1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
use core::marker::PhantomData;
use crate::{
kernel::Port,
utils::{ComptimeVec, FIXED_PRIO_BITMAP_MAX_LEN},
};
mod event_group;
mod hunk;
mod interrupt;
mod mutex;
mod semaphore;
mod startup;
mod task;
mod timer;
pub use self::{
event_group::*, hunk::*, interrupt::*, mutex::*, semaphore::*, startup::*, task::*, timer::*,
};
#[macro_export]
macro_rules! build {
($sys:ty, $configure:expr => $id_map_ty:ty) => {{
use $crate::{
kernel::{
cfg::{
CfgBuilder, CfgBuilderInner, CfgBuilderInterruptHandler, InterruptHandlerFn,
InterruptHandlerTable,
},
EventGroupCb, InterruptAttr, InterruptLineInit, KernelCfg1,
KernelCfg2, Port, StartupHookAttr, State, TaskAttr, TaskCb, TimeoutRef, TimerAttr,
TimerCb, SemaphoreCb, MutexCb, PortThreading, readyqueue,
},
staticvec::StaticVec,
utils::{
for_times::U, AlignedStorage, FixedPrioBitmap, Init, RawCell, UIntegerWithBound,
},
};
const CFG: CfgBuilderInner<$sys> = get_cfg();
const fn get_cfg() -> CfgBuilderInner<$sys> {
let mut cfg = unsafe { CfgBuilder::new() };
$configure(&mut cfg);
cfg.finalize();
cfg.into_inner()
}
const fn id_map() -> $id_map_ty {
$configure(&mut unsafe { CfgBuilder::new() })
}
type TaskPriority = UIntegerWithBound<{ CFG.num_task_priority_levels as u128 - 1 }>;
$crate::array_item_from_fn! {
const TASK_PRIORITY_LEVELS: [TaskPriority; _] =
(0..CFG.num_task_priority_levels).map(|i| i as _);
};
type TaskReadyBitmap = FixedPrioBitmap<{ CFG.num_task_priority_levels }>;
type TaskReadyQueue = readyqueue::BitmapQueue<
$sys,
<$sys as PortThreading>::PortTaskState,
<$sys as KernelCfg1>::TaskPriority,
TaskReadyBitmap,
{ CFG.num_task_priority_levels }
>;
unsafe impl KernelCfg1 for $sys {
const NUM_TASK_PRIORITY_LEVELS: usize = CFG.num_task_priority_levels;
type TaskPriority = TaskPriority;
type TaskReadyQueue = TaskReadyQueue;
const TASK_PRIORITY_LEVELS: &'static [Self::TaskPriority] = &TASK_PRIORITY_LEVELS;
}
$crate::array_item_from_fn! {
const TASK_ATTR_POOL: [TaskAttr<$sys>; _] =
(0..CFG.tasks.len()).map(|i| CFG.tasks.get(i).to_attr());
static TASK_CB_POOL:
[TaskCb<$sys>; _] =
(0..CFG.tasks.len()).map(|i| CFG.tasks.get(i).to_state(&TASK_ATTR_POOL[i]));
}
$crate::array_item_from_fn! {
static EVENT_GROUP_CB_POOL:
[EventGroupCb<$sys>; _] =
(0..CFG.event_groups.len()).map(|i| CFG.event_groups.get(i).to_state());
}
$crate::array_item_from_fn! {
static MUTEX_CB_POOL:
[MutexCb<$sys>; _] =
(0..CFG.mutexes.len()).map(|i| CFG.mutexes.get(i).to_state());
}
$crate::array_item_from_fn! {
static SEMAPHORE_CB_POOL:
[SemaphoreCb<$sys>; _] =
(0..CFG.semaphores.len()).map(|i| CFG.semaphores.get(i).to_state());
}
$crate::array_item_from_fn! {
const TIMER_ATTR_POOL: [TimerAttr<$sys>; _] =
(0..CFG.timers.len()).map(|i| CFG.timers.get(i).to_attr());
static TIMER_CB_POOL:
[TimerCb<$sys>; _] =
(0..CFG.timers.len()).map(|i| CFG.timers.get(i).to_state(&TIMER_ATTR_POOL[i], i));
}
static HUNK_POOL: RawCell<AlignedStorage<{ CFG.hunk_pool_len }, { CFG.hunk_pool_align }>> =
Init::INIT;
type KernelState = State<$sys>;
static KERNEL_STATE: KernelState = State::INIT;
const INTERRUPT_HANDLERS: [CfgBuilderInterruptHandler; { CFG.interrupt_handlers.len() }] =
CFG.interrupt_handlers.to_array();
const NUM_INTERRUPT_HANDLERS: usize = INTERRUPT_HANDLERS.len();
const NUM_INTERRUPT_LINES: usize =
$crate::kernel::cfg::num_required_interrupt_line_slots(&INTERRUPT_HANDLERS);
struct Handlers;
impl $crate::kernel::cfg::CfgBuilderInterruptHandlerList for Handlers {
type NumHandlers = U<NUM_INTERRUPT_HANDLERS>;
const HANDLERS: &'static [CfgBuilderInterruptHandler] = &INTERRUPT_HANDLERS;
}
const INTERRUPT_HANDLERS_SIZED: InterruptHandlerTable<
[Option<InterruptHandlerFn>; NUM_INTERRUPT_LINES],
> = unsafe {
$crate::kernel::cfg::new_interrupt_handler_table::<
$sys,
U<NUM_INTERRUPT_LINES>,
Handlers,
NUM_INTERRUPT_LINES,
