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-rw-r--r--macros/src/codegen.rs2
-rw-r--r--macros/src/codegen/dispatchers.rs7
-rw-r--r--macros/src/codegen/hardware_tasks.rs8
-rw-r--r--macros/src/codegen/idle.rs13
-rw-r--r--macros/src/codegen/init.rs4
-rw-r--r--macros/src/codegen/locals.rs5
-rw-r--r--macros/src/codegen/resources.rs17
-rw-r--r--macros/src/codegen/schedule.rs4
-rw-r--r--macros/src/codegen/software_tasks.rs24
-rw-r--r--macros/src/codegen/spawn.rs4
-rw-r--r--macros/src/codegen/timer_queue.rs6
-rw-r--r--macros/src/codegen/util.rs39
12 files changed, 111 insertions, 22 deletions
diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs
index 8a548323..8ac06d53 100644
--- a/macros/src/codegen.rs
+++ b/macros/src/codegen.rs
@@ -68,8 +68,10 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
let cfg_core = util::cfg_core(core, app.args.cores);
let main = util::suffixed("main", core);
+ let section = util::link_section("text", core);
mains.push(quote!(
#[no_mangle]
+ #section
#cfg_core
unsafe extern "C" fn #main() -> ! {
#(#assertion_stmts)*
diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index 988e3c84..9a9cb102 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -46,13 +46,14 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
let n = util::capacity_typenum(channel.capacity, true);
let rq = util::rq_ident(receiver, level, sender);
- let (rq_attr, rq_ty, rq_expr) = if sender == receiver {
+ let (rq_attr, rq_ty, rq_expr, section) = if sender == receiver {
(
cfg_sender.clone(),
quote!(rtfm::export::SCRQ<#t, #n>),
quote!(rtfm::export::Queue(unsafe {
rtfm::export::iQueue::u8_sc()
})),
+ util::link_section("bss", sender),
)
} else {
let shared = if cfg!(feature = "heterogeneous") {
@@ -65,6 +66,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
shared,
quote!(rtfm::export::MCRQ<#t, #n>),
quote!(rtfm::export::Queue(rtfm::export::iQueue::u8())),
+ None,
)
};
@@ -77,6 +79,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
items.push(quote!(
#[doc = #doc]
#rq_attr
+ #section
static mut #rq: #rq_ty = #rq_expr;
));
@@ -162,12 +165,14 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
receiver, level
);
let cfg_receiver = util::cfg_core(receiver, app.args.cores);
+ let section = util::link_section("text", receiver);
let interrupt = util::suffixed(&interrupts[&level].to_string(), receiver);
items.push(quote!(
#[allow(non_snake_case)]
#[doc = #doc]
#[no_mangle]
#cfg_receiver
+ #section
unsafe fn #interrupt() {
/// The priority of this interrupt handler
const PRIORITY: u8 = #level;
diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index a7af510a..cf92e078 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -56,9 +56,11 @@ pub fn codegen(
};
let priority = task.args.priority;
+ let section = util::link_section("text", core);
const_app.push(quote!(
#[allow(non_snake_case)]
#[no_mangle]
+ #section
#cfg_core
unsafe fn #symbol() {
const PRIORITY: u8 = #priority;
@@ -101,7 +103,8 @@ pub fn codegen(
// `${task}Locals`
let mut locals_pat = None;
if !task.locals.is_empty() {
- let (struct_, pat) = locals::codegen(Context::HardwareTask(name), &task.locals, app);
+ let (struct_, pat) =
+ locals::codegen(Context::HardwareTask(name), &task.locals, core, app);
root.push(struct_);
locals_pat = Some(pat);
@@ -110,9 +113,12 @@ pub fn codegen(
let attrs = &task.attrs;
let context = &task.context;
let stmts = &task.stmts;
+ let section = util::link_section("text", core);
+ // XXX shouldn't this have a cfg_core?
