diff options
84 files changed, 757 insertions, 382 deletions
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index c687115..e53672b 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -45,7 +45,6 @@ jobs: - x86_64-unknown-linux-gnu toolchain: - stable - - 1.36.0 steps: - name: Checkout uses: actions/checkout@v2 @@ -79,10 +78,6 @@ jobs: target: ${{ matrix.target }} override: true - - name: Disable optimisation profiles - if: matrix.toolchain == '1.36.0' - run: sed -i '/^\[profile.*build-override]$/,/^$/{/^#/!{/^$/!d}}' Cargo.toml - - name: cargo check uses: actions-rs/cargo@v1 with: @@ -90,7 +85,7 @@ jobs: command: check args: --target=${{ matrix.target }} - # Verify all examples + # Verify all examples, checks checkexamples: name: checkexamples runs-on: ubuntu-20.04 @@ -145,6 +140,51 @@ jobs: command: check args: --examples --target=${{ matrix.target }} --features __min_r1_43,${{ env.V7 }} + # Verify the example output with run-pass tests + testexamples: + name: testexamples + runs-on: ubuntu-20.04 + strategy: + matrix: + target: + - thumbv7m-none-eabi + - thumbv6m-none-eabi + toolchain: + - stable + steps: + - name: Checkout + uses: actions/checkout@v2 + + - name: Cache cargo dependencies + uses: actions/cache@v2 + with: + path: | + - ~/.cargo/bin/ + - ~/.cargo/registry/index/ + - ~/.cargo/registry/cache/ + - ~/.cargo/git/db/ + key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }} + restore-keys: | + ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }} + ${{ runner.OS }}-cargo- + + - name: Cache build output dependencies + uses: actions/cache@v2 + with: + path: target + key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }} + restore-keys: | + ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }} + ${{ runner.OS }}-build- + + - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }}) + uses: actions-rs/toolchain@v1 + with: + toolchain: ${{ matrix.toolchain }} + target: ${{ matrix.target }} + override: true + components: llvm-tools-preview + # Use precompiled binutils - name: cargo install cargo-binutils uses: actions-rs/install@v0.1 @@ -306,7 +346,6 @@ jobs: - x86_64-unknown-linux-gnu toolchain: - stable - - 1.36.0 steps: - name: Checkout uses: actions/checkout@v2 @@ -340,10 +379,6 @@ jobs: target: ${{ matrix.target }} override: true - - name: Disable optimisation profiles - if: matrix.toolchain == '1.36.0' - run: sed -i '/^\[profile.*build-override]$/,/^$/{/^#/!{/^$/!d}}' Cargo.toml - - name: cargo check uses: actions-rs/cargo@v1 with: @@ -382,13 +417,10 @@ jobs: - name: Install Rust uses: actions-rs/toolchain@v1 with: - toolchain: 1.36.0 + toolchain: stable target: thumbv7m-none-eabi override: true - - name: Disable optimisation profiles - run: sed -i '/^\[profile.*build-override]$/,/^$/{/^#/!{/^$/!d}}' Cargo.toml - - uses: actions-rs/cargo@v1 with: use-cross: false @@ -426,13 +458,10 @@ jobs: - name: Install Rust uses: actions-rs/toolchain@v1 with: - toolchain: 1.36.0 + toolchain: stable target: thumbv6m-none-eabi override: true - - name: Disable optimisation profiles - run: sed -i '/^\[profile.*build-override]$/,/^$/{/^#/!{/^$/!d}}' Cargo.toml - - uses: actions-rs/cargo@v1 with: use-cross: false @@ -594,27 +623,37 @@ jobs: - name: Build books run: | langs=( en ru ) - latest=0.5 - vers=( 0.4.x ) + devver=( dev ) + # The latest stable must be the first element in the array + vers=( 0.5.x 0.4.x ) + + # All releases start with "v" + # followed by MAJOR.MINOR.PATCH, see semver.org + # Retain MAJOR.MINOR as $stable + stable=${vers%.*} + + echo "Stable version: $stable" # Create directories td=$(mktemp -d) - mkdir -p $td/$latest/book/ - cp -r target/doc $td/$latest/api + mkdir -p $td/$devver/book/ + cp -r target/doc $td/$devver/api + + # Redirect the main site to the stable release + sed "s|URL|$stable|g" redirect.html > $td/index.html - # sed fixes - sed 's|URL|rtic/index.html|g' redirect.html > $td/$latest/api/index.html - sed 's|URL|0.5|g' redirect.html > $td/index.html - sed 's|URL|book/en|g' redirect.html > $td/$latest/index.html + # Create the redirects for dev-version + sed 's|URL|rtic/index.html|g' redirect.html > $td/$devver/api/index.html + sed 's|URL|book/en|g' redirect.html > $td/$devver/index.html # Build books for lang in ${langs[@]}; do ( cd book/$lang && mdbook build ) - cp -r book/$lang/book $td/$latest/book/$lang - cp LICENSE-* $td/$latest/book/$lang/ + cp -r book/$lang/book $td/$devver/book/$lang + cp LICENSE-* $td/$devver/book/$lang/ done - # Build older versions + # Build older versions, including stable root=$(pwd) for ver in ${vers[@]}; do prefix=${ver%.*} @@ -639,6 +678,9 @@ jobs: rm -rf $src done + # Copy the stable book to the stable alias + cp -r $td/$stable $td/stable + # Forward CNAME file cp CNAME $td/ mv $td/ bookstodeploy @@ -660,6 +702,7 @@ jobs: - style - check - checkexamples + - testexamples - checkmacros - testv7 - testv6 @@ -676,6 +719,7 @@ jobs: - style - check - checkexamples + - testexamples - checkmacros - testv7 - testv6 @@ -60,6 +60,7 @@ cortex-m-rtic-macros = { path = "macros", version = "0.5.2" } rtic-core = "0.3.0" cortex-m-rt = "0.6.9" heapless = "0.5.0" +bare-metal = "1.0.0" [build-dependencies] version_check = "0.9" diff --git a/book/en/src/SUMMARY.md b/book/en/src/SUMMARY.md index 25aef81..a573cbb 100644 --- a/book/en/src/SUMMARY.md +++ b/book/en/src/SUMMARY.md @@ -21,5 +21,3 @@ - [Ceiling analysis](./internals/ceilings.md) - [Software tasks](./internals/tasks.md) - [Timer queue](./internals/timer-queue.md) -- [Homogeneous multi-core support](./homogeneous.md) -- [Heterogeneous multi-core support](./heterogeneous.md) diff --git a/book/en/src/by-example.md b/book/en/src/by-example.md index d452722..38985da 100644 --- a/book/en/src/by-example.md +++ b/book/en/src/by-example.md @@ -9,7 +9,7 @@ is required to follow along. [repository]: https://github.com/rtic-rs/cortex-m-rtic -To run the examples on your laptop / PC you'll need the `qemu-system-arm` +To run the examples on your computer you'll need the `qemu-system-arm` program. Check [the embedded Rust book] for instructions on how to set up an embedded development environment that includes QEMU. diff --git a/book/en/src/by-example/app.md b/book/en/src/by-example/app.md index 9a073ac..ab6f452 100644 --- a/book/en/src/by-example/app.md +++ b/book/en/src/by-example/app.md @@ -7,7 +7,7 @@ This is the smallest possible RTIC application: ``` All RTIC applications use the [`app`] attribute (`#[app(..)]`). This attribute -must be applied to a `const` item that contains items. The `app` attribute has +must be applied to a `mod`-item. The `app` attribute has a mandatory `device` argument that takes a *path* as a value. This path must point to a *peripheral access crate* (PAC) generated using [`svd2rust`] **v0.14.x** or newer. The `app` attribute will expand into a suitable entry @@ -17,31 +17,25 @@ point so it's not required to use the [`cortex_m_rt::entry`] attribute. [`svd2rust`]: https://crates.io/crates/svd2rust [`cortex_m_rt::entry`]: ../../../api/cortex_m_rt_macros/attr.entry.html -> **ASIDE**: Some of you may be wondering why we are using a `const` item as a -> module and not a proper `mod` item. The reason is that using attributes on -> modules requires a feature gate, which requires a nightly toolchain. To make -> RTIC work on stable we use the `const` item instead. When more parts of macros -> 1.2 are stabilized we'll move from a `const` item to a `mod` item and -> eventually to a crate level attribute (`#![app]`). - ## `init` -Within the pseudo-module the `app` attribute expects to find an initialization +Within the `app` module the attribute expects to find an initialization function marked with the `init` attribute. This function must have signature `fn(init::Context) [-> init::LateResources]` (the return type is not always required). This initialization function will be the first part of the application to run. The `init` function will run *with interrupts disabled* and has exclusive access -to Cortex-M and, optionally, device specific peripherals through the `core` and -`device` fields of `init::Context`. +to Cortex-M where the `bare_metal::CriticalSection` token is available as `cs`. +And optionally, device specific peripherals through the `core` and `device` fields +of `init::Context`. `static mut` variables declared at the beginning of `init` will be transformed into `&'static mut` references that are safe to access. [`rtic::Peripherals`]: ../../api/rtic/struct.Peripherals.html -The example below shows the types of the `core` and `device` fields and +The example below shows the types of the `core`, `device` and `cs` fields, and showcases safe access to a `static mut` variable. The `device` field is only available when the `peripherals` argument is set to `true` (it defaults to `false`). @@ -55,12 +49,13 @@ process. ``` console $ cargo run --example init -{{#include ../../../../ci/expected/init.run}}``` +{{#include ../../../../ci/expected/init.run}} +``` ## `idle` A function marked with the `idle` attribute can optionally appear in the -pseudo-module. This function is used as the special *idle task* and must have +module. This function is used as the special *idle task* and must have signature `fn(idle::Context) - > !