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|
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtic_syntax::ast::App;
use crate::{analyze::Analysis, check::Extra, codegen::util};
/// Generates code that runs before `#[init]`
pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
let mut stmts = vec![];
// Disable interrupts -- `init` must run with interrupts disabled
stmts.push(quote!(rtic::export::interrupt::disable();));
// Populate the FreeQueue
for fq in &app.software_tasks {
// Get the task name
let name = fq.0;
let task = fq.1;
let cap = task.args.capacity;
let fq_ident = util::fq_ident(name);
stmts.push(quote!(
(0..#cap).for_each(|i| #fq_ident.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 = extra.device;
let nvic_prio_bits = quote!(#device::NVIC_PRIO_BITS);
// Unmask interrupts and set their priorities
for (&priority, name) in analysis
.interrupts
.iter()
.chain(app.hardware_tasks.values().flat_map(|task| {
if !util::is_exception(&task.args.binds) {
Some((&task.args.priority, &task.args.binds))
} else {
// We do exceptions in another pass
None
}
}))
{
// Compile time assert that this priority is supported by the device
stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
// NOTE this also checks that the interrupt exists in the `Interrupt` enumeration
let interrupt = util::interrupt_ident();
stmts.push(quote!(
core.NVIC.set_priority(
#device::#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(#device::#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
}
}) {
// Compile time assert that this priority is supported by the device
stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
stmts.push(quote!(core.SCB.set_priority(
rtic::export::SystemHandler::#name,
rtic::export::logical2hw(#priority, #nvic_prio_bits),
);));
}
// Initialize the SysTick if there exist a TimerQueue
if extra.monotonic.is_some() {
let priority = analysis.channels.keys().max().unwrap();
// Compile time assert that this priority is supported by the device
stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
stmts.push(quote!(core.SCB.set_priority(
rtic::export::SystemHandler::SysTick,
rtic::export::logical2hw(#priority, #nvic_prio_bits),
);));
stmts.push(quote!(
core.SYST.set_clock_source(rtic::export::SystClkSource::Core);
core.SYST.enable_counter();
core.DCB.enable_trace();
));
}
// If there's no user `#[idle]` then optimize returning from interrupt handlers
if app.idles.is_empty() {
// Set SLEEPONEXIT bit to enter sleep mode when returning from ISR
stmts.push(quote!(core.SCB.scr.modify(|r| r | 1 << 1);));
}
stmts
}
|
