RISC-V support over CLINT (#815)

* Rebase to master

* using interrupt_mod

* bug fixes

* fix other backends

* Add changelog

* forgot about rtic-macros

* backend-specific configuration

* core peripherals optional over macro argument

* pre_init_preprocessing binding

* CI for RISC-V (WIP)

* separation of concerns

* add targets for RISC-V examples

* remove qemu feature

* prepare examples folder

* move examples all together

* move ci out of examples

* minor changes

* add cortex-m

* new xtask: proof of concept

* fix build.yml

* feature typo

* clean rtic examples

* reproduce weird issue

* remove unsafe code in user app

* update dependencies

* allow builds on riscv32imc

* let's fix QEMU

* Update .github/workflows/build.yml

Co-authored-by: Henrik Tjäder <henrik@tjaders.com>

* New build.rs

* removing test features

* adapt ui test to new version of clippy

* add more examples to RISC-V backend

* proper configuration of heapless for riscv32imc

* opt-out examples for riscv32imc

* point to new version of riscv-slic

* adapt new macro bindings

* adapt examples and CI to stable

* fix cortex-m CI

* Review

---------

Co-authored-by: Henrik Tjäder <henrik@tjaders.com>

7 files changed, 131 insertions, 2 deletions

diff --git a/rtic-macros/src/syntax/ast.rs b/rtic-macros/src/syntax/ast.rs
index f0067b8..06feb1f 100644
--- a/rtic-macros/src/syntax/ast.rs
+++ b/rtic-macros/src/syntax/ast.rs
@@ -2,7 +2,7 @@
 
 use syn::{Attribute, Expr, Ident, Item, ItemUse, Pat, PatType, Path, Stmt, Type};
 
-use crate::syntax::Map;
+use crate::syntax::{backend::BackendArgs, Map};
 
 /// The `#[app]` attribute
 #[derive(Debug)]
@@ -60,11 +60,17 @@ pub struct AppArgs {
     /// Device
     pub device: Path,
 
-    /// Peripherals
+    /// Core peripherals
+    pub core: bool,
+
+    /// Device peripherals
     pub peripherals: bool,
 
     /// Interrupts used to dispatch software tasks
     pub dispatchers: Dispatchers,
+
+    /// Backend-specific arguments
+    pub backend: Option<BackendArgs>,
 }
 