`. When present, the runtime will execute the `idle` task after `init`. Unlike @@ -86,7 +81,8 @@ in LLVM which miss-optimizes empty loops to a `UDF` instruction in release mode. ``` console $ cargo run --example idle -{{#include ../../../../ci/expected/idle.run}}``` +{{#include ../../../../ci/expected/idle.run}} +``` ## Hardware tasks @@ -107,7 +103,8 @@ mut` variables are safe to use within a hardware task. ``` console $ cargo run --example hardware -{{#include ../../../../ci/expected/hardware.run}}``` +{{#include ../../../../ci/expected/hardware.run}} +``` So far all the RTIC applications we have seen look no different than the applications one can write using only the `cortex-m-rt` crate. From this point @@ -139,7 +136,8 @@ The following example showcases the priority based scheduling of tasks. ``` console $ cargo run --example preempt -{{#include ../../../../ci/expected/preempt.run}}``` +{{#include ../../../../ci/expected/preempt.run}} +``` Note that the task `gpiob` does *not* preempt task `gpioc` because its priority is the *same* as `gpioc`'s. However, once `gpioc` terminates the execution of diff --git a/book/en/src/by-example/new.md b/book/en/src/by-example/new.md index abcc36d..866a9fa 100644 --- a/book/en/src/by-example/new.md +++ b/book/en/src/by-example/new.md @@ -63,4 +63,5 @@ $ cargo add panic-semihosting ``` console $ # NOTE: I have uncommented the `runner` option in `.cargo/config` $ cargo run -{{#include ../../../../ci/expected/init.run}}``` +{{#include ../../../../ci/expected/init.run}} +``` diff --git a/book/en/src/by-example/resources.md b/book/en/src/by-example/resources.md index b9e92d1..d082dfc 100644 --- a/book/en/src/by-example/resources.md +++ b/book/en/src/by-example/resources.md @@ -4,11 +4,13 @@ The framework provides an abstraction to share data between any of the contexts we saw in the previous section (task handlers, `init` and `idle`): resources. Resources are data visible only to functions declared within the `#[app]` -pseudo-module. The framework gives the user complete control over which context +module. The framework gives the user complete control over which context can access which resource. All resources are declared as a single `struct` within the `#[app]` -pseudo-module. Each field in the structure corresponds to a different resource. +module. Each field in the structure corresponds to a different resource. +The `struct` must be annotated with the following attribute: `#[resources]`. + Resources can optionally be given an initial value using the `#[init]` attribute. Resources that are not given an initial value are referred to as *late* resources and are covered in more detail in a follow-up section in this @@ -29,7 +31,8 @@ access to a resource named `shared`. ``` console $ cargo run --example resource -{{#include ../../../../ci/expected/resource.run}}``` +{{#include ../../../../ci/expected/resource.run}} +``` Note that the `shared` resource cannot be accessed from `idle`. Attempting to do so results in a compile error. @@ -71,7 +74,8 @@ lowest priority handler. ``` console $ cargo run --example lock -{{#include ../../../../ci/expected/lock.run}}``` +{{#include ../../../../ci/expected/lock.run}} +``` ## Late resources @@ -97,7 +101,8 @@ the consumer resource. ``` console $ cargo run --example late -{{#include ../../../../ci/expected/late.run}}``` +{{#include ../../../../ci/expected/late.run}} +``` ## Only shared access @@ -127,4 +132,5 @@ any kind of lock. ``` console $ cargo run --example only-shared-access -{{#include ../../../../ci/expected/only-shared-access.run}}``` +{{#include ../../../../ci/expected/only-shared-access.run}} +``` diff --git a/book/en/src/by-example/tasks.md b/book/en/src/by-example/tasks.md index d0b5acb..ba16404 100644 --- a/book/en/src/by-example/tasks.md +++ b/book/en/src/by-example/tasks.md @@ -25,7 +25,8 @@ priorities. The three software tasks are mapped to 2 interrupts handlers. ``` console $ cargo run --example task -{{#include ../../../../ci/expected/task.run}}``` +{{#include ../../../../ci/expected/task.run}} +``` ## Message passing @@ -41,7 +42,8 @@ The example below showcases three tasks, two of them expect a message. ``` console $ cargo run --example message -{{#include ../../../../ci/expected/message.run}}``` +{{#include ../../../../ci/expected/message.run}} +``` ## Capacity @@ -63,7 +65,8 @@ fail (panic). ``` console $ cargo run --example capacity -{{#include ../../../../ci/expected/capacity.run}}``` +{{#include ../../../../ci/expected/capacity.run}} +``` ## Error handling @@ -92,7 +95,7 @@ following snippet: ``` rust #[rtic::app(..)] -const APP: () = { +mod app { #[init(spawn = [foo, bar])] fn init(cx: init::Context) { cx.spawn.foo().unwrap(); @@ -113,5 +116,5 @@ const APP: () = { fn bar(cx: bar::Context, payload: i32) { // .. } -}; +} ``` diff --git a/book/en/src/by-example/tips.md b/book/en/src/by-example/tips.md index b191b9d..d8264c9 100644 --- a/book/en/src/by-example/tips.md +++ b/book/en/src/by-example/tips.md @@ -24,7 +24,8 @@ Here's one such example: ``` console $ cargo run --example generics -{{#include ../../../../ci/expected/generics.run}}``` +{{#include ../../../../ci/expected/generics.run}} +``` Using generics also lets you change the static priorities of tasks during development without having to rewrite a bunch code every time. @@ -47,7 +48,8 @@ the program has been compiled using the `dev` profile. $ cargo run --example cfg --release $ cargo run --example cfg -{{#include ../../../../ci/expected/cfg.run}}``` +{{#include ../../../../ci/expected/cfg.run}} +``` ## Running tasks from RAM @@ -78,7 +80,8 @@ Running this program produces the expected output. ``` console $ cargo run --example ramfunc -{{#include ../../../../ci/expected/ramfunc.run}}``` +{{#include ../../../../ci/expected/ramfunc.run}} +``` One can look at the output of `cargo-nm` to confirm that `bar` ended in RAM (`0x2000_0000`), whereas `foo` ended in Flash (`0x0000_0000`). @@ -115,7 +118,8 @@ Here's an example where `heapless::Pool` is used to "box" buffers of 128 bytes. ``` ``` console $ cargo run --example pool -{{#include ../../../../ci/expected/pool.run}}``` +{{#include ../../../../ci/expected/pool.run}} +``` ## Inspecting the expanded code @@ -139,7 +143,7 @@ $ tail target/rtic-expansion.rs ``` rust #[doc = r" Implementation details"] -const APP: () = { +mod app { #[doc = r" Always include the device crate which contains the vector table"] use lm3s6965 as _; #[no_mangle] @@ -152,7 +156,7 @@ const APP: () = { rtic::export::wfi() } } -}; +} ``` Or, you can use the [`cargo-expand`] sub-command. This sub-command will expand diff --git a/book/en/src/by-example/types-send-sync.md b/book/en/src/by-example/types-send-sync.md index 41cd9ba..9cdb889 100644 --- a/book/en/src/by-example/types-send-sync.md +++ b/book/en/src/by-example/types-send-sync.md @@ -1,6 +1,6 @@ # Types, Send and Sync -Every function within the `APP` pseudo-module has a `Context` structure as its +Every function within the `app` module has a `Context` structure as its first parameter. All the fields of these structures have predictable, non-anonymous types so you can write plain functions that take them as arguments. diff --git a/book/en/src/heterogeneous.md b/book/en/src/heterogeneous.md deleted file mode 100644 index d2c3d6c..0000000 --- a/book/en/src/heterogeneous.md +++ /dev/null @@ -1,6 +0,0 @@ -# Heterogeneous multi-core support - -This section covers the *experimental* heterogeneous multi-core support provided -by RTIC behind the `heterogeneous` Cargo feature. - -**Content coming soon** diff --git a/book/en/src/homogeneous.md b/book/en/src/homogeneous.md deleted file mode 100644 index bcf6d2b..0000000 --- a/book/en/src/homogeneous.md +++ /dev/null @@ -1,6 +0,0 @@ -# Homogeneous multi-core support - -This section covers the *experimental* homogeneous multi-core support provided -by RTIC behind the `homogeneous` Cargo feature. - -**Content coming soon** diff --git a/book/en/src/internals/access.md b/book/en/src/internals/access.md index 6433707..3894470 100644 --- a/book/en/src/internals/access.md +++ b/book/en/src/internals/access.md @@ -15,7 +15,7 @@ To achieve the fine-grained access control where tasks can only access the static variables (resources) that they have specified in their RTIC attribute the RTIC framework performs a source code level transformation. This transformation consists of placing the resources (static variables) specified by -the user *inside* a `const` item and the user code *outside* the `const` item. +the user *inside* a module and the user code *outside* the module. This makes it impossible for the user code to refer to these static variables. Access to the resources is then given to each task using a `Resources` struct @@ -29,7 +29,7 @@ happens behind the scenes: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { static mut X: u64: 0; static mut Y: bool: 0; @@ -49,7 +49,7 @@ const APP: () = { } // .. -}; +} ``` The framework produces codes like this: @@ -103,8 +103,8 @@ pub mod bar { } /// Implementation details -const APP: () = { - // everything inside this `const` item is hidden from user code +mod app { + // everything inside this module is hidden from user code static mut X: u64 = 0; static mut Y: bool = 0; @@ -154,5 +154,5 @@ const APP: () = { // .. }); } -}; +} ``` diff --git a/book/en/src/internals/ceilings.md b/book/en/src/internals/ceilings.md index 49d248a..07bd0ad 100644 --- a/book/en/src/internals/ceilings.md +++ b/book/en/src/internals/ceilings.md @@ -28,7 +28,7 @@ An example to illustrate the ceiling analysis: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { struct Resources { // accessed by `foo` (prio = 1) and `bar` (prio = 2) // -> CEILING = 2 @@ -80,5 +80,5 @@ const APP: () = { } // .. -}; +} ``` diff --git a/book/en/src/internals/critical-sections.md b/book/en/src/internals/critical-sections.md index f95a5a7..a064ad0 100644 --- a/book/en/src/internals/critical-sections.md +++ b/book/en/src/internals/critical-sections.md @@ -32,7 +32,7 @@ The example below shows the different types handed out to each task: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mut app { struct Resources { #[init(0)] x: u64, @@ -57,7 +57,7 @@ const APP: () = { } // .. -}; +} ``` Now let's see how these types are created by the framework. @@ -99,7 +99,7 @@ pub mod bar { } } -const APP: () = { +mod app { static mut x: u64 = 0; impl rtic::Mutex for resources::x { @@ -129,7 +129,7 @@ const APP: () = { // .. }) } -}; +} ``` ## `lock` @@ -225,7 +225,7 @@ Consider this program: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { struct Resources { #[init(0)] x: u64, @@ -277,7 +277,7 @@ const APP: () = { } // .. -}; +} ``` The code generated by the framework looks like this: @@ -315,7 +315,7 @@ pub mod foo { } } -const APP: () = { +mod app { use cortex_m::register::basepri; #[no_mangle] @@ -368,7 +368,7 @@ const APP: () = { } // repeat for resource `y` -}; +} ``` At the end the compiler will optimize the function `foo` into something like @@ -430,7 +430,7 @@ handler through preemption. This is best observed in the following example: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { struct Resources { #[init(0)] x: u64, @@ -484,7 +484,7 @@ const APP: () = { // .. } -}; +} ``` IMPORTANT: let's say we *forget* to roll back `BASEPRI` in `UART1` -- this would @@ -493,7 +493,7 @@ be a bug in the RTIC code generator. ``` rust // code generated by RTIC -const APP: () = { +mod app { // .. #[no_mangle] @@ -513,7 +513,7 @@ const APP: () = { // BUG: FORGOT to roll back the BASEPRI to the snapshot value we took before basepri::write(initial); } -}; +} ``` The consequence is that `idle` will run at a dynamic priority of `2` and in fact diff --git a/book/en/src/internals/interrupt-configuration.md b/book/en/src/internals/interrupt-configuration.md index 278707c..7aec9c9 100644 --- a/book/en/src/internals/interrupt-configuration.md +++ b/book/en/src/internals/interrupt-configuration.md @@ -13,7 +13,7 @@ This example gives you an idea of the code that the RTIC framework runs: ``` rust #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(c: init::Context) { // .. user code .. @@ -28,7 +28,7 @@ const APP: () = { fn foo(c: foo::Context) { // .. user code .. } -}; +} ``` The framework generates an entry point that looks like this: diff --git a/book/en/src/internals/late-resources.md b/book/en/src/internals/late-resources.md index ad2a5e5..f3a0b0a 100644 --- a/book/en/src/internals/late-resources.md +++ b/book/en/src/internals/late-resources.md @@ -10,7 +10,7 @@ initialize late resources. ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { struct Resources { x: Thing, } @@ -34,7 +34,7 @@ const APP: () = { } // .. -}; +} ``` The code generated by the framework looks like this: @@ -69,7 +69,7 @@ pub mod foo { } /// Implementation details -const APP: () = { +mod app { // uninitialized static static mut x: MaybeUninit<Thing> = MaybeUninit::uninit(); @@ -101,7 +101,7 @@ const APP: () = { // .. }) } -}; +} ``` An important detail here is that `interrupt::enable` behaves like a *compiler diff --git a/book/en/src/internals/non-reentrancy.md b/book/en/src/internals/non-reentrancy.md index 0b0e4a7..17b34d0 100644 --- a/book/en/src/internals/non-reentrancy.md +++ b/book/en/src/internals/non-reentrancy.md @@ -12,7 +12,7 @@ are discouraged from directly invoking an interrupt handler. ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { #[init] fn init(c: init::Context) { .. } @@ -39,7 +39,7 @@ const APP: () = { // in aliasing of the static variable `X` unsafe { UART0() } } -}; +} ``` The RTIC framework must generate the interrupt handler code that calls the user @@ -57,7 +57,7 @@ fn bar(c: bar::Context) { // .. user code .. } -const APP: () = { +mod app { // everything in this block is not visible to user code #[no_mangle] @@ -69,7 +69,7 @@ const APP: () = { unsafe fn USART1() { bar(..); } -}; +} ``` ## By hardware diff --git a/book/en/src/internals/tasks.md b/book/en/src/internals/tasks.md index 995a885..a533dc0 100644 --- a/book/en/src/internals/tasks.md +++ b/book/en/src/internals/tasks.md @@ -28,7 +28,7 @@ Consider this example: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { // .. #[interrupt(binds = UART0, priority = 2, spawn = [bar, baz])] @@ -51,7 +51,7 @@ const APP: () = { extern "C" { fn UART1(); } -}; +} ``` The framework produces the following task dispatcher which consists of an @@ -62,7 +62,7 @@ fn bar(c: bar::Context) { // .. user code .. } -const APP: () = { +mod app { use heapless::spsc::Queue; use cortex_m::register::basepri; @@ -110,7 +110,7 @@ const APP: () = { // BASEPRI invariant basepri::write(snapshot); } -}; +} ``` ## Spawning a task @@ -144,7 +144,7 @@ mod foo { } } -const APP: () = { +mod app { // .. // Priority ceiling for the producer endpoint of the `RQ1` @@ -194,7 +194,7 @@ const APP: () = { } } } -}; +} ``` Using `bar_FQ` to limit the number of `bar` tasks that can be spawned may seem @@ -211,7 +211,7 @@ fn baz(c: baz::Context, input: u64) { // .. user code .. } -const APP: () = { +mod app { // .. // Now we show the full contents of the `Ready` struct @@ -263,13 +263,13 @@ const APP: () = { } } } -}; +} ``` And now let's look at the real implementation of the task dispatcher: ``` rust -const APP: () = { +mod app { // .. #[no_mangle] @@ -304,7 +304,7 @@ const APP: () = { // BASEPRI invariant basepri::write(snapshot); } -}; +} ``` `INPUTS` plus `FQ`, the free queue, is effectively a memory pool. However, @@ -357,7 +357,7 @@ Consider the following example: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { #[idle(spawn = [foo, bar])] fn idle(c: idle::Context) -> ! { // .. @@ -382,7 +382,7 @@ const APP: () = { fn quux(c: quux::Context) { // .. } -}; +} ``` This is how the ceiling analysis would go: diff --git a/book/en/src/internals/timer-queue.md b/book/en/src/internals/timer-queue.md index 0eba106..fcd345c 100644 --- a/book/en/src/internals/timer-queue.md +++ b/book/en/src/internals/timer-queue.md @@ -12,7 +12,7 @@ Let's see how this in implemented in code. Consider the following program: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { // .. #[task(capacity = 2, schedule = [foo])] @@ -24,7 +24,7 @@ const APP: () = { extern "C" { fn UART0(); } -}; +} ``` ## `schedule` @@ -46,7 +46,7 @@ mod foo { } } -const APP: () = { +mod app { type Instant = <path::to::user::monotonic::timer as rtic::Monotonic>::Instant; // all tasks that can be `schedule`-d @@ -100,7 +100,7 @@ const APP: () = { } } } -}; +} ``` This looks very similar to the `Spawn` implementation. In fact, the same @@ -123,7 +123,7 @@ is up. Let's see the associated code. ``` rust -const APP: () = { +mod app { #[no_mangle] fn SysTick() { const PRIORITY: u8 = 1; @@ -146,7 +146,7 @@ const APP: () = { } } } -}; +} ``` This looks similar to a task dispatcher except that instead of running the @@ -197,7 +197,7 @@ able to insert the task in the timer queue; this lets us omit runtime checks. ## System timer priority -The priority of the system timer can't set by the user; it is chosen by the +The priority of the system timer can't be set by the user; it is chosen by the framework. To ensure that lower priority tasks don't prevent higher priority tasks from running we choose the priority of the system timer to be the maximum of all the `schedule`-able tasks. @@ -222,7 +222,7 @@ To illustrate, consider the following example: ``` rust #[rtic::app(device = ..)] -const APP: () = { +mod app { #[task(priority = 3, spawn = [baz])] fn foo(c: foo::Context) { // .. @@ -237,7 +237,7 @@ const APP: () = { fn baz(c: baz::Context) { // .. } -}; +} ``` The ceiling analysis would go like this: @@ -246,7 +246,7 @@ The ceiling analysis would go like this: `SysTick` must run at the highest priority between these two, that is `3`. - `foo::Spawn` (prio = 3) and `bar::Schedule` (prio = 2) contend over the - consumer endpoind of `baz_FQ`; this leads to a priority ceiling of `3`. + consumer endpoint of `baz_FQ`; this leads to a priority ceiling of `3`. - `bar::Schedule` (prio = 2) has exclusive access over the consumer endpoint of `foo_FQ`; thus the priority ceiling of `foo_FQ` is effectively `2`. @@ -270,7 +270,7 @@ run; this `Instant` is read in the task dispatcher and passed to the user code as part of the task context. ``` rust -const APP: () = { +mod app { // .. #[no_mangle] @@ -303,7 +303,7 @@ const APP: () = { // BASEPRI invariant basepri::write(snapshot); } -}; +} ``` Conversely, the `spawn` implementation needs to write a value to the `INSTANTS` @@ -333,7 +333,7 @@ mod foo { } } -const APP: () = { +mod app { impl<'a> foo::Spawn<'a> { /// Spawns the `baz` task pub fn baz(&self, message: u64) -> Result<(), u64> { @@ -364,5 +364,5 @@ const APP: () = { } } } -}; +} ``` diff --git a/book/en/src/migration.md b/book/en/src/migration.md index 6cca64d..7be3094 100644 --- a/book/en/src/migration.md +++ b/book/en/src/migration.md @@ -1,14 +1,112 @@ -# Migrating from v0.4.x to v0.5.0 +# Migration of RTIC + +## Migrating from v0.5.x to v0.6.0 + +This section describes how to upgrade from v0.5.x to v0.6.0 of the RTIC framework. + +### `Cargo.toml` - version bump + +Change the version of `cortex-m-rtic` to `"0.6.0"`. + +### Module instead of Const + +With the support of attributes on modules the `const APP` workaround is not needed. + +Change + +``` rust +#[rtic::app(/* .. */)] +const APP: () = { + [code here] +}; +``` + +into + +``` rust +#[rtic::app(/* .. */)] +mod app { + [code here] +} +``` + +Now that a regular Rust module is used it means it is possible to have custom +user code within that module. +Additionally, it means that `use`-statements for resources etc may be required. + +### Init always returns late resources + +In order to make the API more symmetric the #[init]-task always returns a late resource. + +From this: + +``` rust +#[rtic::app(device = lm3s6965)] +mod app { + #[init] + fn init(_: init::Context) { + rtic::pend(Interrupt::UART0); + } + [more code] +} +``` + +to this: + +``` rust +#[rtic::app(device = lm3s6965)] +mod app { + #[init] + fn init(_: init::Context) -> init::LateResources { + rtic::pend(Interrupt::UART0); + + init::LateResources {} + } + [more code] +} +``` + +### Resources struct - #[resources] + +Previously the RTIC resources had to be in in a struct named exactly "Resources": + +``` rust +struct Resources { + // Resources defined in here +} +``` + +With RTIC v0.6.0 the resources struct is annotated similarly like +`#[task]`, `#[init]`, `#[idle]`: with an attribute `#[resources]` + +``` rust +#[resources] +struct Resources { + // Resources defined in here +} +``` + +In fact, the name of the struct is now up to the developer: + +``` rust +#[resources] +struct whateveryouwant { + // Resources defined in here +} +``` + +would work equally well. + +## Migrating from v0.4.x to v0.5.0 This section covers how to upgrade an application written against