rtic_core/codegen/mod.rs
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use proc_macro2::TokenStream as TokenStream2;
use quote::{format_ident, quote, ToTokens};
use task_init::{generate_late_init_tasks_struct, generate_late_tasks_init_calls};
use crate::analysis::Analysis;
use crate::multibin::multibin_cfg_core;
use crate::parser::ast::{RticTask, SharedResources};
use crate::parser::{ast::IdleTask, App};
use crate::rtic_functions::{
generate_task_traits_check_functions, get_interrupt_free_fn, INTERRUPT_FREE_FN,
};
use crate::rtic_traits::get_rtic_traits_mod;
use crate::CorePassBackend;
pub mod hw_task;
pub use utils::multibin;
mod shared_resources;
mod task_init;
mod utils;
pub struct CodeGen<'a> {
app: &'a App,
analysis: &'a Analysis,
implementation: &'a dyn CorePassBackend,
}
impl<'a> CodeGen<'a> {
pub fn new(
implementation: &'a dyn CorePassBackend,
app: &'a App,
analysis: &'a Analysis,
) -> Self {
Self {
app,
analysis,
implementation,
}
}
pub fn run(&self) -> TokenStream2 {
let app = self.app;
let implementation = self.implementation;
#[cfg(feature = "multibin")]
let use_multibin_shared = {
let multibin_shared_path = self.implementation.multibin_shared_macro_path();
Some(quote!(use #multibin_shared_path as multibin_shared;))
};
#[cfg(not(feature = "multibin"))]
let use_multibin_shared: Option<TokenStream2> = None;
let app_mod = &app.app_name;
let peripheral_crate = generate_use_pac_statement(app);
let user_includes = &app.user_includes;
let user_code = &app.other_code;
let interrupt_free_fn = get_interrupt_free_fn(implementation);
// traits
let rtic_traits_mod = get_rtic_traits_mod();
// sub_apps
let sub_apps = self.generate_sub_apps();
// task trait checks
let task_trait_check_functions = generate_task_traits_check_functions(self.analysis);
quote! {
pub mod #app_mod {
/// Include peripheral crate(s) that defines the vector table
#peripheral_crate
// if multibin feature is enabled, add the this use statement
#use_multibin_shared
/// ================================== user includes ====================================
#(#user_includes)*
/// ==================================== rtic traits ====================================
#rtic_traits_mod
/// ================================== rtic functions ===================================
/// critical section function
#interrupt_free_fn
/// ==================================== User code ======================================
#(#user_code)*
// sub applications
#sub_apps
/// Utility functions used to enforce implementing appropriate task traits
#task_trait_check_functions
}
}
}
fn generate_sub_apps(&self) -> TokenStream2 {
let implementation = self.implementation;
let iter = self
.app
.sub_apps
.iter()
.zip(self.analysis.sub_analysis.iter());
let args = &self.app.args;
let apps = iter.map(|(app, analysis)| {
let cfg_core = multibin::multibin_cfg_core(app.core);
let post_init = implementation.post_init(args, app, analysis);
// init
let def_init_task = &app.init.body;
let init_task = &app.init.ident;
let late_init_struct = generate_late_init_tasks_struct(&analysis.late_resource_tasks);
// idle
let def_idle_task = app.idle.as_ref().map(|idle| {
let idle_task = idle.generate_task_def(app.shared.as_ref());
Some(idle_task)
});
let call_idle_task =
generate_idle_call(app.idle.as_ref(), implementation.populate_idle_loop());
// tasks
let tasks_def = app
.tasks
.iter()
.map(|task| task.generate_task_def(app.shared.as_ref()));
let task_init_calls = app.tasks.iter().filter_map(RticTask::task_init_call);
let hw_tasks_binds = app
.tasks
.iter()
.filter_map(|t| t.generate_hw_task_to_irq_binding(implementation));
// shared resources
let shared = app.shared.as_ref();
let def_shared = shared.map(|shared| shared.generate_shared_resources_def());
let shared_resources_handle = shared.map(SharedResources::name_uppercase);
let shared_resources_handle = shared_resources_handle.iter();
let resource_proxies = app
.shared
.as_ref()
.map(|shared| shared.generate_resource_proxies(implementation, args, app));
// local and shared resources initialization
let init_system = if let Some(s) = late_init_struct.as_ref() {
let tasks_initializer = format_ident!("__late_task_inits");
let user_task_late_inits = generate_late_tasks_init_calls(
&analysis.late_resource_tasks,
&tasks_initializer,
);
let task_inits_ty = &s.ident;
