Added esp32c6 support and example

2 files changed, 256 insertions, 0 deletions

diff --git a/rtic-macros/src/codegen/bindings.rs b/rtic-macros/src/codegen/bindings.rs
index 501ccdf..c45b99e 100644
--- a/rtic-macros/src/codegen/bindings.rs
+++ b/rtic-macros/src/codegen/bindings.rs
@@ -3,6 +3,7 @@
     feature = "cortex-m-basepri",
     feature = "test-template",
     feature = "riscv-esp32c3",
+    feature = "riscv-esp32c6",
     feature = "riscv-slic",
 )))]
 compile_error!("No backend selected");
@@ -25,6 +26,12 @@ pub use esp32c3::*;
 #[cfg(feature = "riscv-esp32c3")]
 mod esp32c3;
 
+#[cfg(feature = "riscv-esp32c6")]
+pub use esp32c6::*;
+
+#[cfg(feature = "riscv-esp32c6")]
+mod esp32c6;
+
 #[cfg(feature = "riscv-slic")]
 pub use riscv_slic::*;
 
diff --git a/rtic-macros/src/codegen/bindings/esp32c6.rs b/rtic-macros/src/codegen/bindings/esp32c6.rs
new file mode 100644
index 0000000..28984db
--- /dev/null
+++ b/rtic-macros/src/codegen/bindings/esp32c6.rs
@@ -0,0 +1,249 @@
+#[cfg(feature = "riscv-esp32c6")]
+pub use esp32c6::*;
+
+#[cfg(feature = "riscv-esp32c6")]
+mod esp32c6 {
+    use crate::{
+        analyze::Analysis as CodegenAnalysis,
+        codegen::util,
+        syntax::{analyze::Analysis as SyntaxAnalysis, ast::App},
+    };
+    use proc_macro2::{Span, TokenStream as TokenStream2};
+    use quote::quote;
+    use std::collections::HashSet;
+    use syn::{parse, Attribute, Ident};
+
+    #[allow(clippy::too_many_arguments)]
+    pub fn impl_mutex(
+        _app: &App,
+        _analysis: &CodegenAnalysis,
+        cfgs: &[Attribute],
+        resources_prefix: bool,
+        name: &Ident,
+        ty: &TokenStream2,
+        ceiling: u8,
+        ptr: &TokenStream2,
+    ) -> TokenStream2 {
+        let path = if resources_prefix {
+            quote!(shared_resources::#name)
+        } else {
+            quote!(#name)
+        };
+        quote!(
+            #(#cfgs)*
+            impl<'a> rtic::Mutex for #path<'a> {
+                type T = #ty;
+
+                #[inline(always)]
+                fn lock<RTIC_INTERNAL_R>(&mut self, f: impl FnOnce(&mut #ty) -> RTIC_INTERNAL_R) -> RTIC_INTERNAL_R {
+                    /// Priority ceiling
+                    const CEILING: u8 = #ceiling;
+                    unsafe {
+                        rtic::export::lock(
+                            #ptr,
+                            CEILING,
+                            f,
+                        )
+                    }
+                }
+            }
+        )
+    }
+
+    pub fn interrupt_ident() -> Ident {
+        let span = Span::call_site();
+        Ident::new("Interrupt", span)
+    }
+
+    pub fn interrupt_mod(app: &App) -> TokenStream2 {
+        let device = &app.args.device;
+        let interrupt = interrupt_ident();
+        quote!(#device::#interrupt)
+    }
+
+    pub fn extra_assertions(_: &App, _: &SyntaxAnalysis) -> Vec<TokenStream2> {
+        vec![]
+    }
+
+    pub fn pre_init_preprocessing(_app: &mut App, _analysis: &SyntaxAnalysis) -> parse::Result<()> {
+        Ok(())
+    }
+
+    pub fn pre_init_checks(app: &App, _: &SyntaxAnalysis) -> Vec<TokenStream2> {
+        let mut stmts = vec![];
+        // check that all dispatchers exists in the `Interrupt` enumeration regardless of whether
+        // they are used or not
+        let rt_err = util::rt_err_ident();
+
+        for name in app.args.dispatchers.keys() {
+            stmts.push(quote!(let _ = #rt_err::Interrupt::#name;));
+        }
+        stmts
+    }
+    pub fn pre_init_enable_interrupts(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+        let mut stmts = vec![];
+        let mut curr_cpu_id: u8 = 1; //cpu interrupt id 0 is reserved
+        let rt_err = util::rt_err_ident();
+        let max_prio: usize = 15; //unfortunately this is not part of pac, but we know that max prio is 15.
+        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| Some((&task.args.priority, &task.args.binds))),
+        ) {
+            let es = format!(
+                "Maximum priority used by interrupt vector '{name}' is more than supported by hardware"
+            );
+            // Compile time assert that this priority is supported by the device
+            stmts.push(quote!(
+                const _: () =  if (#max_prio) <= #priority as usize { ::core::panic!(#es); };
+            ));
+            stmts.push(quote!(
+                rtic::export::enable(
+                    #rt_err::Interrupt::#name,
+                    #priority,
+                    #curr_cpu_id,
+                );
