diff --git a/Cargo.toml b/Cargo.toml
index 5675d76749c55cdaadcf5b7a6ae8a50e6730d71a..37db8565e5758e0ca98f3a451e97ee41e76aa8b8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -10,13 +10,13 @@ keywords = ["arm", "cortex-m"]
license = "MIT OR Apache-2.0"
name = "cortex-m-rtfm"
repository = "https://github.com/japaric/cortex-m-rtfm"
-version = "0.2.2"
+version = "0.3.0"
[dependencies]
-cortex-m = "0.3.1"
+cortex-m = { git = "https://github.com/japaric/cortex-m" }
untagged-option = "0.1.1"
rtfm-core = "0.1.0"
-cortex-m-rtfm-macros = "0.2.1"
+cortex-m-rtfm-macros = { path = "macros" }
[target.'cfg(target_arch = "x86_64")'.dev-dependencies]
compiletest_rs = "0.3.3"
@@ -27,7 +27,8 @@ version = "0.3.3"
[dev-dependencies.stm32f103xx]
features = ["rt"]
-version = "0.7.5"
+git = "https://github.com/japaric/stm32f103xx"
+# version = "0.8.0"
[profile.release]
lto = true
diff --git a/examples/generics.rs b/examples/generics.rs
index 57c9b8ebc600e12d4c74abcede583272f884da55..afcafa0a4026a50497667761ff409fd9bfcf6d75 100644
--- a/examples/generics.rs
+++ b/examples/generics.rs
@@ -12,6 +12,11 @@ use stm32f103xx::{SPI1, GPIOA};
app! {
device: stm32f103xx,
+ resources: {
+ static GPIOA: GPIOA;
+ static SPI1: SPI1;
+ },
+
tasks: {
EXTI0: {
path: exti0,
@@ -27,7 +32,12 @@ app! {
},
}
-fn init(_p: init::Peripherals) {}
+fn init(p: init::Peripherals) -> init::LateResourceValues {
+ init::LateResourceValues {
+ GPIOA: p.device.GPIOA,
+ SPI1: p.device.SPI1,
+ }
+}
fn idle() -> ! {
loop {
diff --git a/examples/one-task.rs b/examples/one-task.rs
index e58d9fcd90c543508c8b917fe50382d9d6a02c8f..38f0135467fdff1705668a8c32ede7010f0bdd96 100644
--- a/examples/one-task.rs
+++ b/examples/one-task.rs
@@ -7,8 +7,9 @@ extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
-use cortex_m::peripheral::SystClkSource;
+use cortex_m::peripheral::syst::SystClkSource;
use rtfm::{app, Threshold};
+use stm32f103xx::GPIOC;
app! {
device: stm32f103xx,
@@ -35,9 +36,8 @@ app! {
// These are the resources this task has access to.
//
- // A resource can be a peripheral like `GPIOC` or a static variable
- // like `ON`
- resources: [GPIOC, ON],
+ // The resources listed here must also appear in `app.resources`
+ resources: [ON],
},
}
}
@@ -47,19 +47,20 @@ fn init(p: init::Peripherals, r: init::Resources) {
r.ON;
// power on GPIOC
- p.RCC.apb2enr.modify(|_, w| w.iopcen().enabled());
+ p.device.RCC.apb2enr.modify(|_, w| w.iopcen().enabled());
// configure PC13 as output
- p.GPIOC.bsrr.write(|w| w.bs13().set());
- p.GPIOC
+ p.device.GPIOC.bsrr.write(|w| w.bs13().set());
+ p.device
+ .GPIOC
.crh
.modify(|_, w| w.mode13().output().cnf13().push());
// configure the system timer to generate one interrupt every second
- p.SYST.set_clock_source(SystClkSource::Core);
- p.SYST.set_reload(8_000_000); // 1s
- p.SYST.enable_interrupt();
- p.SYST.enable_counter();
+ p.core.SYST.set_clock_source(SystClkSource::Core);
+ p.core.SYST.set_reload(8_000_000); // 1s
+ p.core.SYST.enable_interrupt();
+ p.core.SYST.enable_counter();
}
fn idle() -> ! {
@@ -74,15 +75,22 @@ fn idle() -> ! {
//
// `r` is the set of resources this task has access to. `SYS_TICK::Resources`
// has one field per resource declared in `app!`.
