2020-12-22 00:03:08 +01:00
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open Names
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2020-12-25 19:16:17 +01:00
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open Types
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2020-12-22 00:03:08 +01:00
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open C
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open Obc
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open Async_backend
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2020-12-22 21:30:04 +01:00
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module AvrBackend : AsyncBackend =
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2020-12-22 00:03:08 +01:00
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struct
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2020-12-25 19:16:17 +01:00
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type clock =
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| Timer_ms of int
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2020-12-22 00:03:08 +01:00
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let qn_append q suffix =
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{ qual = q.qual; name = q.name ^ suffix }
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(* FIXME(Arduino): don't do a shallow copy *)
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(* FIXME(Arduino): add a mutex… *)
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let gen_copy_func cd suffix =
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let func_name = (cname_of_qn cd.cd_name) ^ "_copy" ^ suffix in
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(* TODO(Arduino): add const qualifier *)
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let arg_ty = Cty_ptr (Cty_id (qn_append cd.cd_name suffix)) in
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let sizeof = Cfun_call ("sizeof", [Cderef (Cvar "src")]) in
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2020-12-22 21:30:04 +01:00
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let memcpy =
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Cfun_call ("atomic_memcpy", [Cvar "dest"; Cvar "src"; sizeof])
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in
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2020-12-22 00:03:08 +01:00
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Cfundef {
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C.f_name = func_name;
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f_retty = Cty_void;
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f_args = [("dest", arg_ty); ("src", arg_ty)];
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f_body = {
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var_decls = [];
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block_body = [Csexpr memcpy] }
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}
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let gen_copy_func_in cd = gen_copy_func cd "_in"
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let gen_copy_func_out cd = gen_copy_func cd "_out"
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2020-12-25 15:03:19 +01:00
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let includes = ["avr"]
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2020-12-25 19:16:17 +01:00
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let translate_ack { ack_name = name; ack_params = params } =
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match params with
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| [{se_desc = Sint ms}] when name = "timer_ms" -> Timer_ms ms
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| _ -> assert false
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let rec gcd a = function
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| 0 -> abs a
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| b -> gcd b (a mod b)
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let fold_gcd l = List.fold_left gcd (List.hd l) (List.tl l)
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let lcm a b = match a, b with
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| 0, _ | _, 0 -> 0
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| _ -> abs (a * b) / (gcd a b)
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let fold_lcm l = List.fold_left lcm (List.hd l) (List.tl l)
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let call_step_async base tick_var (od, ack) =
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Csexpr (Cfun_call ("toto", []))
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let decls_and_defs objs =
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let trans = List.map
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(fun od ->
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let ack = Option.get od.o_ack in
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(od, translate_ack ack))
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objs
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in
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let timers = List.map
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(fun (_, ack) -> match ack with Timer_ms ms -> ms)
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trans
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in
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let body = match timers with
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| [] -> []
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| _ ->
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let base_timer = fold_gcd timers in
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let max_timer = fold_lcm timers in
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let tick = "mod_ticks" in
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List.map (call_step_async base_timer (Cvar tick)) trans
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in
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2020-12-25 15:03:19 +01:00
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(* run_timers is declared in avr.h (because of the ISR macro which
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* I don't know how to generate here) *)
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let defs = [
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Cfundef {
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C.f_name = "run_timers";
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f_retty = Cty_void;
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f_args = [];
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f_body = {
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var_decls = [];
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2020-12-25 19:16:17 +01:00
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block_body = body
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2020-12-25 15:03:19 +01:00
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}
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}
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] in
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[], defs
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2020-12-22 00:03:08 +01:00
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end
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