diff options
Diffstat (limited to 'macros/src')
| -rw-r--r-- | macros/src/codegen/dispatchers.rs | 22 |
1 files changed, 14 insertions, 8 deletions
diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs index e6caa781..1d1a4fb8 100644 --- a/macros/src/codegen/dispatchers.rs +++ b/macros/src/codegen/dispatchers.rs @@ -164,12 +164,6 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream #(#arms)* } } - - while let Some((task, index)) = retry_queue.pop() { - rtic::export::interrupt::free(|_| { - (&mut *#rq.get_mut()).enqueue_unchecked((task, index)); - }); - } )); for (name, _task) in app.software_tasks.iter().filter_map(|(name, task)| { @@ -185,14 +179,26 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream stmts.push(quote!( if #executor_run_ident.load(core::sync::atomic::Ordering::Relaxed) { #executor_run_ident.store(false, core::sync::atomic::Ordering::Relaxed); - (&mut *#exec_name.get_mut()).poll(|| { + if (&mut *#exec_name.get_mut()).poll(|| { #executor_run_ident.store(true, core::sync::atomic::Ordering::Release); rtic::pend(#device::#enum_::#interrupt); - }); + }) && !retry_queue.is_empty() { + // If the retry queue is not empty and the executor finished, restart this + // dispatch to check if the executor should be restarted. + rtic::pend(#device::#enum_::#interrupt); + } } )); } + stmts.push(quote!( + while let Some((task, index)) = retry_queue.pop() { + rtic::export::interrupt::free(|_| { + (&mut *#rq.get_mut()).enqueue_unchecked((task, index)); + }); + } + )); + let doc = format!("Interrupt handler to dispatch tasks at priority {}", level); let attribute = &interrupts[&level].1.attrs; items.push(quote!( |