let shared_resource_ty = shared
.map(|s| s.strct.ident.to_token_stream())
.unwrap_or(quote!("()"));
quote! {
let (__shared_resources, #tasks_initializer) : (#shared_resource_ty, #task_inits_ty) = #init_task(); // call to init and get shared and local resources inits
#(unsafe {#shared_resources_handle.write(__shared_resources);})* // init shared resources
#user_task_late_inits
}
} else {
quote! {
let shared_resources = #init_task(); // call to init and get shared resources init
#(unsafe {#shared_resources_handle.write(shared_resources);})* // init shared resources
}
};
// priority masks
let priority_masks = implementation.generate_global_definitions(args, app, analysis);
let entry_attrs = implementation.entry_attrs();
let entry_name = implementation.entry_name(app.core);
let interrupt_free = format_ident!("{}", INTERRUPT_FREE_FN);
let def_core_type = generate_core_type(app.core);
let doc = format!(" CORE {}", app.core);
quote! {
#[doc = " ===================================="]
#[doc = #doc]
#[doc = " ==================================== "]
// define static mut shared resources
#def_shared
// init task
#cfg_core
#def_init_task
// idle task
#def_idle_task
// define tasks
#(#tasks_def)*
// bind hw tasks to interrupts
#(#hw_tasks_binds)*
// proxies for accessing the shared resources
#resource_proxies
// unique type for the specific sub-app/core
#def_core_type
// Computed priority Masks
#priority_masks
/// Type representing tasks that need explicit user initialization
#late_init_struct
#[doc = r" Entry of "]
#[doc = #doc]
#cfg_core
#(#entry_attrs)*
#[no_mangle]
fn #entry_name() -> ! {
// Disable interrupts during initialization
#interrupt_free(||{
// user init code
#init_system
// init tasks
unsafe {#(#task_init_calls)*}
// post initialization code
#post_init
});
#call_idle_task
}
}
});
quote!( #(#apps)* )
}
}
fn generate_idle_call(idle: Option<&IdleTask>, wfi: Option<TokenStream2>) -> TokenStream2 {
if let Some(idle) = idle {
let idle_ty = &idle.name();
let idle_instance_name = &idle.name_uppercase();
if !idle.user_initializable {
quote! {
unsafe {
#idle_instance_name.write(#idle_ty::init(()));
#idle_instance_name.assume_init_mut().exec();
}
}
} else {
let idle_instance_name = &idle.name_uppercase();
quote! {
unsafe {
#idle_instance_name.assume_init_mut().exec();
}
}
}
} else {
quote! {
loop {
#wfi
}
}
}
}
/// Generates a unique type for some core that is unsafe to create by the uer.
/// I.e, it will be used for internal purposes so the the user shouldn't attemp to create it
fn generate_core_type(core: u32) -> TokenStream2 {
let core_ty = utils::core_type(core);
let innter_core_ty = utils::core_type_inner(core);
let mod_core_ty = utils::core_type_mod(core);
let doc = format!("Unique type for core {core}");
quote! {
#[doc = #doc]
pub use #mod_core_ty::#core_ty;
mod #mod_core_ty {
struct #innter_core_ty;
pub struct #core_ty(#innter_core_ty);
impl #core_ty {
pub const unsafe fn new() -> Self {
#core_ty(#innter_core_ty)
}
}
}
}
}
/// This will generate the `user path::to::pac` statement. The output varies based on what features the distribution enables:
///
/// 1) If both `multipac` and `multibin` features are enabled, and the user provides a list of paths to PACs (i.e #app(device = [ path1, path2, ..])) the following will be generated
/// ```
/// #[cfg(core = '0')]
/// use path1 as _;
///
/// #[cfg(core = '1')]
/// use path2 as _;
/// ```
///
/// 2) If only `multipac` feature is enabled, and the user provides a list of paths to PACs (i.e #app(device = [ path1, path2, ..])) the following will be generated
/// ```
/// use path1 as _;
/// use path2 as _;
/// ```
///
/// 3) If neither `multipac`, nor `multibin` features are enabled, or if the user provides a single path to PACs (i.e #app(device = path::to::pac ) the following will be generated
/// ```
/// use path::to::pac as _;
/// ```
fn generate_use_pac_statement(app: &App) -> TokenStream2 {
if cfg!(feature = "multipac") && app.args.pacs.len() != 1 {
if cfg!(feature = "multibin") {
let iter = app.args.pacs.iter().enumerate().map(|(core, pac)| {
let cfg_core = multibin_cfg_core(core as u32);
quote! {
#cfg_core
use #pac as _;
}
});
quote! {
#(#iter)*
}
} else {
let pacs = &app.args.pacs;
quote! {
use #(#pacs)* as _;
}
}
} else {
let path_to_pac = &app.args.pacs[0];
quote! {
use #path_to_pac as _;
}
}
}