RTIC v0.4.x to the version v0.5.0 of the framework. -## `Cargo.toml` +### `Cargo.toml` First, the version of the `cortex-m-rtic` dependency needs to be updated to `"0.5.0"`. The `timer-queue` feature needs to be removed. - ``` toml [dependencies.cortex-m-rtic] # change this @@ -22,7 +120,7 @@ features = ["timer-queue"] # ^^^^^^^^^^^^^ ``` -## `Context` argument +### `Context` argument All functions inside the `#[rtic::app]` item need to take as first argument a `Context` structure. This `Context` type will contain the variables that were @@ -74,7 +172,7 @@ const APP: () = { }; ``` -## Resources +### Resources The syntax used to declare resources has been changed from `static mut` variables to a `struct Resources`. @@ -98,7 +196,7 @@ const APP: () = { }; ``` -## Device peripherals +### Device peripherals If your application was accessing the device peripherals in `#[init]` through the `device` variable then you'll need to add `peripherals = true` to the @@ -136,7 +234,7 @@ const APP: () = { }; ``` -## `#[interrupt]` and `#[exception]` +### `#[interrupt]` and `#[exception]` The `#[interrupt]` and `#[exception]` attributes have been removed. To declare hardware tasks in v0.5.x use the `#[task]` attribute with the `binds` argument. @@ -182,7 +280,7 @@ const APP: () = { }; ``` -## `schedule` +### `schedule` The `timer-queue` feature has been removed. To use the `schedule` API one must first define the monotonic timer the runtime will use using the `monotonic` @@ -194,7 +292,7 @@ Also, the `Duration` and `Instant` types and the `U32Ext` trait have been moved into the `rtic::cyccnt` module. This module is only available on ARMv7-M+ devices. The removal of the `timer-queue` also brings back the `DWT` peripheral inside the core peripherals struct, this will need to be enabled by the application -inside `init`. +inside `init`. Change this: diff --git a/book/en/src/preface.md b/book/en/src/preface.md index 419f067..041b3bd 100644 --- a/book/en/src/preface.md +++ b/book/en/src/preface.md @@ -13,8 +13,10 @@ There is a translation of this book in [Russian]. [Russian]: ../ru/index.html -This is the documentation of v0.5.x of RTIC; for the documentation of version -v0.4.x go [here](/0.4). +This is the documentation of v0.6.x of RTIC; for the documentation of version + +* v0.5.x go [here](/0.5). +* v0.4.x go [here](/0.4). {{#include ../../../README.md:7:46}} diff --git a/examples/baseline.rs b/examples/baseline.rs index 5a6dbd4..3ab40db 100644 --- a/examples/baseline.rs +++ b/examples/baseline.rs @@ -11,7 +11,7 @@ use panic_semihosting as _; // NOTE: does NOT properly work on QEMU #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { +mod app { #[init(spawn = [foo])] fn init(cx: init::Context) -> init::LateResources { // omitted: initialization of `CYCCNT` @@ -53,4 +53,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/binds.rs b/examples/binds.rs index f3ce51e..42010ae 100644 --- a/examples/binds.rs +++ b/examples/binds.rs @@ -11,7 +11,7 @@ use panic_semihosting as _; // `examples/interrupt.rs` rewritten to use `binds` #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { rtic::pend(Interrupt::UART0); @@ -47,4 +47,4 @@ const APP: () = { ) .unwrap(); } -}; +} diff --git a/examples/capacity.rs b/examples/capacity.rs index cac0029..ba8b15b 100644 --- a/examples/capacity.rs +++ b/examples/capacity.rs @@ -10,7 +10,7 @@ use lm3s6965::Interrupt; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { rtic::pend(Interrupt::UART0); @@ -46,4 +46,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/cfg.rs b/examples/cfg.rs index 4f46724..d49f54c 100644 --- a/examples/cfg.rs +++ b/examples/cfg.rs @@ -11,7 +11,8 @@ use cortex_m_semihosting::hprintln; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { #[cfg(debug_assertions)] // <- `true` when using the `dev` profile #[init(0)] @@ -68,4 +69,4 @@ const APP: () = { fn SSI0(); fn QEI0(); } -}; +} diff --git a/examples/destructure.rs b/examples/destructure.rs index ad1d859..e7c5323 100644 --- a/examples/destructure.rs +++ b/examples/destructure.rs @@ -10,7 +10,8 @@ use lm3s6965::Interrupt; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { // Some resources to work with #[init(0)] @@ -46,4 +47,4 @@ const APP: () = { hprintln!("UART0: a = {}, b = {}, c = {}", a, b, c).unwrap(); } -}; +} diff --git a/examples/double_schedule.rs b/examples/double_schedule.rs index 6b3aec8..b1b78b8 100644 --- a/examples/double_schedule.rs +++ b/examples/double_schedule.rs @@ -9,7 +9,9 @@ use panic_semihosting as _; use rtic::cyccnt::U32Ext; #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { +mod app { + + #[resources] struct Resources { nothing: (), } @@ -34,4 +36,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/generics.rs b/examples/generics.rs index 65c5db0..3107dd1 100644 --- a/examples/generics.rs +++ b/examples/generics.rs @@ -11,7 +11,8 @@ use panic_semihosting as _; use rtic::{Exclusive, Mutex}; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { #[init(0)] shared: u32, @@ -51,7 +52,7 @@ const APP: () = { // second argument has type `Exclusive<u32>` advance(STATE, Exclusive(c.resources.shared)); } -}; +} // the second parameter is generic: it can be any type that implements the `Mutex` trait fn advance(state: &mut u32, mut shared: impl Mutex<T = u32>) { diff --git a/examples/hardware.rs b/examples/hardware.rs index 30de77a..f6a2d37 100644 --- a/examples/hardware.rs +++ b/examples/hardware.rs @@ -10,7 +10,7 @@ use lm3s6965::Interrupt; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { // Pends the UART0 interrupt but its handler won't run until *after* @@ -51,4 +51,4 @@ const APP: () = { ) .unwrap(); } -}; +} diff --git a/examples/idle.rs b/examples/idle.rs index b029fca..58c3c87 100644 --- a/examples/idle.rs +++ b/examples/idle.rs @@ -9,7 +9,7 @@ use cortex_m_semihosting::{debug, hprintln}; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { hprintln!("init").unwrap(); @@ -32,4 +32,4 @@ const APP: () = { cortex_m::asm::nop(); } } -}; +} diff --git a/examples/init.rs b/examples/init.rs index d5cebba..6ac284a 100644 --- a/examples/init.rs +++ b/examples/init.rs @@ -9,7 +9,7 @@ use cortex_m_semihosting::{debug, hprintln}; use panic_semihosting as _; #[rtic::app(device = lm3s6965, peripherals = true)] -const APP: () = { +mod app { #[init] fn init(cx: init::Context) -> init::LateResources { static mut X: u32 = 0; @@ -23,10 +23,14 @@ const APP: () = { // Safe access to local `static mut` variable let _x: &'static mut u32 = X; + // Access to the critical section token, + // to indicate that this is a critical seciton + let _cs_token: bare_metal::CriticalSection = cx.cs; + hprintln!("init").unwrap(); debug::exit(debug::EXIT_SUCCESS); init::LateResources {} } -}; +} diff --git a/examples/late.rs b/examples/late.rs index 60b9be0..761c68f 100644 --- a/examples/late.rs +++ b/examples/late.rs @@ -15,8 +15,13 @@ use lm3s6965::Interrupt; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + use heapless::{ + consts::*, + spsc::{Consumer, Producer}, + }; // Late resources + #[resources] struct Resources { p: Producer<'static, u32, U4>, c: Consumer<'static, u32, U4>, @@ -49,4 +54,4 @@ const APP: () = { fn uart0(c: uart0::Context) { c.resources.p.enqueue(42).unwrap(); } -}; +} diff --git a/examples/lock.rs b/examples/lock.rs index ff947c5..669b1ae 100644 --- a/examples/lock.rs +++ b/examples/lock.rs @@ -10,7 +10,8 @@ use lm3s6965::Interrupt; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { #[init(0)] shared: u32, @@ -61,4 +62,4 @@ const APP: () = { fn gpioc(_: gpioc::Context) { hprintln!("C").unwrap(); } -}; +} diff --git a/examples/message.rs b/examples/message.rs index a1352c0..f973672 100644 --- a/examples/message.rs +++ b/examples/message.rs @@ -9,7 +9,7 @@ use cortex_m_semihosting::{debug, hprintln}; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init(spawn = [foo])] fn init(c: init::Context) -> init::LateResources { c.spawn.foo(/* no message */).unwrap(); @@ -51,4 +51,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/not-send.rs b/examples/not-send.rs index 999abfa..18071fc 100644 --- a/examples/not-send.rs +++ b/examples/not-send.rs @@ -16,7 +16,10 @@ pub struct NotSend { } #[app(device = lm3s6965)] -const APP: () = { +mod app { + use super::NotSend; + + #[resources] struct Resources { #[init(None)] shared: Option<NotSend>, @@ -62,4 +65,4 @@ const APP: () = { fn SSI0(); fn QEI0(); } -}; +} diff --git a/examples/not-sync.rs b/examples/not-sync.rs index 5a67489..75412e6 100644 --- a/examples/not-sync.rs +++ b/examples/not-sync.rs @@ -15,7 +15,11 @@ pub struct NotSync { } #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + use super::NotSync; + use core::marker::PhantomData; + + #[resources] struct Resources { #[init(NotSync { _0: PhantomData })] shared: NotSync, @@ -44,4 +48,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/only-shared-access.rs b/examples/only-shared-access.rs index c022b03..91d0b7a 100644 --- a/examples/only-shared-access.rs +++ b/examples/only-shared-access.rs @@ -10,7 +10,8 @@ use lm3s6965::Interrupt; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { key: u32, } @@ -35,4 +36,4 @@ const APP: () = { fn uart1(cx: uart1::Context) { hprintln!("UART1(key = {:#x})", cx.resources.key).unwrap(); } -}; +} diff --git a/examples/periodic.rs b/examples/periodic.rs index da56d46..d3aedd3 100644 --- a/examples/periodic.rs +++ b/examples/periodic.rs @@ -13,7 +13,8 @@ const PERIOD: u32 = 8_000_000; // NOTE: does NOT work on QEMU! #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { +mod app { + #[init(schedule = [foo])] fn init(cx: init::Context) -> init::LateResources { // omitted: initialization of `CYCCNT` @@ -37,4 +38,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/peripherals-taken.rs b/examples/peripherals-taken.rs index 42ad8c0..09f9242 100644 --- a/examples/peripherals-taken.rs +++ b/examples/peripherals-taken.rs @@ -7,12 +7,12 @@ use cortex_m_semihosting::debug; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] - fn main(_: main::Context) -> main::LateResources { + fn init(_: init::Context) -> init::LateResources { assert!