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
126
|
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![];
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 {
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 = &extra.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.extern_interrupts.keys() {
stmts.push(quote!(let _ = #rt_err::#interrupt::#name;));
}
let interrupt_ids = analysis.interrupts.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))
}
})) {
// 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.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
}
}) {
// 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 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;
// Compile time assert that this priority is supported by the device
stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));
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
}
|