 /// The `init`-ialization function
diff --git a/rtic-macros/src/syntax/backend.rs b/rtic-macros/src/syntax/backend.rs
new file mode 100644
index 0000000..460ef56
--- /dev/null
+++ b/rtic-macros/src/syntax/backend.rs
@@ -0,0 +1,32 @@
+#[cfg(not(any(
+    feature = "cortex-m-source-masking",
+    feature = "cortex-m-basepri",
+    feature = "test-template",
+    feature = "riscv-esp32c3",
+    feature = "riscv-slic",
+)))]
+compile_error!("No backend selected");
+
+#[cfg(any(feature = "cortex-m-source-masking", feature = "cortex-m-basepri"))]
+pub use cortex::*;
+
+#[cfg(feature = "test-template")]
+pub use template::*;
+
+#[cfg(feature = "riscv-esp32c3")]
+pub use esp32c3::*;
+
+#[cfg(feature = "riscv-slic")]
+pub use riscv_slic::*;
+
+#[cfg(any(feature = "cortex-m-source-masking", feature = "cortex-m-basepri"))]
+mod cortex;
+
+#[cfg(feature = "test-template")]
+mod template;
+
+#[cfg(feature = "riscv-esp32c3")]
+mod esp32c3;
+
+#[cfg(feature = "riscv-slic")]
+mod riscv_slic;
diff --git a/rtic-macros/src/syntax/backend/cortex.rs b/rtic-macros/src/syntax/backend/cortex.rs
new file mode 100644
index 0000000..b53e927
--- /dev/null
+++ b/rtic-macros/src/syntax/backend/cortex.rs
@@ -0,0 +1,16 @@
+use syn::{
+    parse::{Parse, ParseStream},
+    Error, Result,
+};
+
+#[derive(Debug)]
+pub struct BackendArgs();
+
+impl Parse for BackendArgs {
+    fn parse(input: ParseStream) -> Result<Self> {
+        Err(Error::new(
+            input.span(),
+            "cortex backend does not accept any arguments",
+        ))
+    }
+}
diff --git a/rtic-macros/src/syntax/backend/esp32c3.rs b/rtic-macros/src/syntax/backend/esp32c3.rs
new file mode 100644
index 0000000..33143f4
--- /dev/null
+++ b/rtic-macros/src/syntax/backend/esp32c3.rs
@@ -0,0 +1,16 @@
+use syn::{
+    parse::{Parse, ParseStream},
+    Error, Result,
+};
+
+#[derive(Debug)]
+pub struct BackendArgs();
+
+impl Parse for BackendArgs {
+    fn parse(input: ParseStream) -> Result<Self> {
+        Err(Error::new(
+            input.span(),
+            "esp32c3 backend does not accept any arguments",
+        ))
+    }
+}
diff --git a/rtic-macros/src/syntax/backend/riscv_slic.rs b/rtic-macros/src/syntax/backend/riscv_slic.rs
new file mode 100644
index 0000000..2ed8e77
--- /dev/null
+++ b/rtic-macros/src/syntax/backend/riscv_slic.rs
@@ -0,0 +1,16 @@
+use syn::{
+    parse::{Parse, ParseStream},
+    Ident, Result,
+};
+
+#[derive(Debug)]
+pub struct BackendArgs {
+    pub hart_id: Ident,
+}
+
+impl Parse for BackendArgs {
+    fn parse(input: ParseStream) -> Result<Self> {
+        let hart_id = input.parse()?;
+        Ok(BackendArgs { hart_id })
+    }
+}
diff --git a/rtic-macros/src/syntax/backend/template.rs b/rtic-macros/src/syntax/backend/template.rs
new file mode 100644
index 0000000..6dad114
--- /dev/null
+++ b/rtic-macros/src/syntax/backend/template.rs
@@ -0,0 +1,15 @@
+use syn::{
+    parse::{Parse, ParseStream},
+    Result,
+};
+
+#[derive(Debug)]
+pub struct BackendArgs {
+    // Define your backend-specific input here
+}
+
+impl Parse for BackendArgs {
+    fn parse(input: ParseStream) -> Result<Self> {
+        todo!("define how to parse your backend-specific arguments")
+    }
+}
diff --git a/rtic-macros/src/syntax/parse/app.rs b/rtic-macros/src/syntax/parse/app.rs
index efcafbe..469bcb8 100644
--- a/rtic-macros/src/syntax/parse/app.rs
+++ b/rtic-macros/src/syntax/parse/app.rs
@@ -13,6 +13,7 @@ use crate::syntax::{
         App, AppArgs, Dispatcher, Dispatchers, HardwareTask, Idle, IdleArgs, Init, InitArgs,
         LocalResource, SharedResource, SoftwareTask,
     },
+    backend::BackendArgs,
     parse::{self as syntax_parse, util},
     Either, Map, Set,
 };
@@ -24,8 +25,10 @@ impl AppArgs {
         (|input: ParseStream<'_>| -> parse::Result<Self> {
             let mut custom = Set::new();
             let mut device = None;
+            let mut core = true;
             let mut peripherals = true;
             let mut dispatchers = Dispatchers::new();
+            let mut backend = None;
 
             loop {
                 if input.is_empty() {
@@ -59,6 +62,17 @@ impl AppArgs {
                         }
                     }
 
+                    "core" => {
+                        if let Ok(p) = input.parse::<LitBool>() {
+                            core = p.value;
+                        } else {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "unexpected argument value; this should be a boolean",
+                            ));
+                        }
+                    }
+
                     "peripherals" => {
                         if let Ok(p) = input.parse::<LitBool>() {
                             peripherals = p.value;
@@ -113,6 +127,18 @@ impl AppArgs {
                             ));
                         }
                     }
+
+                    "backend" => {
+                        if let Ok(p) = input.parse::<BackendArgs>() {
+                            backend = Some(p);
+                        } else {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "unable to parse backend configuration",
+                            ));
+                        }
+                    }
+
                     _ => {
                         return Err(parse::Error::new(ident.span(), "unexpected argument"));
                     }
@@ -134,8 +160,10 @@ impl AppArgs {
 
             Ok(AppArgs {
                 device,
+                core,
                 peripherals,
                 dispatchers,
+                backend,
             })
         })
         .parse2(tokens)