+#[allow(unsafe_code)]
fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
// toggle state
**r.ON = !**r.ON;
if **r.ON {
// set the pin PC13 high
- r.GPIOC.bsrr.write(|w| w.bs13().set());
+ // NOTE(unsafe) atomic write to a stateless register
+ unsafe {
+ (*GPIOC::ptr()).bsrr.write(|w| w.bs13().set());
+ }
} else {
// set the pin PC13 low
- r.GPIOC.bsrr.write(|w| w.br13().reset());
+ // NOTE(unsafe) atomic write to a stateless register
+ unsafe {
+ (*GPIOC::ptr()).bsrr.write(|w| w.br13().reset());
+ }
}
}
diff --git a/examples/zero-tasks.rs b/examples/zero-tasks.rs
index 9176103d434d8159bcc6bffaa10740e6cfbcfd59..58e6afc76c65cc1c6f3a0f81cb42b4a19805cbc4 100644
--- a/examples/zero-tasks.rs
+++ b/examples/zero-tasks.rs
@@ -25,8 +25,9 @@ app! {
// this function.
fn init(p: init::Peripherals) {
// This function has access to all the peripherals of the device
- p.GPIOA;
- p.RCC;
+ p.core.SYST;
+ p.device.GPIOA;
+ p.device.RCC;
// ..
}
diff --git a/macros/src/check.rs b/macros/src/check.rs
index 3cd112acfd1758d2847365cd91434dd005151d41..63cac1fa5eda47cf63199be704db8d8df9b5b800 100644
--- a/macros/src/check.rs
+++ b/macros/src/check.rs
@@ -63,16 +63,15 @@ pub fn app(app: check::App) -> Result<App> {
tasks: app.tasks
.into_iter()
.map(|(k, v)| {
- let v = ::check::task(k.as_ref(), v)
- .chain_err(|| format!("checking task `{}`", k))?;
+ let v =
+ ::check::task(k.as_ref(), v).chain_err(|| format!("checking task `{}`", k))?;
Ok((k, v))
})
.collect::<Result<_>>()?,
};
- ::check::resources(&app)
- .chain_err(|| "checking `resources`")?;
+ ::check::resources(&app).chain_err(|| "checking `resources`")?;
Ok(app)
}
@@ -93,6 +92,17 @@ fn resources(app: &App) -> Result<()> {
bail!("resource `{}` is unused", resource);
}
+ for (name, task) in &app.tasks {
+ for resource in &task.resources {
+ ensure!(
+ app.resources.contains_key(&resource),
+ "task {} contains an undeclared resource with name {}",
+ name,
+ resource
+ );
+ }
+ }
+
Ok(())
}
diff --git a/macros/src/trans.rs b/macros/src/trans.rs
index 96ff770b64f2982de7ae088fbf5ad0f646a68d21..bc69f24e95ae7101e9280a7926918fcfa9db9af2 100644
--- a/macros/src/trans.rs
+++ b/macros/src/trans.rs
@@ -27,12 +27,7 @@ pub fn app(app: &App, ownerships: &Ownerships) -> Tokens {
quote!(#(#root)*)
}
-fn idle(
- app: &App,
- ownerships: &Ownerships,
- main: &mut Vec<Tokens>,
- root: &mut Vec<Tokens>,
-) {
+fn idle(app: &App, ownerships: &Ownerships, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
let krate = krate();
let mut mod_items = vec![];
@@ -45,8 +40,6 @@ fn idle(
}
if !app.idle.resources.is_empty() {
- let device = &app.device;
-
let mut needs_reexport = false;
for name in &app.idle.resources {
if ownerships[name].is_owned() {
@@ -66,32 +59,26 @@ fn idle(
let mut rfields = vec![];
for name in &app.idle.resources {
if ownerships[name].is_owned() {
