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-rw-r--r--macros/src/codegen.rs42
-rw-r--r--macros/src/codegen/dispatchers.rs24
-rw-r--r--macros/src/codegen/locals.rs1
-rw-r--r--macros/src/codegen/module.rs28
-rw-r--r--macros/src/codegen/post_init.rs3
-rw-r--r--macros/src/codegen/pre_init.rs22
-rw-r--r--macros/src/codegen/resources.rs3
-rw-r--r--macros/src/codegen/resources_struct.rs3
-rw-r--r--macros/src/codegen/software_tasks.rs21
-rw-r--r--macros/src/codegen/timer_queue.rs24
-rw-r--r--macros/src/codegen/util.rs9
11 files changed, 99 insertions, 81 deletions
diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs
index 7885a4a9..c5d95687 100644
--- a/macros/src/codegen.rs
+++ b/macros/src/codegen.rs
@@ -57,6 +57,7 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
let main = util::suffixed("main");
mains.push(quote!(
+ #[doc(hidden)]
mod rtic_ext {
use super::*;
#[no_mangle]
@@ -88,22 +89,6 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
let user_code = &app.user_code;
let name = &app.name;
let device = &extra.device;
-
- // Get the list of all tasks
- // Currently unused, might be useful
- let task_list = analysis.tasks.clone();
-
- let mut tasks = vec![];
-
- if !task_list.is_empty() {
- tasks.push(quote!(
- #[allow(non_camel_case_types)]
- pub enum Tasks {
- #(#task_list),*
- }
- ));
- }
-
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
@@ -114,25 +99,31 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
let name = &monotonic.ident;
let name_str = &name.to_string();
let ty = &monotonic.ty;
- let mangled_name = util::mangle_monotonic_type(&name_str);
let ident = util::monotonic_ident(&name_str);
+ let ident = util::mark_internal_ident(&ident);
let panic_str = &format!(
"Use of monotonic '{}' before it was passed to the runtime",
name_str
);
+ let doc = &format!(
+ "This module holds the static implementation for `{}::now()`",
+ name_str
+ );
+ let user_imports = &app.user_imports;
quote! {
pub use rtic::Monotonic as _;
- #[doc(hidden)]
- pub type #mangled_name = #ty;
-
- /// This module holds the static implementation for `#name::now()`
+ #[doc = #doc]
#[allow(non_snake_case)]
pub mod #name {
- /// Access the global `Monotonic` implementation, not that this will panic
- /// before the this `Monotonic` has been passed to the RTIC runtime.
- pub fn now() -> rtic::time::Instant<#app_path::#mangled_name> {
+ #(
+ #[allow(unused_imports)]
+ #user_imports
+ )*
+
+ /// Read the current time from this monotonic
+ pub fn now() -> rtic::time::Instant<#ty> {
rtic::export::interrupt::free(|_| {
use rtic::Monotonic as _;
use rtic::time::Clock as _;
@@ -182,9 +173,6 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
#(#root_software_tasks)*
- /// Unused
- #(#tasks)*
-
/// app module
#(#mod_app)*
diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index d3adee0d..dc33b1af 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -26,15 +26,16 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
})
.collect::<Vec<_>>();
- let doc = format!(
- "Software tasks to be dispatched at priority level {}",
- level,
- );
+ // let doc = format!(
+ // "Software tasks to be dispatched at priority level {}",
+ // level,
+ // );
let t = util::spawn_t_ident(level);
items.push(quote!(
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
- #[doc = #doc]
+ // #[doc = #doc]
+ #[doc(hidden)]
pub enum #t {
#(#variants,)*
}
@@ -42,6 +43,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
let n = util::capacity_typenum(channel.capacity, true);
let rq = util::rq_ident(level);
+ let rq = util::mark_internal_ident(&rq);
let (rq_ty, rq_expr) = {
(
quote!(rtic::export::SCRQ<#t, #n>),
@@ -51,12 +53,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
)
};
- let doc = format!(
- "Queue of tasks ready to be dispatched at priority level {}",
- level
- );
+ // let doc = format!(
+ // "Queue of tasks ready to be dispatched at priority level {}",
+ // level
+ // );
items.push(quote!(
- #[doc = #doc]
+ #[doc(hidden)]
static mut #rq: #rq_ty = #rq_expr;
));
@@ -67,7 +69,9 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
let task = &app.software_tasks[name];
let cfgs = &task.cfgs;
let fq = util::fq_ident(name);
+ let fq = util::mark_internal_ident(&fq);