user_tasks.push(quote!(
#(#attrs)*
#[allow(non_snake_case)]
+ #section
fn #name(#(#locals_pat,)* #context: #name::Context) {
use rtfm::Mutex as _;
diff --git a/macros/src/codegen/idle.rs b/macros/src/codegen/idle.rs
index 7af01c91..d6560761 100644
--- a/macros/src/codegen/idle.rs
+++ b/macros/src/codegen/idle.rs
@@ -44,7 +44,7 @@ pub fn codegen(
let name = &idle.name;
if !idle.locals.is_empty() {
- let (locals, pat) = locals::codegen(Context::Idle(core), &idle.locals, app);
+ let (locals, pat) = locals::codegen(Context::Idle(core), &idle.locals, core, app);
locals_new = Some(quote!(#name::Locals::new()));
locals_pat = Some(pat);
@@ -57,10 +57,12 @@ pub fn codegen(
let attrs = &idle.attrs;
let context = &idle.context;
let stmts = &idle.stmts;
+ let section = util::link_section("text", core);
let user_idle = Some(quote!(
- #cfg_core
#(#attrs)*
#[allow(non_snake_case)]
+ #cfg_core
+ #section
fn #name(#(#locals_pat,)* #context: #name::Context) -> ! {
use rtfm::Mutex as _;
@@ -73,12 +75,7 @@ pub fn codegen(
#name::Context::new(&rtfm::export::Priority::new(0))
));
- (
- const_app,
- root_idle,
- user_idle,
- call_idle,
- )
+ (const_app, root_idle, user_idle, call_idle)
} else {
(
None,
diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs
index 271be94c..878c633e 100644
--- a/macros/src/codegen/init.rs
+++ b/macros/src/codegen/init.rs
@@ -72,7 +72,7 @@ pub fn codegen(
let mut locals_pat = None;
let mut locals_new = None;
if !init.locals.is_empty() {
- let (struct_, pat) = locals::codegen(Context::Init(core), &init.locals, app);
+ let (struct_, pat) = locals::codegen(Context::Init(core), &init.locals, core, app);
locals_new = Some(quote!(#name::Locals::new()));
locals_pat = Some(pat);
@@ -82,10 +82,12 @@ pub fn codegen(
let context = &init.context;
let attrs = &init.attrs;
let stmts = &init.stmts;
+ let section = util::link_section("text", core);
let user_init = Some(quote!(
#(#attrs)*
#cfg_core
#[allow(non_snake_case)]
+ #section
fn #name(#(#locals_pat,)* #context: #name::Context) #ret {
#(#stmts)*
}
diff --git a/macros/src/codegen/locals.rs b/macros/src/codegen/locals.rs
index 96635637..799ef7a0 100644
--- a/macros/src/codegen/locals.rs
+++ b/macros/src/codegen/locals.rs
@@ -2,7 +2,7 @@ use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtfm_syntax::{
ast::{App, Local},
- Context, Map,
+ Context, Core, Map,
};
use crate::codegen::util;
@@ -10,6 +10,7 @@ use crate::codegen::util;
pub fn codegen(
ctxt: Context,
locals: &Map<Local>,
+ core: Core,
app: &App,
) -> (
// locals
@@ -41,6 +42,7 @@ pub fn codegen(
let cfgs = &local.cfgs;
has_cfgs |= !cfgs.is_empty();
+ let section = util::link_section("data", core);
let expr = &local.expr;
let ty = &local.ty;
fields.push(quote!(
@@ -49,6 +51,7 @@ pub fn codegen(
));
items.push(quote!(
#(#cfgs)*
+ #section
static mut #name: #ty = #expr
));
values.push(quote!(
diff --git a/macros/src/codegen/resources.rs b/macros/src/codegen/resources.rs
index 2425681b..1161a7a5 100644
--- a/macros/src/codegen/resources.rs
+++ b/macros/src/codegen/resources.rs
@@ -26,20 +26,24 @@ pub fn codegen(
let ty = &res.ty;
{
- let loc_attr = match loc {
+ let (loc_attr, section) = match loc {
Location::Owned {
core,
cross_initialized: false,
- } => util::cfg_core(*core, app.args.cores),
+ } => (
+ util::cfg_core(*core, app.args.cores),
+ util::link_section("data", *core),
+ ),