- if let Some(resource) = app.resources.get(name) {
- let ty = &resource.ty;
+ let resource = app.resources.get(name).expect(&format!(
+ "BUG: resource {} assigned to `idle` has no definition",
+ name
+ ));
+ let ty = &resource.ty;
- rfields.push(quote! {
- pub #name: &'static mut #ty,
- });
+ rfields.push(quote! {
+ pub #name: &'static mut #ty,
+ });
- let _name = Ident::new(format!("_{}", name.as_ref()));
- rexprs.push(if resource.expr.is_some() {
- quote! {
- #name: &mut #super_::#_name,
- }
- } else {
- quote! {
- #name: #super_::#_name.as_mut(),
- }
- });
+ let _name = Ident::new(format!("_{}", name.as_ref()));
+ rexprs.push(if resource.expr.is_some() {
+ quote! {
+ #name: &mut #super_::#_name,
+ }
} else {
- rfields.push(quote! {
- pub #name: &'static mut ::#device::#name,
- });
-
- rexprs.push(quote! {
- #name: &mut *::#device::#name.get(),
- });
- }
+ quote! {
+ #name: #super_::#_name.as_mut(),
+ }
+ });
} else {
rfields.push(quote! {
pub #name: #super_::_resource::#name,
@@ -161,12 +148,20 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
let device = &app.device;
let krate = krate();
- let mut tys = vec![quote!(#device::Peripherals)];
- let mut exprs = vec![quote!(#device::Peripherals::all())];
+ let mut tys = vec![quote!(init::Peripherals)];
+ let mut exprs = vec![
+ quote!{
+ init::Peripherals {
+ core: ::#device::CorePeripherals::steal(),
+ device: ::#device::Peripherals::steal(),
+ }
+ },
+ ];
let mut ret = None;
let mut mod_items = vec![];
- let (init_resources, late_resources): (Vec<_>, Vec<_>) = app.resources.iter()
+ let (init_resources, late_resources): (Vec<_>, Vec<_>) = app.resources
+ .iter()
.partition(|&(_, res)| res.expr.is_some());
if !init_resources.is_empty() {
@@ -255,7 +250,10 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
root.push(quote! {
#[allow(unsafe_code)]
mod init {
- pub use ::#device::Peripherals;
+ pub struct Peripherals {
+ pub core: ::#device::CorePeripherals,
+ pub device: ::#device::Peripherals,
+ }
#(#mod_items)*
}
@@ -268,7 +266,7 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
Kind::Exception(ref e) => {
if exceptions.is_empty() {
exceptions.push(quote! {
- let scb = &*#device::SCB.get();
+ let scb = &*#device::SCB::ptr();
});
}
@@ -284,7 +282,7 @@ fn init(app: &App, main: &mut Vec<Tokens>, root: &mut Vec<Tokens>) {
// Interrupt. These can be enabled / disabled through the NVIC
if interrupts.is_empty() {
interrupts.push(quote! {
- let nvic = &*#device::NVIC.get();
+ let nvic = &*#device::NVIC::ptr();
});
}
@@ -355,154 +353,81 @@ fn resources(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
// For owned resources we don't need claim() or borrow()
}
Ownership::Shared { ceiling } => {
- if let Some(resource) = app.resources.get(name) {
- let ty = &resource.ty;
- let res_rvalue = if resource.expr.is_some() {
- quote!(#_name)
- } else {
