1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
|
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtic_syntax::ast::App;
use crate::{analyze::Analysis, check::Extra, codegen::util};
/// Generates task dispatchers
pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStream2> {
let mut items = vec![];
let interrupts = &analysis.interrupts;
for (&level, channel) in &analysis.channels {
let mut stmts = vec![];
let variants = channel
.tasks
.iter()
.map(|name| {
let cfgs = &app.software_tasks[name].cfgs;
quote!(
#(#cfgs)*
#name
)
})
.collect::<Vec<_>>();
// For future use
// let doc = format!(
// "Software tasks to be dispatched at priority level {}",
// level,
// );
let t = util::spawn_t_ident(level);
items.push(quote!(
#[allow(non_snake_case)]
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
// #[doc = #doc]
#[doc(hidden)]
pub enum #t {
#(#variants,)*
}
));
let n = util::capacity_literal(channel.capacity as usize + 1);
let rq = util::rq_ident(level);
let (rq_ty, rq_expr) = {
(
quote!(rtic::export::SCRQ<#t, #n>),
quote!(rtic::export::Queue::new()),
)
};
// For future use
// let doc = format!(
// "Queue of tasks ready to be dispatched at priority level {}",
// level
// );
items.push(quote!(
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
static #rq: rtic::RacyCell<#rq_ty> = rtic::RacyCell::new(#rq_expr);
));
let arms = channel
.tasks
.iter()
.map(|name| {
let task = &app.software_tasks[name];
let cfgs = &task.cfgs;
let fq = util::fq_ident(name);
let inputs = util::inputs_ident(name);
let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
quote!(
#(#cfgs)*
#t::#name => {
let #tupled =
(&*#inputs
.get())
.get_unchecked(usize::from(index))
.as_ptr()
.read();
(&mut *#fq.get_mut()).split().0.enqueue_unchecked(index);
let priority = &rtic::export::Priority::new(PRIORITY);
#name(
#name::Context::new(priority)
#(,#pats)*
)
}
)
})
.collect::<Vec<_>>();
stmts.push(quote!(
while let Some((task, index)) = (&mut *#rq.get_mut()).split().1.dequeue() {
match task {
#(#arms)*
}
}
));
let doc = format!("Interrupt handler to dispatch tasks at priority {}", level);
let interrupt = util::suffixed(&interrupts[&level].0.to_string());
let attribute = &interrupts[&level].1.attrs;
items.push(quote!(
#[allow(non_snake_case)]
#[doc = #doc]
#[no_mangle]
#(#attribute)*
unsafe fn #interrupt() {
/// The priority of this interrupt handler
const PRIORITY: u8 = #level;
rtic::export::run(PRIORITY, || {
#(#stmts)*
});
}
));
}
items
}
|