// shared `static`s and cross-initialized resources need to be in `.shared` memory
- _ => {
+ _ => (
if cfg!(feature = "heterogeneous") {
Some(quote!(#[rtfm::export::shared]))
} else {
None
- }
- }
+ },
+ None,
+ ),
};
let (ty, expr) = if let Some(expr) = expr {
@@ -53,9 +57,10 @@ pub fn codegen(
let attrs = &res.attrs;
const_app.push(quote!(
- #loc_attr
#(#attrs)*
#(#cfgs)*
+ #loc_attr
+ #section
static mut #name: #ty = #expr;
));
}
diff --git a/macros/src/codegen/schedule.rs b/macros/src/codegen/schedule.rs
index 57f01a2c..8cf60985 100644
--- a/macros/src/codegen/schedule.rs
+++ b/macros/src/codegen/schedule.rs
@@ -35,8 +35,10 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> {
let body = schedule_body::codegen(scheduler, &name, app);
+ let section = util::link_section("text", sender);
methods.push(quote!(
#(#cfgs)*
+ #section
fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
#body
}
@@ -50,9 +52,11 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> {
let body = schedule_body::codegen(scheduler, &name, app);
+ let section = util::link_section("text", sender);
items.push(quote!(
#cfg_sender
#(#cfgs)*
+ #section
unsafe fn #schedule(
priority: &rtfm::export::Priority,
instant: #instant
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index 383a5d82..2960faf9 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -43,13 +43,21 @@ pub fn codegen(
let cfg_sender = util::cfg_core(sender, app.args.cores);
let fq = util::fq_ident(name, sender);
- let (loc, fq_ty, fq_expr) = if receiver == sender {
+ let (loc, fq_ty, fq_expr, bss, mk_uninit): (
+ _,
+ _,
+ _,
+ _,
+ Box<dyn Fn() -> Option<_>>,
+ ) = if receiver == sender {
(
cfg_sender.clone(),
quote!(rtfm::export::SCFQ<#cap_ty>),
quote!(rtfm::export::Queue(unsafe {
rtfm::export::iQueue::u8_sc()
})),
+ util::link_section("bss", sender),
+ Box::new(|| util::link_section_uninit(Some(sender))),
)
} else {
let shared = if cfg!(feature = "heterogeneous") {
@@ -62,6 +70,8 @@ pub fn codegen(
shared,
quote!(rtfm::export::MCFQ<#cap_ty>),
quote!(rtfm::export::Queue(rtfm::export::iQueue::u8())),
+ None,
+ Box::new(|| util::link_section_uninit(None)),
)
};
let loc = &loc;
@@ -70,6 +80,7 @@ pub fn codegen(
/// Queue version of a free-list that keeps track of empty slots in
/// the following buffers
#loc
+ #bss
static mut #fq: #fq_ty = #fq_expr;
));
@@ -102,8 +113,10 @@ pub fn codegen(
let m = extra.monotonic();
let instants = util::instants_ident(name, sender);
+ let uninit = mk_uninit();
const_app.push(quote!(
#loc
+ #uninit
/// Buffer that holds the instants associated to the inputs of a task
static mut #instants:
[core::mem::MaybeUninit<<#m as rtfm::Monotonic>::Instant>; #cap_lit] =
@@ -111,9 +124,11 @@ pub fn codegen(
));
}
+ let uninit = mk_uninit();
let inputs = util::inputs_ident(name, sender);
const_app.push(quote!(
#loc
+ #uninit
/// Buffer that holds the inputs of a task
static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
[#(#elems,)*];
@@ -140,13 +155,15 @@ pub fn codegen(
// `${task}Locals`
let mut locals_pat = None;
if !task.locals.is_empty() {
- let (struct_, pat) = locals::codegen(Context::SoftwareTask(name), &task.locals, app);
+ let (struct_, pat) =
+ locals::codegen(Context::SoftwareTask(name), &task.locals, receiver, app);
locals_pat = Some(pat);
root.push(struct_);
}
let cfg_receiver = util::cfg_core(receiver, app.args.cores);
+ let section = util::link_section("text", receiver);