(cortex_m::Peripherals::take().is_none()); debug::exit(debug::EXIT_SUCCESS); - main::LateResources {} + init::LateResources {} } -}; +} diff --git a/examples/pool.rs b/examples/pool.rs index 9fccdf8..cdbabca 100644 --- a/examples/pool.rs +++ b/examples/pool.rs @@ -18,7 +18,12 @@ use rtic::app; pool!(P: [u8; 128]); #[app(device = lm3s6965)] -const APP: () = { +mod app { + use crate::Box; + + // Import the memory pool into scope + use super::P; + #[init] fn init(_: init::Context) -> init::LateResources { static mut MEMORY: [u8; 512] = [0; 512]; @@ -68,4 +73,4 @@ const APP: () = { fn SSI0(); fn QEI0(); } -}; +} diff --git a/examples/preempt.rs b/examples/preempt.rs index 7103b17..f6fc4b0 100644 --- a/examples/preempt.rs +++ b/examples/preempt.rs @@ -9,7 +9,7 @@ use panic_semihosting as _; use rtic::app; #[app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { rtic::pend(Interrupt::GPIOA); @@ -36,4 +36,4 @@ const APP: () = { rtic::pend(Interrupt::GPIOB); hprintln!(" GPIOC - end").unwrap(); } -}; +} diff --git a/examples/ramfunc.rs b/examples/ramfunc.rs index 214b7e6..5ff167a 100644 --- a/examples/ramfunc.rs +++ b/examples/ramfunc.rs @@ -9,7 +9,7 @@ use cortex_m_semihosting::{debug, hprintln}; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init(spawn = [bar])] fn init(c: init::Context) -> init::LateResources { c.spawn.bar().unwrap(); @@ -40,4 +40,4 @@ const APP: () = { #[link_section = ".data.UART1"] fn UART1(); } -}; +} diff --git a/examples/resource-user-struct.rs b/examples/resource-user-struct.rs new file mode 100644 index 0000000..a5bd0dd --- /dev/null +++ b/examples/resource-user-struct.rs @@ -0,0 +1,63 @@ +//! examples/resource.rs + +#![deny(unsafe_code)] +#![deny(warnings)] +#![no_main] +#![no_std] + +use cortex_m_semihosting::{debug, hprintln}; +use lm3s6965::Interrupt; +use panic_semihosting as _; + +#[rtic::app(device = lm3s6965)] +mod app { + #[resources] + struct Resources { + // A resource + #[init(0)] + shared: u32, + } + + // Should not collide with the struct above + #[allow(dead_code)] + struct Resources2 { + // A resource + shared: u32, + } + + #[init] + fn init(_: init::Context) -> init::LateResources { + rtic::pend(Interrupt::UART0); + rtic::pend(Interrupt::UART1); + + init::LateResources {} + } + + // `shared` cannot be accessed from this context + #[idle] + fn idle(_cx: idle::Context) -> ! { + debug::exit(debug::EXIT_SUCCESS); + + // error: no `resources` field in `idle::Context` + // _cx.resources.shared += 1; + + loop {} + } + + // `shared` can be accessed from this context + #[task(binds = UART0, resources = [shared])] + fn uart0(cx: uart0::Context) { + let shared: &mut u32 = cx.resources.shared; + *shared += 1; + + hprintln!("UART0: shared = {}", shared).unwrap(); + } + + // `shared` can be accessed from this context + #[task(binds = UART1, resources = [shared])] + fn uart1(cx: uart1::Context) { + *cx.resources.shared += 1; + + hprintln!("UART1: shared = {}", cx.resources.shared).unwrap(); + } +} diff --git a/examples/resource.rs b/examples/resource.rs index 06aa975..273af26 100644 --- a/examples/resource.rs +++ b/examples/resource.rs @@ -10,7 +10,8 @@ use lm3s6965::Interrupt; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { // A resource #[init(0)] @@ -54,4 +55,4 @@ const APP: () = { hprintln!("UART1: shared = {}", cx.resources.shared).unwrap(); } -}; +} diff --git a/examples/schedule.rs b/examples/schedule.rs index b76d9e7..7e6adc1 100644 --- a/examples/schedule.rs +++ b/examples/schedule.rs @@ -12,7 +12,7 @@ use rtic::cyccnt::{Instant, U32Ext as _}; // NOTE: does NOT work on QEMU! #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { +mod app { #[init(schedule = [foo, bar])] fn init(mut cx: init::Context) -> init::LateResources { // Initialize (enable) the monotonic timer (CYCCNT) @@ -52,4 +52,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/shared-with-init.rs b/examples/shared-with-init.rs index fa900a2..85c7276 100644 --- a/examples/shared-with-init.rs +++ b/examples/shared-with-init.rs @@ -13,7 +13,10 @@ use rtic::app; pub struct MustBeSend; #[app(device = lm3s6965)] -const APP: () = { +mod app { + use super::MustBeSend; + + #[resources] struct Resources { #[init(None)] shared: Option<MustBeSend>, @@ -39,4 +42,4 @@ const APP: () = { debug::exit(debug::EXIT_SUCCESS); } } -}; +} diff --git a/examples/smallest.rs b/examples/smallest.rs index ec3fa97..b8cbf87 100644 --- a/examples/smallest.rs +++ b/examples/smallest.rs @@ -7,4 +7,4 @@ use panic_semihosting as _; // panic handler use rtic::app; #[app(device = lm3s6965)] -const APP: () = {}; +mod app {} diff --git a/examples/t-binds.rs b/examples/t-binds.rs index edf0fc6..3ca4c66 100644 --- a/examples/t-binds.rs +++ b/examples/t-binds.rs @@ -8,7 +8,7 @@ use panic_halt as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { init::LateResources {} @@ -25,7 +25,7 @@ const APP: () = { fn bar(c: bar::Context) { bar_trampoline(c) } -}; +} #[allow(dead_code)] fn foo_trampoline(_: foo::Context) {} diff --git a/examples/t-cfg-resources.rs b/examples/t-cfg-resources.rs index 4f7fd63..61eb4c7 100644 --- a/examples/t-cfg-resources.rs +++ b/examples/t-cfg-resources.rs @@ -6,19 +6,17 @@ use panic_halt as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { // A resource #[init(0)] shared: u32, - // A conditionally compiled resource behind feature_x #[cfg(feature = "feature_x")] x: u32, - - dummy: (), + dummy: (), // dummy such that we have at least one late resource } - #[init] fn init(_: init::Context) -> init::LateResources { init::LateResources { @@ -35,4 +33,4 @@ const APP: () = { cortex_m::asm::nop(); } } -}; +} diff --git a/examples/t-cfg.rs b/examples/t-cfg.rs index 254cb8e..3da20d4 100644 --- a/examples/t-cfg.rs +++ b/examples/t-cfg.rs @@ -6,7 +6,8 @@ use panic_halt as _; #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { +mod app { + #[resources] struct Resources { #[cfg(never)] #[init(0)] @@ -54,4 +55,4 @@ const APP: () = { fn SSI0(); fn QEI0(); } -}; +} diff --git a/examples/t-htask-main.rs b/examples/t-htask-main.rs index 885019a..1e38e31 100644 --- a/examples/t-htask-main.rs +++ b/examples/t-htask-main.rs @@ -7,7 +7,7 @@ use cortex_m_semihosting::debug; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { rtic::pend(lm3s6965::Interrupt::UART0); @@ -16,7 +16,7 @@ const APP: () = { } #[task(binds = UART0)] - fn main(_: main::Context) { + fn taskmain(_: taskmain::Context) { debug::exit(debug::EXIT_SUCCESS); } -}; +} diff --git a/examples/t-idle-main.rs b/examples/t-idle-main.rs index 3e06cac..9078628 100644 --- a/examples/t-idle-main.rs +++ b/examples/t-idle-main.rs @@ -7,17 +7,17 @@ use cortex_m_semihosting::debug; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { init::LateResources {} } #[idle] - fn main(_: main::Context) -> ! { + fn taskmain(_: taskmain::Context) -> ! { debug::exit(debug::EXIT_SUCCESS); loop { cortex_m::asm::nop(); } } -}; +} diff --git a/examples/t-init-main.rs b/examples/t-init-main.rs index f6c1d9c..7c23cc8 100644 --- a/examples/t-init-main.rs +++ b/examples/t-init-main.rs @@ -7,11 +7,11 @@ use cortex_m_semihosting::debug; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] - fn main(_: main::Context) -> main::LateResources { + fn init(_: init::Context) -> init::LateResources { debug::exit(debug::EXIT_SUCCESS); - main::LateResources {} + init::LateResources {} } -}; +} diff --git a/examples/t-late-not-send.rs b/examples/t-late-not-send.rs index d2a9b63..345d9ae 100644 --- a/examples/t-late-not-send.rs +++ b/examples/t-late-not-send.rs @@ -12,7 +12,10 @@ pub struct NotSend { } #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + use super::NotSend; + + #[resources] struct Resources { x: NotSend, #[init(None)] @@ -35,4 +38,4 @@ const APP: () = { cortex_m::asm::nop(); } } -}; +} diff --git a/examples/t-resource.rs b/examples/t-resource.rs index 78e518c..91950d3 100644 --- a/examples/t-resource.rs +++ b/examples/t-resource.rs @@ -8,7 +8,8 @@ use panic_halt as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { #[init(0)] o1: u32, // init @@ -88,4 +89,4 @@ const APP: () = { // no `Mutex` proxy when co-owned by cooperative (same priority) tasks let _: &mut u32 = c.resources.s2; } -}; +} diff --git a/examples/t-schedule.rs b/examples/t-schedule.rs index 8af01ab..d5a6d3f 100644 --- a/examples/t-schedule.rs +++ b/examples/t-schedule.rs @@ -9,7 +9,7 @@ use panic_halt as _; use rtic::cyccnt::{Instant, U32Ext as _}; #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { +mod app { #[init(schedule = [foo, bar, baz])] fn init(c: init::Context) -> init::LateResources { let _: Result<(), ()> = c.schedule.foo(c.start + 10.cycles()); @@ -63,4 +63,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/t-spawn.rs b/examples/t-spawn.rs index af2a79e..efb748b 100644 --- a/examples/t-spawn.rs +++ b/examples/t-spawn.rs @@ -8,7 +8,7 @@ use panic_halt as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init(spawn = [foo, bar, baz])] fn init(c: init::Context) -> init::LateResources { let _: Result<(), ()> = c.spawn.foo(); @@ -62,4 +62,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/t-stask-main.rs b/examples/t-stask-main.rs index aefd482..74335c1 100644 --- a/examples/t-stask-main.rs +++ b/examples/t-stask-main.rs @@ -7,16 +7,16 @@ use cortex_m_semihosting::debug; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { - #[init(spawn = [main])] +mod app { + #[init(spawn = [taskmain])] fn init(cx: init::Context) -> init::LateResources { - cx.spawn.main().ok(); + cx.spawn.taskmain().ok(); init::LateResources {} } #[task] - fn main(_: main::Context) { + fn taskmain(_: taskmain::Context) { debug::exit(debug::EXIT_SUCCESS); } @@ -26,4 +26,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/examples/task.rs b/examples/task.rs index e148b35..80a9c43 100644 --- a/examples/task.rs +++ b/examples/task.rs @@ -9,7 +9,7 @@ use cortex_m_semihosting::{debug, hprintln}; use panic_semihosting as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init(spawn = [foo])] fn init(c: init::Context) -> init::LateResources { c.spawn.foo().unwrap(); @@ -54,4 +54,4 @@ const APP: () = { fn SSI0(); fn QEI0(); } -}; +} diff --git a/examples/types.rs b/examples/types.rs index 46d08b8..251d004 100644 --- a/examples/types.rs +++ b/examples/types.rs @@ -10,7 +10,8 @@ use panic_semihosting as _; use rtic::cyccnt; #[rtic::app(device = lm3s6965, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { +mod app { + #[resources] struct Resources { #[init(0)] shared: u32, @@ -62,4 +63,4 @@ const APP: () = { extern "C" { fn SSI0(); } -}; +} diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs index fe4d59a..f230d39 100644 --- a/macros/src/codegen.rs +++ b/macros/src/codegen.rs @@ -25,21 +25,36 @@ mod util; // TODO document the syntax here or in `rtic-syntax` pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { - let mut const_app = vec![]; + let mut mod_app = vec![]; + let mut mod_app_imports = vec![]; let mut mains = vec![]; let mut root = vec![]; let mut user = vec![]; + let mut imports = vec![]; // Generate the `main` function let assertion_stmts = assertions::codegen(analysis); let pre_init_stmts = pre_init::codegen(&app, analysis, extra); - let (const_app_init, root_init, user_init, call_init) = init::codegen(app, analysis, extra); + let (mod_app_init, root_init, user_init, user_init_imports, call_init) = + init::codegen(app, analysis, extra); let post_init_stmts = post_init::codegen(&app, analysis); - let (const_app_idle, root_idle, user_idle, call_idle) = idle::codegen(app, analysis, extra); + let (mod_app_idle, root_idle, user_idle, user_idle_imports, call_idle) = + idle::codegen(app, analysis, extra); + + if user_init.is_some() { + mod_app_imports.push(quote!( + use super::init; + )) + } + if user_idle.is_some() { + mod_app_imports.push(quote!( + use super::idle; + )) + } user.push(quote!( #user_init @@ -47,16 +62,21 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { #user_idle )); + imports.push(quote!( + #(#user_init_imports)* + #(#user_idle_imports)* + )); + root.push(quote!( #(#root_init)* #(#root_idle)* )); - const_app.push(quote!( - #const_app_init + mod_app.push(quote!( + #mod_app_init - #const_app_idle + #mod_app_idle )); let main = util::suffixed("main"); @@ -77,22 +97,33 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { } )); - let (const_app_resources, mod_resources) = resources::codegen(app, analysis, extra); + let (mod_app_resources, mod_resources, mod_resources_imports) = + resources::codegen(app, analysis, extra); - let (const_app_hardware_tasks, root_hardware_tasks, user_hardware_tasks) = - hardware_tasks::codegen(app, analysis, extra); + let ( + mod_app_hardware_tasks, + root_hardware_tasks, + user_hardware_tasks, + user_hardware_tasks_imports, + ) = hardware_tasks::codegen(app, analysis, extra); - let (const_app_software_tasks, root_software_tasks, user_software_tasks) = - software_tasks::codegen(app, analysis, extra); + let ( + mod_app_software_tasks, + root_software_tasks, + user_software_tasks, + user_software_tasks_imports, + ) = software_tasks::codegen(app, analysis, extra); - let const_app_dispatchers = dispatchers::codegen(app, analysis, extra); + let mod_app_dispatchers = dispatchers::codegen(app, analysis, extra); - let const_app_spawn = spawn::codegen(app, analysis, extra); + let mod_app_spawn = spawn::codegen(app, analysis, extra); - let const_app_timer_queue = timer_queue::codegen(app, analysis, extra); + let mod_app_timer_queue = timer_queue::codegen(app, analysis, extra); - let const_app_schedule = schedule::codegen(app, extra); + let mod_app_schedule = schedule::codegen(app, extra); + let user_imports = app.user_imports.clone(); + let user_code = app.user_code.clone(); let name = &app.name; let device = extra.device; quote!( @@ -111,28 +142,41 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 { #(#root_software_tasks)* /// Implementation details - // The user can't access the items within this `const` item - const #name: () = { + mod #name { /// Always include the device crate which contains the vector table use #device as _; + #(#imports)* + #(#user_imports)* + + /// User code from within the module + #(#user_code)* + /// User code end + - #(#const_app)* + #(#user_hardware_tasks_imports)* - #(#const_app_resources)* + #(#user_software_tasks_imports)* - #(#const_app_hardware_tasks)* + #(#mod_resources_imports)* - #(#const_app_software_tasks)* + /// app module + #(#mod_app)* - #(#const_app_dispatchers)* + #(#mod_app_resources)* - #(#const_app_spawn)* + #(#mod_app_hardware_tasks)* - #(#const_app_timer_queue)* + #(#mod_app_software_tasks)* - #(#const_app_schedule)* + #(#mod_app_dispatchers)* + + #(#mod_app_spawn)* + + #(#mod_app_timer_queue)* + + #(#mod_app_schedule)* #(#mains)* - }; + } ) } diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs index 7f14b5e..25f1df4 100644 --- a/macros/src/codegen/hardware_tasks.rs +++ b/macros/src/codegen/hardware_tasks.rs @@ -1,5 +1,5 @@ use proc_macro2::TokenStream as TokenStream2; -use quote::quote; +use quote::{format_ident, quote}; use rtic_syntax::{ast::App, Context}; use crate::{ @@ -14,7 +14,7 @@ pub fn codegen( analysis: &Analysis, extra: &Extra, ) -> ( - // const_app_hardware_tasks -- interrupt handlers and `${task}Resources` constructors + // mod_app_hardware_tasks -- interrupt handlers and `${task}Resources` constructors Vec<TokenStream2>, // root_hardware_tasks -- items that must be placed in the root of the crate: // - `${task}Locals` structs @@ -23,10 +23,13 @@ pub fn codegen( Vec<TokenStream2>, // user_hardware_tasks -- the `#[task]` functions written by the user Vec<TokenStream2>, + // user_hardware_tasks_imports -- the imports for `#[task]` functions written by the user + Vec<TokenStream2>, ) { - let mut const_app = vec![]; + let mut mod_app = vec![]; let mut root = vec![]; let mut user_tasks = vec![]; + let mut hardware_tasks_imports = vec![]; for (name, task) in &app.hardware_tasks { let (let_instant, instant) = if app.uses_schedule() { @@ -49,7 +52,7 @@ pub fn codegen( let symbol = task.args.binds.clone(); let priority = task.args.priority; - const_app.push(quote!( + mod_app.push(quote!( #[allow(non_snake_case)] #[no_mangle] unsafe fn #symbol() { @@ -78,9 +81,16 @@ pub fn codegen( analysis, ); + // Add resources to imports + let name_res = format_ident!("{}Resources", name); + hardware_tasks_imports.push(quote!( + #[allow(non_snake_case)] + use super::#name_res; + )); + root.push(item); - const_app.push(constructor); + mod_app.push(constructor); } root.push(module::codegen( @@ -112,7 +122,13 @@ pub fn codegen( #(#stmts)* } )); + + hardware_tasks_imports.push(quote!( + #(#attrs)* + #[allow(non_snake_case)] + use super::#name; + )); } - (const_app, root, user_tasks) + (mod_app, root, user_tasks, hardware_tasks_imports) } diff --git a/macros/src/codegen/idle.rs b/macros/src/codegen/idle.rs index d0bff3e..2e2932d 100644 --- a/macros/src/codegen/idle.rs +++ b/macros/src/codegen/idle.rs @@ -1,5 +1,5 @@ use proc_macro2::TokenStream as TokenStream2; -use quote::quote; +use quote::{format_ident, quote}; use rtic_syntax::{ast::App, Context}; use crate::{ @@ -14,7 +14,7 @@ pub fn codegen( analysis: &Analysis, extra: &Extra, ) -> ( - // const_app_idle -- the `${idle}Resources` constructor + // mod_app_idle -- the `${idle}Resources` constructor Option<TokenStream2>, // root_idle -- items that must be placed in the root of the crate: // - the `${idle}Locals` struct @@ -23,26 +23,37 @@ pub fn codegen( Vec<TokenStream2>, // user_idle Option<TokenStream2>, + // user_idle_imports + Vec<TokenStream2>, // call_idle TokenStream2, ) { if app.idles.len() > 0 { let idle = &app.idles.first().unwrap(); let mut needs_lt = false; - let mut const_app = None; + let mut mod_app = None; let mut root_idle = vec![]; let mut locals_pat = None; let mut locals_new = None; + let mut user_idle_imports = vec![]; + + let name = &idle.name; + if !idle.args.resources.is_empty() { let (item, constructor) = resources_struct::codegen(Context::Idle, 0, &mut needs_lt, app, analysis); root_idle.push(item); - const_app = Some(constructor); + mod_app = Some(constructor); + + let name_resource = format_ident!("{}Resources", name); + user_idle_imports.push(quote!( + #[allow(non_snake_case)] + use super::#name_resource; + )); } - let name = &idle.name; if !idle.locals.is_empty() { let (locals, pat) = locals::codegen(Context::Idle, &idle.locals, app); @@ -66,6 +77,11 @@ pub fn codegen( #(#stmts)* } )); + user_idle_imports.push(quote!( + #(#attrs)* + #[allow(non_snake_case)] + use super::#name; + )); let locals_new = locals_new.iter(); let call_idle = quote!(crate::#name( @@ -73,12 +89,13 @@ pub fn codegen( #name::Context::new(&rtic::export::Priority::new(0)) )); - (const_app, root_idle, user_idle, call_idle) + (mod_app, root_idle, user_idle, user_idle_imports, call_idle) } else { ( None, vec![], None, + vec![], quote!(loop { rtic::export::wfi() }), diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs index b41c389..1ced68b 100644 --- a/macros/src/codegen/init.rs +++ b/macros/src/codegen/init.rs @@ -1,5 +1,5 @@ use proc_macro2::TokenStream as TokenStream2; -use quote::quote; +use quote::{format_ident, quote}; use rtic_syntax::{ast::App, Context}; use crate::{ @@ -14,7 +14,7 @@ pub fn codegen( analysis: &Analysis, extra: &Extra, ) -> ( - // const_app_idle -- the `${init}Resources` constructor + // mod_app_idle -- the `${init}Resources` constructor Option<TokenStream2>, // root_init -- items that must be placed in the root of the crate: // - the `${init}Locals` struct @@ -24,6 +24,8 @@ pub fn codegen( Vec<TokenStream2>, // user_init -- the `#[init]` function written by the user Option<TokenStream2>, + // user_init_imports -- the imports for `#[init]` functio written by the user + Vec<TokenStream2>, // call_init -- the call to the user `#[init]` if there's one Option<TokenStream2>, ) { @@ -43,13 +45,14 @@ pub fn codegen( let cfgs = &app.late_resources[name].cfgs; quote!( - #(#cfgs)* - pub #name: #ty + #(#cfgs)* + pub #name: #ty ) }) }) .collect::<Vec<_>>(); + let mut user_init_imports = vec![]; let late_resources = util::late_resources_ident(&name); root_init.push(quote!