let inputs = util::inputs_ident(name);
+ let inputs = util::mark_internal_ident(&inputs);
let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
let locals_new = if task.locals.is_empty() {
diff --git a/macros/src/codegen/locals.rs b/macros/src/codegen/locals.rs
index 336c0b21..5725a151 100644
--- a/macros/src/codegen/locals.rs
+++ b/macros/src/codegen/locals.rs
@@ -49,6 +49,7 @@ pub fn codegen(
));
items.push(quote!(
#(#cfgs)*
+ #[doc(hidden)]
static mut #name: #ty = #expr
));
values.push(quote!(
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 25260bea..41f5b22a 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -68,6 +68,7 @@ pub fn codegen(
if ctxt.has_resources(app) {
let ident = util::resources_ident(ctxt, app);
+ let ident = util::mark_internal_ident(&ident);
let lt = if resources_tick {
lt = Some(quote!('a));
Some(quote!('a))
@@ -122,8 +123,8 @@ pub fn codegen(
.monotonics
.iter()
.map(|(_, monotonic)| {
- let mono = util::mangle_monotonic_type(&monotonic.ident.to_string());
- quote! {#app_path::#mono}
+ let mono = &monotonic.ty;
+ quote! {#mono}
})
.collect();
@@ -185,8 +186,11 @@ pub fn codegen(
let args = &args;
let tupled = &tupled;
let fq = util::fq_ident(name);
+ let fq = util::mark_internal_ident(&fq);
let rq = util::rq_ident(priority);
+ let rq = util::mark_internal_ident(&rq);
let inputs = util::inputs_ident(name);
+ let inputs = util::mark_internal_ident(&inputs);
let device = &extra.device;
let enum_ = util::interrupt_ident();
@@ -199,6 +203,7 @@ pub fn codegen(
// Spawn caller
items.push(quote!(
#(#cfgs)*
+ /// Spawns the task directly
pub fn spawn(#(#args,)*) -> Result<(), #ty> {
let input = #tupled;
@@ -226,13 +231,16 @@ pub fn codegen(
// Schedule caller
for (_, monotonic) in &app.monotonics {
let instants = util::monotonic_instants_ident(name, &monotonic.ident);
+ let instants = util::mark_internal_ident(&instants);
let monotonic_name = monotonic.ident.to_string();
let tq = util::tq_ident(&monotonic.ident.to_string());
+ let tq = util::mark_internal_ident(&tq);
let t = util::schedule_t_ident();
let m = &monotonic.ident;
- let m_mangled = util::mangle_monotonic_type(&monotonic_name);
+ let mono_type = &monotonic.ty;
let m_ident = util::monotonic_ident(&monotonic_name);
+ let m_ident = util::mark_internal_ident(&m_ident);
let m_isr = &monotonic.args.binds;
let enum_ = util::interrupt_ident();
@@ -255,15 +263,24 @@ pub fn codegen(
)
};
+ let user_imports = &app.user_imports;
+
items.push(quote!(
+ /// Holds methods related to this monotonic
pub mod #m {
+ #(
+ #[allow(unused_imports)]
+ #user_imports
+ )*
+
#(#cfgs)*
+ /// Spawns the task after a set duration relative to the current time
pub fn spawn_after<D>(
duration: D
#(,#args)*
) -> Result<(), #ty>
where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint,
- D::T: Into<<#app_path::#m_mangled as rtic::time::Clock>::T>,
+ D::T: Into<<#app_path::#mono_type as rtic::time::Clock>::T>,
{
let instant = if rtic::export::interrupt::free(|_| unsafe { #app_path::#m_ident.is_none() }) {
@@ -276,8 +293,9 @@ pub fn codegen(
}
#(#cfgs)*
+ /// Spawns the task at a fixed time instant
pub fn spawn_at(
- instant: rtic::time::Instant<#app_path::#m_mangled>
+ instant: rtic::time::Instant<#app_path::#mono_type>
#(,#args)*
) -> Result<(), #ty> {
unsafe {
diff --git a/macros/src/codegen/post_init.rs b/macros/src/codegen/post_init.rs
index 8ebcb12b..96c5df80 100644
--- a/macros/src/codegen/post_init.rs
+++ b/macros/src/codegen/post_init.rs
@@ -13,7 +13,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
if !analysis.late_resources.is_empty() {
// BTreeSet wrapped in a vector
for name in analysis.late_resources.first().unwrap() {
- let mangled_name = util::mangle_ident(&name);
+ let mangled_name = util::mark_internal_ident(&name);
// If it's live
let cfgs = app.late_resources[name].cfgs.clone();
if analysis.locations.get(name).is_some() {
@@ -35,6 +35,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
// Store the monotonic
let name = util::monotonic_ident(&monotonic.to_string());
+ let name = util::mark_internal_ident(&name);
stmts.push(quote!(#name = Some(monotonics.#idx);));
}
diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs
index fbfff3b5..d5105445 100644
--- a/macros/src/codegen/pre_init.rs
+++ b/macros/src/codegen/pre_init.rs
@@ -17,6 +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));
@@ -77,19 +78,20 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
}
// Initialize monotonic's interrupts
- for (ident, priority, name) in app
- .monotonics
- .iter()
- .map(|(ident, monotonic)| (ident, &monotonic.args.priority, &monotonic.args.binds))
+ 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)];));
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
- let mono_type = util::mangle_monotonic_type(&ident.to_string());
+ let mono_type = &monotonic.ty;
- if &*name.to_string() == "SysTick" {
+ if &*binds.to_string() == "SysTick" {
stmts.push(quote!(
core.SCB.set_priority(
rtic::export::SystemHandler::SysTick,
@@ -97,7 +99,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
);
// Always enable monotonic interrupts if they should never be off
- if !#app_path::#mono_type::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
+ if !<#mono_type as rtic::Monotonic>::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
core::mem::transmute::<_, cortex_m::peripheral::SYST>(())
.enable_interrupt();
}
@@ -107,13 +109,13 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
let interrupt = util::interrupt_ident();
stmts.push(quote!(
core.NVIC.set_priority(
- #rt_err::#interrupt::#name,
+ #rt_err::#interrupt::#binds,
rtic::export::logical2hw(#priority, #nvic_prio_bits),
);
// Always enable monotonic interrupts if they should never be off
- if !#app_path::#mono_type::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
- rtic::export::NVIC::unmask(#app_path::#rt_err::#interrupt::#name);
+ if !<#mono_type as rtic::Monotonic>::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
+ rtic::export::NVIC::unmask(#app_path::#rt_err::#interrupt::#binds);
}
));
}
diff --git a/macros/src/codegen/resources.rs b/macros/src/codegen/resources.rs
index 76871e59..fa52b86d 100644
--- a/macros/src/codegen/resources.rs
+++ b/macros/src/codegen/resources.rs
@@ -21,7 +21,7 @@ pub fn codegen(
for (name, res, expr, _) in app.resources(analysis) {
let cfgs = &res.cfgs;
let ty = &res.ty;
- let mangled_name = util::mangle_ident(&name);
+ let mangled_name = util::mark_internal_ident(&name);
{
let section = if expr.is_none() {
@@ -42,6 +42,7 @@ pub fn codegen(
let attrs = &res.attrs;
mod_app.push(quote!(
#[allow(non_upper_case_globals)]
+ #[doc(hidden)]
#(#attrs)*
#(#cfgs)*
#section
diff --git a/macros/src/codegen/resources_struct.rs b/macros/src/codegen/resources_struct.rs
index bffe9431..8ed8a291 100644
--- a/macros/src/codegen/resources_struct.rs
+++ b/macros/src/codegen/resources_struct.rs
@@ -31,7 +31,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
None
};
let ty = &res.ty;
- let mangled_name = util::mangle_ident(&name);
+ let mangled_name = util::mark_internal_ident(&name);
// let ownership = &analysis.ownerships[name];
let r_prop = &res.properties;
@@ -112,6 +112,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
let doc = format!("Resources `{}` has access to", ctxt.ident(app));
let ident = util::resources_ident(ctxt, app);
+ let ident = util::mark_internal_ident(&ident);
let item = quote!(
#[allow(non_snake_case)]
#[doc = #doc]
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index a760b067..a39fe4cc 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -37,6 +37,7 @@ pub fn codegen(
// Create free queues and inputs / instants buffers
let fq = util::fq_ident(name);
+ let fq = util::mark_internal_ident(&fq);
let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
(
@@ -48,8 +49,9 @@ pub fn codegen(
)
};
mod_app.push(quote!(
- /// Queue version of a free-list that keeps track of empty slots in
- /// the following buffers
+ // /// Queue version of a free-list that keeps track of empty slots in
+ // /// the following buffers
+ #[doc(hidden)]
static mut #fq: #fq_ty = #fq_expr;
));
@@ -57,28 +59,29 @@ pub fn codegen(
.map(|_| quote!(core::mem::MaybeUninit::uninit()))
.collect::<Vec<_>>();
- let app_name = &app.name;
- let app_path = quote! {crate::#app_name};
-
for (_, monotonic) in &app.monotonics {
let instants = util::monotonic_instants_ident(name, &monotonic.ident);