NUM_INTERRUPT_HANDLERS,
>()
};
$crate::array_item_from_fn! {
const INTERRUPT_LINE_INITS:
[InterruptLineInit<$sys>; _] =
(0..CFG.interrupt_lines.len()).map(|i| CFG.interrupt_lines.get(i).to_init());
}
$crate::array_item_from_fn! {
const STARTUP_HOOKS:
[StartupHookAttr; _] =
(0..CFG.startup_hooks.len()).map(|i| CFG.startup_hooks.get(i).to_attr());
}
const TIMEOUT_HEAP_LEN: usize = CFG.tasks.len() + CFG.timers.len();
type TimeoutHeap = StaticVec<TimeoutRef<$sys>, TIMEOUT_HEAP_LEN>;
unsafe impl KernelCfg2 for $sys {
type TimeoutHeap = TimeoutHeap;
#[inline(always)]
fn state() -> &'static KernelState {
&KERNEL_STATE
}
const INTERRUPT_HANDLERS: &'static InterruptHandlerTable = &INTERRUPT_HANDLERS_SIZED;
const INTERRUPT_ATTR: InterruptAttr<Self> = InterruptAttr {
line_inits: &INTERRUPT_LINE_INITS,
};
const STARTUP_HOOKS: &'static [StartupHookAttr] = &STARTUP_HOOKS;
#[inline(always)]
fn hunk_pool_ptr() -> *mut u8 {
HUNK_POOL.get() as *mut u8
}
#[inline(always)]
fn task_cb_pool() -> &'static [TaskCb<$sys>] {
&TASK_CB_POOL
}
#[inline(always)]
fn event_group_cb_pool() -> &'static [EventGroupCb<$sys>] {
&EVENT_GROUP_CB_POOL
}
#[inline(always)]
fn mutex_cb_pool() -> &'static [MutexCb<$sys>] {
&MUTEX_CB_POOL
}
#[inline(always)]
fn semaphore_cb_pool() -> &'static [SemaphoreCb<$sys>] {
&SEMAPHORE_CB_POOL
}
#[inline(always)]
fn timer_cb_pool() -> &'static [TimerCb<$sys>] {
&TIMER_CB_POOL
}
}
id_map()
}};
}
#[macro_export]
#[doc(hidden)]
macro_rules! array_item_from_fn {
($(
$static_or_const:tt $out:ident: [$ty:ty; _] = (0..$len:expr).map(|$var:ident| $map:expr);
)*) => {$(
$static_or_const $out: [$ty; { $len }] = {
use $crate::{core::mem::MaybeUninit, utils::mem};
let mut values: [MaybeUninit<$ty>; { $len }] = mem::uninit_array();
let mut i = 0;
while i < $len {
values[i] = MaybeUninit::<$ty>::new({
let $var = i;
$map
});
i += 1;
}
unsafe { mem::transmute(values) }
};
)*};
}
pub struct CfgBuilder<System> {
inner: CfgBuilderInner<System>,
}
#[doc(hidden)]
pub struct CfgBuilderInner<System> {
_phantom: PhantomData<System>,
pub hunk_pool_len: usize,
pub hunk_pool_align: usize,
pub tasks: ComptimeVec<CfgBuilderTask<System>>,
pub num_task_priority_levels: usize,
pub interrupt_lines: ComptimeVec<CfgBuilderInterruptLine>,
pub interrupt_handlers: ComptimeVec<CfgBuilderInterruptHandler>,
pub startup_hooks: ComptimeVec<CfgBuilderStartupHook>,
pub event_groups: ComptimeVec<CfgBuilderEventGroup>,
pub mutexes: ComptimeVec<CfgBuilderMutex>,
pub semaphores: ComptimeVec<CfgBuilderSemaphore>,
pub timers: ComptimeVec<CfgBuilderTimer>,
}
impl<System> CfgBuilder<System> {
#[doc(hidden)]
pub const unsafe fn new() -> Self {
Self {
inner: CfgBuilderInner {
_phantom: PhantomData,
hunk_pool_len: 0,
hunk_pool_align: 1,
tasks: ComptimeVec::new(),
num_task_priority_levels: 4,
interrupt_lines: ComptimeVec::new(),
interrupt_handlers: ComptimeVec::new(),
startup_hooks: ComptimeVec::new(),
event_groups: ComptimeVec::new(),
mutexes: ComptimeVec::new(),
semaphores: ComptimeVec::new(),
timers: ComptimeVec::new(),
},
}
}
#[doc(hidden)]
pub const fn into_inner(self) -> CfgBuilderInner<System> {
self.inner
}
pub const fn num_task_priority_levels(&mut self, new_value: usize) {
if new_value == 0 {
panic!("`num_task_priority_levels` must be greater than zero");
} else if new_value > FIXED_PRIO_BITMAP_MAX_LEN {
panic!("`num_task_priority_levels` must be less than or equal to `FIXED_PRIO_BITMAP_MAX_LEN`");
} else if new_value >= isize::MAX as usize {
unreachable!();
}
self.inner.num_task_priority_levels = new_value;
}
#[doc(hidden)]
pub const fn finalize(&mut self)
where
System: Port,
{
let inner = &mut self.inner;
interrupt::panic_if_unmanaged_safety_is_violated::<System>(
&inner.interrupt_lines,
&inner.interrupt_handlers,
);
interrupt::sort_handlers(&mut inner.interrupt_handlers);
startup::sort_hooks(&mut inner.startup_hooks);
}
}