( @@ -81,14 +84,25 @@ pub fn codegen( #(#stmts)* } )); + user_init_imports.push(quote!( + #(#attrs)* + #[allow(non_snake_case)] + use super::#name; + )); - let mut const_app = None; + let mut mod_app = None; if !init.args.resources.is_empty() { let (item, constructor) = resources_struct::codegen(Context::Init, 0, &mut needs_lt, app, analysis); root_init.push(item); - const_app = Some(constructor); + mod_app = Some(constructor); + + let name_late = format_ident!("{}Resources", name); + user_init_imports.push(quote!( + #[allow(non_snake_case)] + use super::#name_late; + )); } let locals_new = locals_new.iter(); @@ -98,8 +112,8 @@ pub fn codegen( root_init.push(module::codegen(Context::Init, needs_lt, app, extra)); - (const_app, root_init, user_init, call_init) + (mod_app, root_init, user_init, user_init_imports, call_init) } else { - (None, vec![], None, None) + (None, vec![], None, vec![], None) } } diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs index 85bab3a..2e51e7d 100644 --- a/macros/src/codegen/module.rs +++ b/macros/src/codegen/module.rs @@ -47,6 +47,14 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> values.push(quote!(device: #device::Peripherals::steal())); } + lt = Some(quote!('a)); + fields.push(quote!( + /// Critical section token for init + pub cs: rtic::export::CriticalSection<#lt> + )); + + values.push(quote!(cs: rtic::export::CriticalSection::new())); + values.push(quote!(core)); } diff --git a/macros/src/codegen/resources.rs b/macros/src/codegen/resources.rs index 4196ee7..38ea524 100644 --- a/macros/src/codegen/resources.rs +++ b/macros/src/codegen/resources.rs @@ -10,13 +10,16 @@ pub fn codegen( analysis: &Analysis, extra: &Extra, ) -> ( - // const_app -- the `static [mut]` variables behind the proxies + // mod_app -- the `static [mut]` variables behind the proxies Vec<TokenStream2>, // mod_resources -- the `resources` module TokenStream2, + // mod_resources_imports -- the `resources` module imports + Vec<TokenStream2>, ) { - let mut const_app = vec![]; + let mut mod_app = vec![]; let mut mod_resources = vec![]; + let mut mod_resources_imports = vec![]; for (name, res, expr, _) in app.resources(analysis) { let cfgs = &res.cfgs; @@ -39,7 +42,7 @@ pub fn codegen( }; let attrs = &res.attrs; - const_app.push(quote!( + mod_app.push(quote!( #[allow(non_upper_case_globals)] #(#attrs)* #(#cfgs)* @@ -82,7 +85,13 @@ pub fn codegen( ) }; - const_app.push(util::impl_mutex( + mod_resources_imports.push(quote!( + #[allow(non_camel_case_types)] + #(#cfgs)* + use super::resources::#name; + )); + + mod_app.push(util::impl_mutex( extra, cfgs, true, @@ -97,6 +106,11 @@ pub fn codegen( let mod_resources = if mod_resources.is_empty() { quote!() } else { + // Also import the resource module + mod_resources_imports.push(quote!( + use super::resources; + )); + quote!(mod resources { use rtic::export::Priority; @@ -104,5 +118,5 @@ pub fn codegen( }) }; - (const_app, mod_resources) + (mod_app, mod_resources, mod_resources_imports) } diff --git a/macros/src/codegen/resources_struct.rs b/macros/src/codegen/resources_struct.rs index dbbba30..92d5b66 100644 --- a/macros/src/codegen/resources_struct.rs +++ b/macros/src/codegen/resources_struct.rs @@ -165,7 +165,7 @@ pub fn codegen( let constructor = quote!( impl<#lt> #ident<#lt> { #[inline(always)] - unsafe fn new(#arg) -> Self { + pub unsafe fn new(#arg) -> Self { #ident { #(#values,)* } diff --git a/macros/src/codegen/schedule.rs b/macros/src/codegen/schedule.rs index 46b0f38..5a88749 100644 --- a/macros/src/codegen/schedule.rs +++ b/macros/src/codegen/schedule.rs @@ -34,7 +34,7 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> { methods.push(quote!( #(#cfgs)* - fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> { + pub fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> { #body } )); @@ -49,7 +49,7 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> { items.push(quote!( #(#cfgs)* - unsafe fn #schedule( + pub unsafe fn #schedule( priority: &rtic::export::Priority, instant: #instant #(,#args)* @@ -62,7 +62,7 @@ pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> { methods.push(quote!( #(#cfgs)* #[inline(always)] - fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> { + pub fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> { unsafe { #schedule(self.priority(), instant #(,#untupled)*) } diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs index b56db41..4ae37e4 100644 --- a/macros/src/codegen/software_tasks.rs +++ b/macros/src/codegen/software_tasks.rs @@ -1,5 +1,5 @@ use proc_macro2::TokenStream as TokenStream2; -use quote::quote; +use quote::{format_ident, quote}; use rtic_syntax::{ast::App, Context}; use crate::{ @@ -13,7 +13,7 @@ pub fn codegen( analysis: &Analysis, extra: &Extra, ) -> ( - // const_app_software_tasks -- free queues, buffers and `${task}Resources` constructors + // mod_app_software_tasks -- free queues, buffers and `${task}Resources` constructors Vec<TokenStream2>, // root_software_tasks -- items that must be placed in the root of the crate: // - `${task}Locals` structs @@ -22,10 +22,13 @@ pub fn codegen( Vec<TokenStream2>, // user_software_tasks -- the `#[task]` functions written by the user Vec<TokenStream2>, + // user_software_tasks_imports -- the imports for `#[task]` functions written by the user + Vec<TokenStream2>, ) { - let mut const_app = vec![]; + let mut mod_app = vec![]; let mut root = vec![]; let mut user_tasks = vec![]; + let mut software_tasks_imports = vec![]; for (name, task) in &app.software_tasks { let inputs = &task.inputs; @@ -48,7 +51,7 @@ pub fn codegen( Box::new(|| util::link_section_uninit(true)), ) }; - const_app.push(quote!( + mod_app.push(quote!( /// Queue version of a free-list that keeps track of empty slots in /// the following buffers static mut #fq: #fq_ty = #fq_expr; @@ -56,13 +59,13 @@ pub fn codegen( // Generate a resource proxy if needed if let Some(ceiling) = ceiling { - const_app.push(quote!( + mod_app.push(quote!( struct #fq<'a> { priority: &'a rtic::export::Priority, } )); - const_app.push(util::impl_mutex( + mod_app.push(util::impl_mutex( extra, &[], false, @@ -82,7 +85,7 @@ pub fn codegen( let instants = util::instants_ident(name); let uninit = mk_uninit(); - const_app.push(quote!( + mod_app.push(quote!( #uninit /// Buffer that holds the instants associated to the inputs of a task static mut #instants: @@ -93,7 +96,7 @@ pub fn codegen( let uninit = mk_uninit(); let inputs = util::inputs_ident(name); - const_app.push(quote!( + mod_app.push(quote!( #uninit /// Buffer that holds the inputs of a task static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] = @@ -112,9 +115,16 @@ pub fn codegen( analysis, ); + // Add resources to imports + let name_res = format_ident!("{}Resources", name); + software_tasks_imports.push(quote!( + #[allow(non_snake_case)] + use super::#name_res; + )); + root.push(item); - const_app.push(constructor); + mod_app.push(constructor); } // `${task}Locals` @@ -135,12 +145,17 @@ pub fn codegen( #(#attrs)* #(#cfgs)* #[allow(non_snake_case)] - fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) { + pub fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) { use rtic::Mutex as _; #(#stmts)* } )); + software_tasks_imports.push(quote!( + #(#cfgs)* + #[allow(non_snake_case)] + use super::#name; + )); root.push(module::codegen( Context::SoftwareTask(name), @@ -150,5 +165,5 @@ pub fn codegen( )); } - (const_app, root, user_tasks) + (mod_app, root, user_tasks, software_tasks_imports) } diff --git a/macros/src/codegen/spawn.rs b/macros/src/codegen/spawn.rs index 4b824f5..da28151 100644 --- a/macros/src/codegen/spawn.rs +++ b/macros/src/codegen/spawn.rs @@ -40,7 +40,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream methods.push(quote!( #(#cfgs)* - fn #name(&self #(,#args)*) -> Result<(), #ty> { + pub fn #name(&self #(,#args)*) -> Result<(), #ty> { #let_instant #body } @@ -92,7 +92,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream methods.push(quote!( #(#cfgs)* #[inline(always)] - fn #name(&self #(,#args)*) -> Result<(), #ty> { + pub fn #name(&self #(,#args)*) -> Result<(), #ty> { unsafe { #let_instant #spawn(self.priority() #instant #(,#untupled)*) diff --git a/macros/src/lib.rs b/macros/src/lib.rs index 7b72c7f..94e7eec 100644 --- a/macros/src/lib.rs +++ b/macros/src/lib.rs @@ -15,8 +15,7 @@ mod tests; /// Attribute used to declare a RTIC application /// -/// This attribute must be applied to a `const` item of type `()`. The `const` item is effectively -/// used as a `mod` item: its value must be a block that contains items commonly found in modules, +/// This attribute must be applied to a module block that contains items commonly found in modules, /// like functions and `static` variables. /// /// The `app` attribute has one mandatory argument: @@ -34,9 +33,10 @@ mod tests; /// - `monotonic = <path>`. This is a path to a zero-sized structure (e.g. `struct Foo;`) that /// implements the `Monotonic` trait. This argument must be provided to use the `schedule` API. /// -/// The items allowed in the block value of the `const` item are specified below: +/// The items allowed in the module block are specified below: /// -/// # 1. `struct Resources` +/// # 1. `#[resources] +/// struct <resource-name>` /// /// This structure contains the declaration of all the resources used by the application. Each field /// in this structure corresponds to a different resource. Each resource may optionally be given an diff --git a/macros/src/tests/single.rs b/macros/src/tests/single.rs index d669388..97cbbb3 100644 --- a/macros/src/tests/single.rs +++ b/macros/src/tests/single.rs @@ -8,7 +8,7 @@ fn analyze() { let (app, analysis) = rtic_syntax::parse2( quote!(device = pac), quote!