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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 timer queues and timer queue handlers
pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStream2> {
let mut items = vec![];
if !app.monotonics.is_empty() {
let t = util::schedule_t_ident();
// Enumeration of `schedule`-able tasks
{
let variants = app
.software_tasks
.iter()
.map(|(name, task)| {
let cfgs = &task.cfgs;
quote!(
#(#cfgs)*
#name
)
})
.collect::<Vec<_>>();
// let doc = "Tasks that can be scheduled".to_string();
items.push(quote!(
// #[doc = #doc]
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
enum #t {
#(#variants,)*
}
));
}
}
for (_, monotonic) in &app.monotonics {
let monotonic_name = monotonic.ident.to_string();
let tq = util::tq_ident(&monotonic_name);
let tq = util::mark_internal_ident(&tq);
let t = util::schedule_t_ident();
let mono_type = &monotonic.ty;
let m_ident = util::monotonic_ident(&monotonic_name);
let m_ident = util::mark_internal_ident(&m_ident);
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
// Static variables and resource proxy
{
// let doc = &format!("Timer queue for {}", monotonic_name);
let cap = app
.software_tasks
.iter()
.map(|(_name, task)| task.args.capacity)
.sum();
let n = util::capacity_typenum(cap, false);
let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n>);
items.push(quote!(
#[doc(hidden)]
static mut #tq: #tq_ty = rtic::export::TimerQueue(
rtic::export::BinaryHeap(
rtic::export::iBinaryHeap::new()
)
);
));
let mono = util::monotonic_ident(&monotonic_name);
let mono = util::mark_internal_ident(&mono);
// let doc = &format!("Storage for {}", monotonic_name);
items.push(quote!(
#[doc(hidden)]
static mut #mono: Option<#mono_type> = None;
));
}
// Timer queue handler
{
let enum_ = util::interrupt_ident();
let rt_err = util::rt_err_ident();
let arms = app
.software_tasks
.iter()
.map(|(name, task)| {
let cfgs = &task.cfgs;
let priority = task.args.priority;
let rq = util::rq_ident(priority);
let rq = util::mark_internal_ident(&rq);
let rqt = util::spawn_t_ident(priority);
// The interrupt that runs the task dispatcher
let interrupt = &analysis.interrupts.get(&priority).expect("RTIC-ICE: interrupt not found").0;
let pend = {
quote!(
rtic::pend(#rt_err::#enum_::#interrupt);
)
};
quote!(
#(#cfgs)*
#t::#name => {
rtic::export::interrupt::free(|_| #rq.split().0.enqueue_unchecked((#rqt::#name, index)));
#pend
}
)
})
.collect::<Vec<_>>();
let bound_interrupt = &monotonic.args.binds;
let disable_isr = if &*bound_interrupt.to_string() == "SysTick" {
quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).disable_interrupt())
} else {
quote!(rtic::export::NVIC::mask(#rt_err::#enum_::#bound_interrupt))
};
items.push(quote!(
#[no_mangle]
#[allow(non_snake_case)]
unsafe fn #bound_interrupt() {
while let Some((task, index)) = rtic::export::interrupt::free(|_|
if let Some(mono) = #app_path::#m_ident.as_mut() {
#tq.dequeue(|| #disable_isr, mono)
} else {
// We can only use the timer queue if `init` has returned, and it
// writes the `Some(monotonic)` we are accessing here.
core::hint::unreachable_unchecked()
})
{
match task {
#(#arms)*
}
}
rtic::export::interrupt::free(|_| if let Some(mono) = #app_path::#m_ident.as_mut() {
mono.on_interrupt();
});
}
));
}
}
items
}
|
