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|
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtfm_syntax::ast::{App, HardwareTaskKind};
use crate::{analyze::Analysis, check::Extra, codegen::util};
/// Generates code that runs before `#[init]`
pub fn codegen(
core: u8,
app: &App,
analysis: &Analysis,
extra: &Extra,
) -> (
// `const_app_pre_init` -- `static` variables for barriers
Vec<TokenStream2>,
// `pre_init_stmts`
Vec<TokenStream2>,
) {
let mut const_app = vec![];
let mut stmts = vec![];
// disable interrupts -- `init` must run with interrupts disabled
stmts.push(quote!(rtfm::export::interrupt::disable();));
// populate this core `FreeQueue`s
for (name, senders) in &analysis.free_queues {
let task = &app.software_tasks[name];
let cap = task.args.capacity;
for &sender in senders.keys() {
if sender == core {
let fq = util::fq_ident(name, sender);
stmts.push(quote!(
(0..#cap).for_each(|i| #fq.enqueue_unchecked(i));
));
}
}
}
stmts.push(quote!(
// NOTE(transmute) to avoid debug_assertion in multi-core mode
let mut core: rtfm::export::Peripherals = core::mem::transmute(());
));
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
.get(&core)
.iter()
.flat_map(|interrupts| *interrupts)
.chain(app.hardware_tasks.iter().flat_map(|(name, task)| {
if task.kind == HardwareTaskKind::Interrupt {
Some((&task.args.priority, task.args.binds(name)))
} 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(core, app.args.cores);
stmts.push(quote!(
core.NVIC.set_priority(
#device::#interrupt::#name,
rtfm::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!(core.NVIC.enable(#device::#interrupt::#name);));
}
// cross-spawn barriers: now that priorities have been set and the interrupts have been unmasked
// we are ready to receive messages from *other* cores
if analysis.spawn_barriers.contains_key(&core) {
let sb = util::spawn_barrier(core);
let shared = if cfg!(feature = "heterogeneous") {
Some(quote!(
#[rtfm::export::shared]
))
} else {
None
};
const_app.push(quote!(
#shared
static #sb: rtfm::export::Barrier = rtfm::export::Barrier::new();
));
// unblock cores that may send us a message
stmts.push(quote!(
#sb.release();
));
}
// set exception priorities
for (name, priority) in app.hardware_tasks.iter().filter_map(|(name, task)| {
if task.kind == HardwareTaskKind::Exception {
Some((task.args.binds(name), 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(
rtfm::export::SystemHandler::#name,
rtfm::export::logical2hw(#priority, #nvic_prio_bits),
);));
}
// initialize the SysTick
if let Some(tq) = analysis.timer_queues.get(&core) {
let priority = tq.priority;
// 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(
rtfm::export::SystemHandler::SysTick,
rtfm::export::logical2hw(#priority, #nvic_prio_bits),
);));
stmts.push(quote!(
core.SYST.set_clock_source(rtfm::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.get(&core).is_none() {
// Set SLEEPONEXIT bit to enter sleep mode when returning from ISR
stmts.push(quote!(core.SCB.scr.modify(|r| r | 1 << 1);));
}
// cross-spawn barriers: wait until other cores are ready to receive messages
for (&receiver, senders) in &analysis.spawn_barriers {
// only block here if `init` can send messages to `receiver`
if senders.get(&core) == Some(&true) {
let sb = util::spawn_barrier(receiver);
stmts.push(quote!(
#sb.wait();
));
}
}
(const_app, stmts)
}
|
