinkedList::new();
+ let mut ll: LinkedList<u32, Min, 3> = LinkedList::new();
ll.push(2).unwrap();
assert_eq!(ll.peek().unwrap(), &2);
@@ -547,7 +532,7 @@ mod tests {
#[test]
fn test_full() {
- let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
+ let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
ll.push(1).unwrap();
ll.push(2).unwrap();
ll.push(3).unwrap();
@@ -557,14 +542,14 @@ mod tests {
#[test]
fn test_empty() {
- let ll: LinkedList<u32, Max, U3> = LinkedList::new();
+ let ll: LinkedList<u32, Max, 3> = LinkedList::new();
assert!(ll.is_empty())
}
#[test]
fn test_zero_size() {
- let ll: LinkedList<u32, Max, U0> = LinkedList::new();
+ let ll: LinkedList<u32, Max, 0> = LinkedList::new();
assert!(ll.is_empty());
assert!(ll.is_full());
@@ -572,7 +557,7 @@ mod tests {
#[test]
fn test_rejected_push() {
- let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
+ let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
ll.push(1).unwrap();
ll.push(2).unwrap();
ll.push(3).unwrap();
@@ -585,7 +570,7 @@ mod tests {
#[test]
fn test_updating() {
- let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
+ let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
ll.push(1).unwrap();
ll.push(2).unwrap();
ll.push(3).unwrap();
diff --git a/src/tq.rs b/src/tq.rs
index 985e0f88..cd44abe2 100644
--- a/src/tq.rs
+++ b/src/tq.rs
@@ -1,5 +1,5 @@
use crate::{
- linked_list::{ArrayLength, LinkedList, Min, Node},
+ linked_list::{LinkedList, Min},
time::{Clock, Instant},
Monotonic,
};
@@ -14,16 +14,14 @@ fn unwrapper<T, E>(val: Result<T, E>) -> T {
}
}
-pub struct TimerQueue<Mono, Task, N>(pub LinkedList<NotReady<Mono, Task>, Min, N>)
+pub struct TimerQueue<Mono, Task, const N: usize>(pub LinkedList<NotReady<Mono, Task>, Min, N>)
where
Mono: Monotonic,
- N: ArrayLength<Node<NotReady<Mono, Task>>>,
Task: Copy;
-impl<Mono, Task, N> TimerQueue<Mono, Task, N>
+impl<Mono, Task, const N: usize> TimerQueue<Mono, Task, N>
where
Mono: Monotonic,
- N: ArrayLength<Node<NotReady<Mono, Task>>>,
Task: Copy,
{
pub fn new() -> Self {
generated by cgit v1.2.3 (git 2.39.1) at 2025-08-03 10:56:16 +0000