diff options
Diffstat (limited to 'macros/src/codegen/pre_init.rs')
| -rw-r--r-- | macros/src/codegen/pre_init.rs | 58 |
1 files changed, 43 insertions, 15 deletions
diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs index 969de84a..d5105445 100644 --- a/macros/src/codegen/pre_init.rs +++ b/macros/src/codegen/pre_init.rs @@ -8,6 +8,8 @@ use crate::{analyze::Analysis, check::Extra, codegen::util}; pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> { let mut stmts = vec![]; + let rt_err = util::rt_err_ident(); + // Disable interrupts -- `init` must run with interrupts disabled stmts.push(quote!(rtic::export::interrupt::disable();)); @@ -15,6 +17,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream for (name, task) in &app.software_tasks { let cap = task.args.capacity; let fq_ident = util::fq_ident(name); + let fq_ident = util::mark_internal_ident(&fq_ident); stmts.push(quote!( (0..#cap).for_each(|i| #fq_ident.enqueue_unchecked(i)); @@ -47,14 +50,14 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let interrupt = util::interrupt_ident(); stmts.push(quote!( core.NVIC.set_priority( - you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#interrupt::#name, + #rt_err::#interrupt::#name, rtic::export::logical2hw(#priority, #nvic_prio_bits), ); )); // NOTE unmask the interrupt *after* setting its priority: changing the priority of a pended // interrupt is implementation defined - stmts.push(quote!(rtic::export::NVIC::unmask(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#interrupt::#name);)); + stmts.push(quote!(rtic::export::NVIC::unmask(#rt_err::#interrupt::#name);)); } // Set exception priorities @@ -74,23 +77,48 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream );)); } - // Initialize the SysTick if there exist a TimerQueue - if extra.monotonic.is_some() { - let priority = analysis.channels.keys().max().unwrap(); + // Initialize monotonic's interrupts + for (_, monotonic) in app.monotonics.iter() + //.map(|(ident, monotonic)| (ident, &monotonic.args.priority, &monotonic.args.binds)) + { + let priority = &monotonic.args.priority; + let binds = &monotonic.args.binds; // Compile time assert that this priority is supported by the device stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];)); - stmts.push(quote!(core.SCB.set_priority( - rtic::export::SystemHandler::SysTick, - rtic::export::logical2hw(#priority, #nvic_prio_bits), - );)); - - stmts.push(quote!( - core.SYST.set_clock_source(rtic::export::SystClkSource::Core); - core.SYST.enable_counter(); - core.DCB.enable_trace(); - )); + let app_name = &app.name; + let app_path = quote! {crate::#app_name}; + let mono_type = &monotonic.ty; + + if &*binds.to_string() == "SysTick" { + stmts.push(quote!( + core.SCB.set_priority( + rtic::export::SystemHandler::SysTick, + rtic::export::logical2hw(#priority, #nvic_prio_bits), + ); + + // Always enable monotonic interrupts if they should never be off + if !<#mono_type as rtic::Monotonic>::DISABLE_INTERRUPT_ON_EMPTY_QUEUE { + core::mem::transmute::<_, cortex_m::peripheral::SYST>(()) + .enable_interrupt(); + } + )); + } else { + // NOTE this also checks that the interrupt exists in the `Interrupt` enumeration + let interrupt = util::interrupt_ident(); + stmts.push(quote!( + core.NVIC.set_priority( + #rt_err::#interrupt::#binds, + rtic::export::logical2hw(#priority, #nvic_prio_bits), + ); + + // Always enable monotonic interrupts if they should never be off + if !<#mono_type as rtic::Monotonic>::DISABLE_INTERRUPT_ON_EMPTY_QUEUE { + rtic::export::NVIC::unmask(#app_path::#rt_err::#interrupt::#binds); + } + )); + } } // If there's no user `#[idle]` then optimize returning from interrupt handlers |