+            ));
+            curr_cpu_id += 1;
+        }
+        stmts
+    }
+
+    pub fn architecture_specific_analysis(
+        app: &App,
+        _analysis: &SyntaxAnalysis,
+    ) -> parse::Result<()> {
+        //check if the dispatchers are supported
+        for name in app.args.dispatchers.keys() {
+            let name_s = name.to_string();
+            match &*name_s {
+                "FROM_CPU_INTR0" | "FROM_CPU_INTR1" | "FROM_CPU_INTR2" | "FROM_CPU_INTR3" => {}
+
+                _ => {
+                    return Err(parse::Error::new(
+                        name.span(),
+                        "Only FROM_CPU_INTRX are supported as dispatchers",
+                    ));
+                }
+            }
+        }
+
+        // Check that there are enough external interrupts to dispatch the software tasks and the timer
+        // queue handler
+        let mut first = None;
+        let priorities = app
+            .software_tasks
+            .iter()
+            .map(|(name, task)| {
+                first = Some(name);
+                task.args.priority
+            })
+            .filter(|prio| *prio > 0)
+            .collect::<HashSet<_>>();
+
+        let need = priorities.len();
+        let given = app.args.dispatchers.len();
+        if need > given {
+            let s = {
+                format!(
+                    "not enough interrupts to dispatch \
+                        all software tasks (need: {need}; given: {given})"
+                )
+            };
+
+            // If not enough tasks and first still is None, may cause
+            // "custom attribute panicked" due to unwrap on None
+            return Err(parse::Error::new(first.unwrap().span(), s));
+        }
+        Ok(())
+    }
+
+    pub fn interrupt_entry(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+        vec![]
+    }
+
+    pub fn interrupt_exit(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+        vec![]
+    }
+
+    pub fn check_stack_overflow_before_init(
+        _app: &App,
+        _analysis: &CodegenAnalysis,
+    ) -> Vec<TokenStream2> {
+        vec![quote!(
+            // Check for stack overflow using symbols from `risc-v-rt`.
+            extern "C" {
+                pub static _stack_start: u32;
+                pub static _bss_end: u32;
+            }
+
+            let stack_start = &_stack_start as *const _ as u32;
+            let ebss = &_bss_end as *const _ as u32;
+
+            if stack_start > ebss {
+                // No flip-link usage, check the SP for overflow.
+                if rtic::export::read_sp() <= ebss {
+                    panic!("Stack overflow after allocating executors");
+                }
+            }
+        )]
+    }
+
+    pub fn async_entry(
+        _app: &App,
+        _analysis: &CodegenAnalysis,
+        dispatcher_name: Ident,
+    ) -> Vec<TokenStream2> {
+        let mut stmts = vec![];
+        stmts.push(quote!(
+            rtic::export::unpend(rtic::export::Interrupt::#dispatcher_name); //simulate cortex-m behavior by unpending the interrupt on entry.
+        ));
+        stmts
+    }
+
+    pub fn async_prio_limit(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
+        let max = if let Some(max) = analysis.max_async_prio {
+            quote!(#max)
+        } else {
+            // No limit
+            let device = &app.args.device;
+            quote!(1 << #device::NVIC_PRIO_BITS)
+        };
+
+        vec![quote!(
+            /// Holds the maximum priority level for use by async HAL drivers.
+            #[no_mangle]
+            static RTIC_ASYNC_MAX_LOGICAL_PRIO: u8 = #max;
+        )]
+    }
+    pub fn handler_config(
+        app: &App,
+        analysis: &CodegenAnalysis,
+        dispatcher_name: Ident,
+    ) -> Vec<TokenStream2> {
+        let mut stmts = vec![];
+        let mut curr_cpu_id = 1;
+        //let mut ret = "";
+        let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
+        for (_, name) in interrupt_ids.chain(
+            app.hardware_tasks
+                .values()
+                .filter_map(|task| Some((&task.args.priority, &task.args.binds))),
+        ) {
+            if *name == dispatcher_name {
+                let ret = &("cpu_int_".to_owned() + &curr_cpu_id.to_string() + "_handler");
+                stmts.push(quote!(#[export_name = #ret]));
+            }
+            curr_cpu_id += 1;
+        }
+
+        stmts
+    }
+
+pub fn extra_modules(_app: &App, _analysis: &SyntaxAnalysis) -> Vec<TokenStream2> {
+    vec![]
+}
+}
+