use crate::syntax::ast::App; use proc_macro2::TokenStream as TokenStream2; use quote::quote; use crate::{analyze::Analysis, codegen::util}; /// Generates code that runs before `#[init]` pub fn codegen(app: &App, analysis: &Analysis) -> Vec { 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();)); // Populate the FreeQueue for (name, task) in &app.software_tasks { if task.is_async { continue; } let cap = task.args.capacity; let fq_ident = util::fq_ident(name); stmts.push(quote!( (0..#cap).for_each(|i| (&mut *#fq_ident.get_mut()).enqueue_unchecked(i)); )); } stmts.push(quote!( // To set the variable in cortex_m so the peripherals cannot be taken multiple times let mut core: rtic::export::Peripherals = rtic::export::Peripherals::steal().into(); )); let device = &app.args.device; let nvic_prio_bits = quote!(#device::NVIC_PRIO_BITS); // check that all dispatchers exists in the `Interrupt` enumeration regardless of whether // they are used or not let interrupt = util::interrupt_ident(); for name in app.args.dispatchers.keys() { stmts.push(quote!(let _ = #rt_err::#interrupt::#name;)); } let interrupt_ids = analysis .interrupts_normal .iter() .map(|(p, (id, _))| (p, id)) .chain(analysis.interrupts_async.iter().map(|(p, (id, _))| (p, id))); // Unmask interrupts and set their priorities for (&priority, name) in interrupt_ids.chain(app.hardware_tasks.values().filter_map(|task| { if util::is_exception(&task.args.binds) { // We do exceptions in another pass None } else { Some((&task.args.priority, &task.args.binds)) } })) { let es = format!( "Maximum priority used by interrupt vector '{}' is more than supported by hardware", name ); // Compile time assert that this priority is supported by the device stmts.push(quote!( const _: () = if (1 << #nvic_prio_bits) < #priority as usize { ::core::panic!(#es); }; )); stmts.push(quote!( core.NVIC.set_priority( #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(#rt_err::#interrupt::#name);)); } // Set exception priorities for (name, priority) in app.hardware_tasks.values().filter_map(|task| { if util::is_exception(&task.args.binds) { Some((&task.args.binds, task.args.priority)) } else { None } }) { let es = format!( "Maximum priority used by interrupt vector '{}' is more than supported by hardware", name ); // Compile time assert that this priority is supported by the device stmts.push(quote!( const _: () = if (1 << #nvic_prio_bits) < #priority as usize { ::core::panic!(#es); }; )); stmts.push(quote!(core.SCB.set_priority( rtic::export::SystemHandler::#name, rtic::export::logical2hw(#priority, #nvic_prio_bits), );)); } // Initialize monotonic's interrupts for (_, monotonic) in &app.monotonics { let priority = if let Some(prio) = monotonic.args.priority { quote! { #prio } } else { quote! { (1 << #nvic_prio_bits) } }; let binds = &monotonic.args.binds; let name = &monotonic.ident; let es = format!( "Maximum priority used by monotonic '{}' is more than supported by hardware", name ); // Compile time assert that this priority is supported by the device stmts.push(quote!( const _: () = if (1 << #nvic_prio_bits) < #priority as usize { ::core::panic!(#es); }; )); 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::<_, rtic::export::SYST>(()) .enable_interrupt(); } )); } else { 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(#rt_err::#interrupt::#binds); } )); } } stmts }