let context = &task.context;
let attrs = &task.attrs;
let cfgs = &task.cfgs;
@@ -154,8 +171,9 @@ pub fn codegen(
user_tasks.push(quote!(
#(#attrs)*
#(#cfgs)*
- #cfg_receiver
#[allow(non_snake_case)]
+ #cfg_receiver
+ #section
fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) {
use rtfm::Mutex as _;
diff --git a/macros/src/codegen/spawn.rs b/macros/src/codegen/spawn.rs
index 1539e277..c63c410b 100644
--- a/macros/src/codegen/spawn.rs
+++ b/macros/src/codegen/spawn.rs
@@ -42,8 +42,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
None
};
+ let section = util::link_section("text", sender);
methods.push(quote!(
#(#cfgs)*
+ #section
fn #name(&self #(,#args)*) -> Result<(), #ty> {
#let_instant
#body
@@ -66,9 +68,11 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
+ let section = util::link_section("text", sender);
items.push(quote!(
#cfg_sender
#(#cfgs)*
+ #section
unsafe fn #spawn(
priority: &rtfm::export::Priority
#instant
diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index d306ed5b..3af7e432 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -48,9 +48,11 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
let n = util::capacity_typenum(timer_queue.capacity, false);
let tq_ty = quote!(rtfm::export::TimerQueue<#m, #t, #n>);
+ let section = util::link_section("bss", sender);
items.push(quote!(
#cfg_sender
#[doc = #doc]
+ #section
static mut #tq: #tq_ty = rtfm::export::TimerQueue(
rtfm::export::BinaryHeap(
rtfm::export::iBinaryHeap::new()
@@ -117,9 +119,11 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
let priority = timer_queue.priority;
let sys_tick = util::suffixed("SysTick", sender);
+ let section = util::link_section("text", sender);
items.push(quote!(
- #cfg_sender
#[no_mangle]
+ #cfg_sender
+ #section
unsafe fn #sys_tick() {
use rtfm::Mutex as _;
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index cd01264d..f5f96dea 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -1,3 +1,5 @@
+use core::sync::atomic::{AtomicUsize, Ordering};
+
use proc_macro2::{Span, TokenStream as TokenStream2};
use quote::quote;
use rtfm_syntax::{ast::App, Context, Core};
@@ -133,6 +135,43 @@ pub fn late_resources_ident(init: &Ident) -> Ident {
)
}
+fn link_section_index() -> usize {
+ static INDEX: AtomicUsize = AtomicUsize::new(0);
+
+ INDEX.fetch_add(1, Ordering::Relaxed)
+}
+
+pub fn link_section(section: &str, core: Core) -> Option<TokenStream2> {
+ if cfg!(feature = "homogeneous") {
+ let section = format!(".{}_{}.rtfm{}", section, core, link_section_index());
+ Some(quote!(#[link_section = #section]))
+ } else {
+ None
+ }
+}
+
+// NOTE `None` means in shared memory
+pub fn link_section_uninit(core: Option<Core>) -> Option<TokenStream2> {
+ let section = if let Some(core) = core {
+ let index = link_section_index();
+
+ if cfg!(feature = "homogeneous") {
+ format!(".uninit_{}.rtfm{}", core, index)
+ } else {
+ format!(".uninit.rtfm{}", index)
+ }
+ } else {
+ if cfg!(feature = "heterogeneous") {
+ // `#[shared]` attribute sets the linker section
+ return None;
+ }
+
+ format!(".uninit.rtfm{}", link_section_index())
+ };
+
+ Some(quote!(#[link_section = #section]))
+}
+
/// Generates a pre-reexport identifier for the "locals" struct
pub fn locals_ident(ctxt: Context, app: &App) -> Ident {
let mut s = match ctxt {
generated by cgit v1.2.3 (git 2.39.1) at 2025-07-23 14:06:14 +0000