- quote!(#_name.some)
- };
-
- impl_items.push(quote! {
- type Data = #ty;
-
- fn borrow<'cs>(
- &'cs self,
- t: &'cs #krate::Threshold,
- ) -> &'cs #krate::Static<#ty> {
- assert!(t.value() >= #ceiling);
-
- unsafe { #krate::Static::ref_(&#res_rvalue) }
- }
-
- fn borrow_mut<'cs>(
- &'cs mut self,
- t: &'cs #krate::Threshold,
- ) -> &'cs mut #krate::Static<#ty> {
- assert!(t.value() >= #ceiling);
-
- unsafe {
- #krate::Static::ref_mut(&mut #res_rvalue)
- }
- }
-
- fn claim<R, F>(
- &self,
- t: &mut #krate::Threshold,
- f: F,
- ) -> R
- where
- F: FnOnce(
- &#krate::Static<#ty>,
- &mut #krate::Threshold) -> R
- {
- unsafe {
- #krate::claim(
- #krate::Static::ref_(&#res_rvalue),
- #ceiling,
- #device::NVIC_PRIO_BITS,
- t,
- f,
- )
- }
- }
-
- fn claim_mut<R, F>(
- &mut self,
- t: &mut #krate::Threshold,
- f: F,
- ) -> R
- where
- F: FnOnce(
- &mut #krate::Static<#ty>,
- &mut #krate::Threshold) -> R
- {
- unsafe {
- #krate::claim(
- #krate::Static::ref_mut(&mut #res_rvalue),
- #ceiling,
- #device::NVIC_PRIO_BITS,
- t,
- f,
- )
- }
- }
- });
+ let resource = app.resources
+ .get(name)
+ .expect(&format!("BUG: resource {} has no definition", name));
+ let ty = &resource.ty;
+ let res_rvalue = if resource.expr.is_some() {
+ quote!(#_name)
} else {
- impl_items.push(quote! {
- type Data = #device::#name;
+ quote!(#_name.some)
+ };
- fn borrow<'cs>(
- &'cs self,
- t: &'cs #krate::Threshold,
- ) -> &'cs #krate::Static<#device::#name> {
- assert!(t.value() >= #ceiling);
+ impl_items.push(quote! {
+ type Data = #ty;
- unsafe {
- #krate::Static::ref_(&*#device::#name.get())
- }
- }
+ fn borrow<'cs>(
+ &'cs self,
+ t: &'cs #krate::Threshold,
+ ) -> &'cs #krate::Static<#ty> {
+ assert!(t.value() >= #ceiling);
- fn borrow_mut<'cs>(
- &'cs mut self,
- t: &'cs #krate::Threshold,
- ) -> &'cs mut #krate::Static<#device::#name> {
- assert!(t.value() >= #ceiling);
+ unsafe { #krate::Static::ref_(&#res_rvalue) }
+ }
- unsafe {
- #krate::Static::ref_mut(
- &mut *#device::#name.get(),
- )
- }
+ fn borrow_mut<'cs>(
+ &'cs mut self,
+ t: &'cs #krate::Threshold,
+ ) -> &'cs mut #krate::Static<#ty> {
+ assert!(t.value() >= #ceiling);
+
+ unsafe {
+ #krate::Static::ref_mut(&mut #res_rvalue)
}
+ }
- fn claim<R, F>(
- &self,
- t: &mut #krate::Threshold,
- f: F,
- ) -> R
- where
- F: FnOnce(
- &#krate::Static<#device::#name>,
- &mut #krate::Threshold) -> R
- {
- unsafe {
- #krate::claim(
- #krate::Static::ref_(
- &*#device::#name.get(),
- ),
- #ceiling,
- #device::NVIC_PRIO_BITS,
- t,
- f,
- )
- }
+ fn claim<R, F>(
+ &self,
+ t: &mut #krate::Threshold,
+ f: F,
+ ) -> R
+ where
+ F: FnOnce(
+ &#krate::Static<#ty>,
+ &mut #krate::Threshold) -> R
+ {
+ unsafe {
+ #krate::claim(
+ #krate::Static::ref_(&#res_rvalue),
+ #ceiling,
+ #device::NVIC_PRIO_BITS,
+ t,
+ f,
+ )
}
+ }
- fn claim_mut<R, F>(
- &mut self,
