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|
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtfm_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![];
for (&sender, timer_queue) in &analysis.timer_queues {
let cfg_sender = util::cfg_core(sender, app.args.cores);
let t = util::schedule_t_ident(sender);
// Enumeration of `schedule`-able tasks
{
let variants = timer_queue
.tasks
.iter()
.map(|name| {
let cfgs = &app.software_tasks[name].cfgs;
quote!(
#(#cfgs)*
#name
)
})
.collect::<Vec<_>>();
let doc = format!("Tasks that can be scheduled from core #{}", sender);
items.push(quote!(
#cfg_sender
#[doc = #doc]
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
enum #t {
#(#variants,)*
}
));
}
let tq = util::tq_ident(sender);
// Static variable and resource proxy
{
let doc = format!("Core #{} timer queue", sender);
let m = extra.monotonic();
let n = util::capacity_typenum(timer_queue.capacity, false);
let tq_ty = quote!(rtfm::export::TimerQueue<#m, #t, #n>);
items.push(quote!(
#cfg_sender
#[doc = #doc]
static mut #tq: #tq_ty = rtfm::export::TimerQueue(
rtfm::export::BinaryHeap(
rtfm::export::iBinaryHeap::new()
)
);
#cfg_sender
struct #tq<'a> {
priority: &'a rtfm::export::Priority,
}
));
items.push(util::impl_mutex(
extra,
&[],
cfg_sender.as_ref(),
false,
&tq,
tq_ty,
timer_queue.ceiling,
quote!(&mut #tq),
));
}
// Timer queue handler
{
let device = extra.device;
let arms = timer_queue
.tasks
.iter()
.map(|name| {
let task = &app.software_tasks[name];
let cfgs = &task.cfgs;
let priority = task.args.priority;
let receiver = task.args.core;
let rq = util::rq_ident(receiver, priority, sender);
let rqt = util::spawn_t_ident(receiver, priority, sender);
let enum_ = util::interrupt_ident(receiver, app.args.cores);
let interrupt = &analysis.interrupts[&receiver][&priority];
let pend = if sender != receiver {
quote!(
#device::xpend(#receiver, #device::#enum_::#interrupt);
)
} else {
quote!(
rtfm::pend(#device::#enum_::#interrupt);
)
};
quote!(
#(#cfgs)*
#t::#name => {
(#rq { priority: &rtfm::export::Priority::new(PRIORITY) }).lock(|rq| {
rq.split().0.enqueue_unchecked((#rqt::#name, index))
});
#pend
}
)
})
.collect::<Vec<_>>();
let priority = timer_queue.priority;
let sys_tick = util::suffixed("SysTick", sender);
items.push(quote!(
#cfg_sender
#[no_mangle]
unsafe fn #sys_tick() {
use rtfm::Mutex as _;
/// The priority of this handler
const PRIORITY: u8 = #priority;
rtfm::export::run(PRIORITY, || {
while let Some((task, index)) = (#tq {
// NOTE dynamic priority is always the static priority at this point
priority: &rtfm::export::Priority::new(PRIORITY),
})
// NOTE `inline(always)` produces faster and smaller code
.lock(#[inline(always)]
|tq| tq.dequeue())
{
match task {
#(#arms)*
}
}
});
}
));
}
}
items
}
|
