diff options
Diffstat (limited to 'macros/src/codegen/pre_init.rs')
| -rw-r--r-- | macros/src/codegen/pre_init.rs | 44 |
1 files changed, 29 insertions, 15 deletions
diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs index 969de84..e7b1b03 100644 --- a/macros/src/codegen/pre_init.rs +++ b/macros/src/codegen/pre_init.rs @@ -8,6 +8,8 @@ use crate::{analyze::Analysis, check::Extra, codegen::util}; pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> { let mut stmts = vec![]; + let rt_err = util::rt_err_ident(); + // Disable interrupts -- `init` must run with interrupts disabled stmts.push(quote!(rtic::export::interrupt::disable();)); @@ -47,14 +49,14 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let interrupt = util::interrupt_ident(); stmts.push(quote!( core.NVIC.set_priority( - you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#interrupt::#name, + #rt_err::#interrupt::#name, rtic::export::logical2hw(#priority, #nvic_prio_bits), ); )); // NOTE unmask the interrupt *after* setting its priority: changing the priority of a pended // interrupt is implementation defined - stmts.push(quote!(rtic::export::NVIC::unmask(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#interrupt::#name);)); + stmts.push(quote!(rtic::export::NVIC::unmask(#rt_err::#interrupt::#name);)); } // Set exception priorities @@ -74,23 +76,35 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream );)); } - // Initialize the SysTick if there exist a TimerQueue - if extra.monotonic.is_some() { - let priority = analysis.channels.keys().max().unwrap(); - + // Initialize monotonic's interrupts + for (priority, name) in app + .monotonics + .iter() + .map(|(_, monotonic)| (&monotonic.args.priority, &monotonic.args.binds)) + { // Compile time assert that this priority is supported by the device stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];)); - stmts.push(quote!(core.SCB.set_priority( - rtic::export::SystemHandler::SysTick, - rtic::export::logical2hw(#priority, #nvic_prio_bits), - );)); - stmts.push(quote!( - core.SYST.set_clock_source(rtic::export::SystClkSource::Core); - core.SYST.enable_counter(); - core.DCB.enable_trace(); - )); + if &*name.to_string() == "SysTick" { + stmts.push(quote!( + core.SCB.set_priority( + rtic::export::SystemHandler::SysTick, + rtic::export::logical2hw(#priority, #nvic_prio_bits), + ); + )); + } else { + // NOTE this also checks that the interrupt exists in the `Interrupt` enumeration + let interrupt = util::interrupt_ident(); + stmts.push(quote!( + core.NVIC.set_priority( + #rt_err::#interrupt::#name, + rtic::export::logical2hw(#priority, #nvic_prio_bits), + ); + )); + } + + // NOTE we do not unmask the interrupt as this is part of the monotonic to keep track of } // If there's no user `#[idle]` then optimize returning from interrupt handlers |