- t: &mut #krate::Threshold,
- f: F,
- ) -> R
- where
- F: FnOnce(
- &mut #krate::Static<#device::#name>,
- &mut #krate::Threshold) -> R
- {
- unsafe {
- #krate::claim(
- #krate::Static::ref_mut(
- &mut *#device::#name.get(),
- ),
- #ceiling,
- #device::NVIC_PRIO_BITS,
- t,
- f,
- )
- }
+ fn claim_mut<R, F>(
+ &mut self,
+ t: &mut #krate::Threshold,
+ f: F,
+ ) -> R
+ where
+ F: FnOnce(
+ &mut #krate::Static<#ty>,
+ &mut #krate::Threshold) -> R
+ {
+ unsafe {
+ #krate::claim(
+ #krate::Static::ref_mut(&mut #res_rvalue),
+ #ceiling,
+ #device::NVIC_PRIO_BITS,
+ t,
+ f,
+ )
}
- });
- }
+ }
+ });
impls.push(quote! {
#[allow(unsafe_code)]
@@ -560,9 +485,7 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
let _name = Ident::new(format!("_{}", name.as_ref()));
match ownerships[name] {
- Ownership::Shared { ceiling }
- if ceiling > task.priority =>
- {
+ Ownership::Shared { ceiling } if ceiling > task.priority => {
needs_threshold = true;
fields.push(quote! {
@@ -577,35 +500,26 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
}
_ => {
lifetime = Some(quote!('a));
- if let Some(resource) = app.resources.get(name) {
- needs_reexport = true;
- let ty = &resource.ty;
-
- fields.push(quote! {
- pub #name: &'a mut ::#krate::Static<#ty>,
- });
-
- exprs.push(if resource.expr.is_some() {
- quote! {
- #name: ::#krate::Static::ref_mut(&mut ::#_name),
- }
- } else {
- quote! {
- #name: ::#krate::Static::ref_mut(::#_name.as_mut()),
- }
- });
+ let resource = app.resources
+ .get(name)
+ .expect(&format!("BUG: resource {} has no definition", name));
+
+ needs_reexport = true;
+ let ty = &resource.ty;
+
+ fields.push(quote! {
+ pub #name: &'a mut ::#krate::Static<#ty>,
+ });
+
+ exprs.push(if resource.expr.is_some() {
+ quote! {
+ #name: ::#krate::Static::ref_mut(&mut ::#_name),
+ }
} else {
- fields.push(quote! {
- pub #name:
- &'a mut ::#krate::Static<::#device::#name>,
- });
-
- exprs.push(quote! {
- #name: ::#krate::Static::ref_mut(
- &mut *::#device::#name.get(),
- ),
- });
- }
+ quote! {
+ #name: ::#krate::Static::ref_mut(::#_name.as_mut()),
+ }
+ });
}
}
}
@@ -666,8 +580,7 @@ fn tasks(app: &App, ownerships: &Ownerships, root: &mut Vec<Tokens>) {
let path = &task.path;
let _name = Ident::new(format!("_{}", name));
- let export_name =
- Lit::Str(name.as_ref().to_owned(), StrStyle::Cooked);
+ let export_name = Lit::Str(name.as_ref().to_owned(), StrStyle::Cooked);
root.push(quote! {
#[allow(non_snake_case)]
#[allow(unsafe_code)]
diff --git a/src/lib.rs b/src/lib.rs
index 4ab8ec58d927accfcea548553ac223c673b50359..f5481bc401b83b1e406ee66bd04656ca13886d11 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -160,6 +160,6 @@ where
I: Nr,
{
// NOTE(safe) atomic write
- let nvic = unsafe { &*cortex_m::peripheral::NVIC.get() };
+ let nvic = unsafe { &*cortex_m::peripheral::NVIC::ptr() };
nvic.set_pending(interrupt);
}