( - const APP: () = { + mod app { #[task(priority = 1)] fn a(_: a::Context) {} @@ -20,7 +20,7 @@ fn analyze() { fn B(); fn A(); } - }; + } ), settings, ) diff --git a/src/export.rs b/src/export.rs index 8a5d4e3..27f7f5f 100644 --- a/src/export.rs +++ b/src/export.rs @@ -4,6 +4,7 @@ use core::{ }; pub use crate::tq::{NotReady, TimerQueue}; +pub use bare_metal::CriticalSection; #[cfg(armv7m)] pub use cortex_m::register::basepri; pub use cortex_m::{ @@ -15,8 +16,6 @@ pub use cortex_m::{ use heapless::spsc::SingleCore; pub use heapless::{consts, i::Queue as iQueue, spsc::Queue}; pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap}; -#[cfg(feature = "heterogeneous")] -pub use microamp::shared; pub type SCFQ<N> = Queue<u8, N, u8, SingleCore>; pub type SCRQ<T, N> = Queue<(T, u8), N, u8, SingleCore>; diff --git a/ui/single/exception-invalid.rs b/ui/single/exception-invalid.rs index efe0621..04d9bc7 100644 --- a/ui/single/exception-invalid.rs +++ b/ui/single/exception-invalid.rs @@ -1,7 +1,7 @@ #![no_main] #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[task(binds = NonMaskableInt)] fn nmi(_: nmi::Context) {} -}; +} diff --git a/ui/single/exception-systick-used.rs b/ui/single/exception-systick-used.rs index 36ed174..1c30b70 100644 --- a/ui/single/exception-systick-used.rs +++ b/ui/single/exception-systick-used.rs @@ -1,10 +1,10 @@ #![no_main] #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[task(binds = SysTick)] fn sys_tick(_: sys_tick::Context) {} #[task(schedule = [foo])] fn foo(_: foo::Context) {} -}; +} diff --git a/ui/single/extern-interrupt-not-enough.rs b/ui/single/extern-interrupt-not-enough.rs index 53820b5..f262403 100644 --- a/ui/single/extern-interrupt-not-enough.rs +++ b/ui/single/extern-interrupt-not-enough.rs @@ -1,7 +1,7 @@ #![no_main] #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[task] fn a(_: a::Context) {} -}; +} diff --git a/ui/single/extern-interrupt-used.rs b/ui/single/extern-interrupt-used.rs index 82f1bdd..89c2378 100644 --- a/ui/single/extern-interrupt-used.rs +++ b/ui/single/extern-interrupt-used.rs @@ -1,11 +1,11 @@ #![no_main] #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[task(binds = UART0)] fn a(_: a::Context) {} extern "C" { fn UART0(); } -}; +} diff --git a/ui/single/locals-cfg.rs b/ui/single/locals-cfg.rs index cd8677a..45a7a91 100644 --- a/ui/single/locals-cfg.rs +++ b/ui/single/locals-cfg.rs @@ -1,7 +1,8 @@ #![no_main] +use panic_halt as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { #[cfg(never)] @@ -49,4 +50,4 @@ const APP: () = { extern "C" { fn UART1(); } -}; +} diff --git a/ui/single/locals-cfg.stderr b/ui/single/locals-cfg.stderr index dc104a6..63953fc 100644 --- a/ui/single/locals-cfg.stderr +++ b/ui/single/locals-cfg.stderr @@ -1,37 +1,41 @@ error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:10:9 + --> $DIR/locals-cfg.rs:11:9 | -10 | FOO; +11 | FOO; | ^^^ not found in this scope error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:20:9 + --> $DIR/locals-cfg.rs:21:9 | -20 | FOO; +21 | FOO; | ^^^ not found in this scope error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:30:9 + --> $DIR/locals-cfg.rs:31:9 | -30 | FOO; +31 | FOO; | ^^^ not found in this scope error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:38:9 + --> $DIR/locals-cfg.rs:39:9 | -38 | FOO; +39 | FOO; | ^^^ not found in this scope error[E0425]: cannot find value `FOO` in this scope - --> $DIR/locals-cfg.rs:46:9 + --> $DIR/locals-cfg.rs:47:9 | -46 | FOO; +47 | FOO; | ^^^ not found in this scope -error: duplicate lang item in crate `panic_halt`: `panic_impl`. +error: duplicate lang item in crate `panic_halt` (which `$CRATE` depends on): `panic_impl`. | - = note: first defined in crate `std`. + = note: the lang item is first defined in crate `std` (which `$CRATE` depends on) + = note: first definition in `std` loaded from /usr/share/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libstd-cf0f33af3a901778.rlib + = note: second definition in `panic_halt` loaded from $DIR/target/tests/target/x86_64-unknown-linux-gnu/debug/deps/libpanic_halt-ba6f0ab3439cbc7e.rmeta error: duplicate lang item in crate `panic_semihosting`: `panic_impl`. | - = note: first defined in crate `panic_halt`. + = note: the lang item is first defined in crate `panic_halt` (which `$CRATE` depends on) + = note: first definition in `panic_halt` loaded from $DIR/target/tests/target/x86_64-unknown-linux-gnu/debug/deps/libpanic_halt-ba6f0ab3439cbc7e.rmeta + = note: second definition in `panic_semihosting` loaded from $DIR/target/tests/target/x86_64-unknown-linux-gnu/debug/deps/libpanic_semihosting-805015f4a2d05965.rmeta diff --git a/ui/single/resources-cfg.rs b/ui/single/resources-cfg.rs index bcb7120..2ba65a0 100644 --- a/ui/single/resources-cfg.rs +++ b/ui/single/resources-cfg.rs @@ -1,7 +1,9 @@ #![no_main] +use panic_halt as _; #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { + #[resources] struct Resources { #[cfg(never)] #[init(0)] @@ -74,4 +76,4 @@ const APP: () = { c.resources.s2; c.resources.o5; } -}; +} diff --git a/ui/single/resources-cfg.stderr b/ui/single/resources-cfg.stderr index 6806369..17f08d8 100644 --- a/ui/single/resources-cfg.stderr +++ b/ui/single/resources-cfg.stderr @@ -1,119 +1,125 @@ +error: duplicate lang item in crate `panic_halt` (which `$CRATE` depends on): `panic_impl`. + | + = note: the lang item is first defined in crate `std` (which `$CRATE` depends on) + = note: first definition in `std` loaded from /usr/share/rust/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libstd-cf0f33af3a901778.rlib + = note: second definition in `panic_halt` loaded from $DIR/target/tests/target/x86_64-unknown-linux-gnu/debug/deps/libpanic_halt-ba6f0ab3439cbc7e.rmeta + error[E0609]: no field `o1` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:45:21 + --> $DIR/resources-cfg.rs:47:21 | -45 | c.resources.o1; +47 | c.resources.o1; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `o4` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:46:21 + --> $DIR/resources-cfg.rs:48:21 | -46 | c.resources.o4; +48 | c.resources.o4; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `o5` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:47:21 + --> $DIR/resources-cfg.rs:49:21 | -47 | c.resources.o5; +49 | c.resources.o5; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `o6` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:48:21 + --> $DIR/resources-cfg.rs:50:21 | -48 | c.resources.o6; +50 | c.resources.o6; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `s3` on type `initResources<'_>` - --> $DIR/resources-cfg.rs:49:21 + --> $DIR/resources-cfg.rs:51:21 | -49 | c.resources.s3; +51 | c.resources.s3; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `o2` on type `idleResources<'_>` - --> $DIR/resources-cfg.rs:56:21 + --> $DIR/resources-cfg.rs:58:21 | -56 | c.resources.o2; +58 | c.resources.o2; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `o4` on type `idleResources<'_>` - --> $DIR/resources-cfg.rs:57:21 + --> $DIR/resources-cfg.rs:59:21 | -57 | c.resources.o4; +59 | c.resources.o4; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `s1` on type `idleResources<'_>` - --> $DIR/resources-cfg.rs:58:21 + --> $DIR/resources-cfg.rs:60:21 | -58 | c.resources.s1; +60 | c.resources.s1; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `s3` on type `idleResources<'_>` - --> $DIR/resources-cfg.rs:59:21 + --> $DIR/resources-cfg.rs:61:21 | -59 | c.resources.s3; +61 | c.resources.s3; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `o3` on type `uart0Resources<'_>` - --> $DIR/resources-cfg.rs:66:21 + --> $DIR/resources-cfg.rs:68:21 | -66 | c.resources.o3; +68 | c.resources.o3; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `s1` on type `uart0Resources<'_>` - --> $DIR/resources-cfg.rs:67:21 + --> $DIR/resources-cfg.rs:69:21 | -67 | c.resources.s1; +69 | c.resources.s1; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `s2` on type `uart0Resources<'_>` - --> $DIR/resources-cfg.rs:68:21 + --> $DIR/resources-cfg.rs:70:21 | -68 | c.resources.s2; +70 | c.resources.s2; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `s3` on type `uart0Resources<'_>` - --> $DIR/resources-cfg.rs:69:21 + --> $DIR/resources-cfg.rs:71:21 | -69 | c.resources.s3; +71 | c.resources.s3; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `s2` on type `uart1Resources<'_>` - --> $DIR/resources-cfg.rs:74:21 + --> $DIR/resources-cfg.rs:76:21 | -74 | c.resources.s2; +76 | c.resources.s2; | ^^ unknown field | = note: available fields are: `__marker__` error[E0609]: no field `o5` on type `uart1Resources<'_>` - --> $DIR/resources-cfg.rs:75:21 + --> $DIR/resources-cfg.rs:77:21 | -75 | c.resources.o5; +77 | c.resources.o5; | ^^ unknown field | = note: available fields are: `__marker__` diff --git a/ui/single/task-priority-too-high.rs b/ui/single/task-priority-too-high.rs index 62e531d..caa7b8e 100644 --- a/ui/single/task-priority-too-high.rs +++ b/ui/single/task-priority-too-high.rs @@ -1,9 +1,7 @@ #![no_main] -use rtic::app; - #[rtic::app(device = lm3s6965)] -const APP: () = { +mod app { #[init] fn init(_: init::Context) -> init::LateResources { init::LateResources {} @@ -37,4 +35,4 @@ const APP: () = { // this value is too high! #[task(binds = I2C0, priority = 9)] fn i2c0(_: i2c0::Context) {} -}; +} diff --git a/ui/single/task-priority-too-high.stderr b/ui/single/task-priority-too-high.stderr index eae6074..e84ddd3 100644 --- a/ui/single/task-priority-too-high.stderr +++ b/ui/single/task-priority-too-high.stderr @@ -1,13 +1,7 @@ -warning: unused import: `rtic::app` - --> $DIR/task-priority-too-high.rs:3:5 - | -3 | use rtic::app; - | ^^^^^^^^^ - | - = note: #[warn(unused_imports)] on by default - error[E0080]: evaluation of constant value failed - --> $DIR/task-priority-too-high.rs:5:1 + --> $DIR/task-priority-too-high.rs:3:1 + | +3 | #[rtic::app(device = lm3s6965)] + | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ attempt to compute `8_usize - 9_usize` which would overflow | -5 | #[rtic::app(device = lm3s6965)] - | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ attempt to subtract with overflow + = note: this error originates in an attribute macro (in Nightly builds, run with -Z macro-backtrace for more info) |