- let m = util::mangle_monotonic_type(&monotonic.ident.to_string());
+ let instants = util::mark_internal_ident(&instants);
+ let mono_type = &monotonic.ty;
let uninit = mk_uninit();
mod_app.push(quote!(
#uninit
- /// Buffer that holds the instants associated to the inputs of a task
+ // /// Buffer that holds the instants associated to the inputs of a task
+ #[doc(hidden)]
static mut #instants:
- [core::mem::MaybeUninit<rtic::time::Instant<#app_path::#m>>; #cap_lit] =
+ [core::mem::MaybeUninit<rtic::time::Instant<#mono_type>>; #cap_lit] =
[#(#elems,)*];
));
}
let uninit = mk_uninit();
let inputs_ident = util::inputs_ident(name);
+ let inputs_ident = util::mark_internal_ident(&inputs_ident);
mod_app.push(quote!(
#uninit
- /// Buffer that holds the inputs of a task
+ // /// Buffer that holds the inputs of a task
+ #[doc(hidden)]
static mut #inputs_ident: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
[#(#elems,)*];
));
diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index ea2fee66..82d0ac98 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -26,9 +26,10 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
})
.collect::<Vec<_>>();
- let doc = "Tasks that can be scheduled".to_string();
+ // let doc = "Tasks that can be scheduled".to_string();
items.push(quote!(
- #[doc = #doc]
+ // #[doc = #doc]
+ #[doc(hidden)]
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
enum #t {
@@ -41,25 +42,27 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
for (_, monotonic) in &app.monotonics {
let monotonic_name = monotonic.ident.to_string();
let tq = util::tq_ident(&monotonic_name);
+ let tq = util::mark_internal_ident(&tq);
let t = util::schedule_t_ident();
- let m = util::mangle_monotonic_type(&monotonic_name);
+ let mono_type = &monotonic.ty;
let m_ident = util::monotonic_ident(&monotonic_name);
+ let m_ident = util::mark_internal_ident(&m_ident);
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
// Static variables and resource proxy
{
- let doc = &format!("Timer queue for {}", monotonic_name);
+ // let doc = &format!("Timer queue for {}", monotonic_name);
let cap = app
.software_tasks
.iter()
.map(|(_name, task)| task.args.capacity)
.sum();
let n = util::capacity_typenum(cap, false);
- let tq_ty = quote!(rtic::export::TimerQueue<#m, #t, #n>);
+ let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n>);
items.push(quote!(
- #[doc = #doc]
+ #[doc(hidden)]
static mut #tq: #tq_ty = rtic::export::TimerQueue(
rtic::export::BinaryHeap(
rtic::export::iBinaryHeap::new()
@@ -68,12 +71,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
));
let mono = util::monotonic_ident(&monotonic_name);
- let doc = &format!("Storage for {}", monotonic_name);
- let mono_ty = quote!(Option<#m>);
+ let mono = util::mark_internal_ident(&mono);
+ // let doc = &format!("Storage for {}", monotonic_name);
items.push(quote!(
- #[doc = #doc]
- static mut #mono: #mono_ty = None;
+ #[doc(hidden)]
+ static mut #mono: Option<#mono_type> = None;
));
}
@@ -89,6 +92,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
let cfgs = &task.cfgs;
let priority = task.args.priority;
let rq = util::rq_ident(priority);
+ let rq = util::mark_internal_ident(&rq);
let rqt = util::spawn_t_ident(priority);
// The interrupt that runs the task dispatcher
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index 7a12f23e..6589f62d 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -106,8 +106,8 @@ pub fn is_exception(name: &Ident) -> bool {
)
}
-/// Mangle an ident
-pub fn mangle_ident(ident: &Ident) -> Ident {
+/// Mark an ident as internal
+pub fn mark_internal_ident(ident: &Ident) -> Ident {
Ident::new(
&format!("__rtic_internal_{}", ident.to_string()),
Span::call_site(),
@@ -244,11 +244,6 @@ pub fn monotonic_ident(name: &str) -> Ident {
Ident::new(&format!("MONOTONIC_STORAGE_{}", name), Span::call_site())
}
-/// Generates an identifier for monotonic timer storage
-pub fn mangle_monotonic_type(name: &str) -> Ident {
- Ident::new(&format!("MonotonicMangled{}", name), Span::call_site())
-}
-
/// The name to get better RT flag errors
pub fn rt_err_ident() -> Ident {
Ident::new(
generated by cgit v1.2.3 (git 2.39.1) at 2025-07-27 07:57:00 +0000