Sleep now working: Use embassy-time instead of rtic-monotonics

Previously, core core SYST peripheral was used as the monotonics
provider. This is probably problematic when doing IDLE mode sleepping.

Author: robamu

nrf52-code/boards/dk-solution/Cargo.toml

@@ -15,7 +15,7 @@ embassy-time = "0.5"
 embedded-hal = "1.0"
 nb = "1"
 grounded = { version = "0.2.0", features = ["cas"] }
-hal = { package = "embassy-nrf", version = "0.9", features = ["nrf52840", "unstable-pac"] }
+hal = { package = "embassy-nrf", version = "0.9", features = ["nrf52840", "time-driver-rtc1", "unstable-pac"] }
 
 [features]
 advanced = []

nrf52-code/boards/dk/Cargo.toml

@@ -15,7 +15,7 @@ embassy-time = "0.5"
 embedded-hal = "1.0"
 nb = "1"
 grounded = { version = "0.2.0", features = ["cas"] }
-hal = { package = "embassy-nrf", version = "0.9", features = ["nrf52840", "unstable-pac"] }
+hal = { package = "embassy-nrf", version = "0.9", features = ["nrf52840", "time-driver-rtc1", "unstable-pac"] }
 
 [features]
 advanced = []

nrf52-code/boards/dongle/Cargo.toml

@@ -9,7 +9,7 @@ version = "0.0.0"
 cortex-m = { version = "0.7.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7.5"
 cortex-m-semihosting = "0.5.0"
-hal = { package = "embassy-nrf", version = "0.9", features = ["nrf52840", "unstable-pac"] }
+hal = { package = "embassy-nrf", version = "0.9", features = ["nrf52840", "time-driver-rtc1", "unstable-pac"] }
 embedded-io = "0.7"
 critical-section = "1.2.0"
 defmt = "1"

nrf52-code/loopback-fw/Cargo.lock

@@ -15,14 +15,17 @@ bsp = { package = "dongle", path = "../boards/dongle" }
 # bsp = { package = "dk", path = "../boards/dk", features = ["usbd", "radio"] }
 heapless = { version = "0.9", features = ["defmt"] }
 rtic = { version = "2.1.2", features = ["thumbv7-backend"] }
-rtic-monotonics = { version = "2.0.3", features = ["cortex-m-systick"] }
 usb-device = { version = "0.3.2", features = ["defmt"] }
 usbd-hid = { version = "0.9", features = ["defmt"] }
 usbd-serial = "0.2.2"
 static_cell = "2"
 embedded-io-async = "0.6"
+embedded-hal-async = "1"
 embassy-usb = { version = "0.5", features = ["defmt"] }
 embassy-sync = "0.7"
+embassy-futures = "0.1"
+# Configure embassy-time to be executor agnostic.
+embassy-time = { version = "0.5", features = ["defmt-timestamp-uptime", "generic-queue-16"] }
 
 [features]
 dk = []

nrf52-code/loopback-fw/Cargo.toml

@@ -11,15 +11,16 @@ use bsp::RgbLed;
 #[rtic::app(device = bsp, peripherals = false, dispatchers = [QSPI, CRYPTOCELL])]
 mod app {
     use bsp::hal::{self, usb::vbus_detect::HardwareVbusDetect};
+    use embedded_hal_async::delay::DelayNs as _;
     use core::fmt::Write as _;
     use defmt_rtt as _;
     use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+    use embassy_time::Delay;
+    use embassy_time::Duration;
     use embassy_usb::class::cdc_acm;
     use embassy_usb::class::hid;
     use embedded_io_async::Write as _;
-    use rtic_monotonics::fugit::ExtU32;
 
-    use rtic_monotonics::systick::prelude::*;
     use static_cell::StaticCell;
 
     const SERIAL_BUFFER_SIZE: usize = 512;
@@ -34,8 +35,6 @@ mod app {
         RADIO => hal::radio::InterruptHandler<hal::peripherals::RADIO>;
     });
 
-    systick_monotonic!(Mono);
-
     /// An adapter that simplifies asynchronously writing to the USB ACM by buffering writes.
     ///
     /// All writes are buffered until `flush` is called, which performs the async write.
@@ -125,9 +124,8 @@ mod app {
     struct MySharedResources {}
 
     #[init]
-    fn init(ctx: init::Context) -> (MySharedResources, MyLocalResources) {
+    fn init(mut ctx: init::Context) -> (MySharedResources, MyLocalResources) {
         let board = bsp::init().unwrap();
-        Mono::start(ctx.core.SYST, 64_000_000);
         defmt::println!("-- Radio Loopback firmware --");
 
         #[cfg(feature = "dk")]
@@ -280,9 +278,7 @@ mod app {
 
         // Set the ARM SLEEPONEXIT bit to go to sleep after handling interrupts
         // See https://developer.arm.com/docs/100737/0100/power-management/sleep-mode/sleep-on-exit-bit
-        // TODO: Unfortunately, this does not work yet. Radio packets are not
-        // arriving properly.
-        //ctx.core.SCB.set_sleepdeep();
+        ctx.core.SCB.set_sleepdeep();
 
         (shared, local)
     }
@@ -293,11 +289,7 @@ mod app {
             // Now Wait For Interrupt is used instead of a busy-wait loop
             // to allow MCU to sleep between interrupts
             // https://developer.arm.com/documentation/ddi0406/c/Application-Level-Architecture/Instruction-Details/Alphabetical-list-of-instructions/WFI
-            //
-            // TODO: Unfortunately, this does not work yet. Radio packets are not
-            // arriving properly.
-            // rtic::export::wfi()
-            cortex_m::asm::nop();
+            rtic::export::wfi()
         }
     }
 
@@ -326,7 +318,12 @@ mod app {
     async fn usb_acm(mut ctx: usb_acm::Context) {
         loop {
             // Wait for up to 200 ms for a connection, discard ACM data otherwise.
-            match Mono::timeout_after(200.millis(), ctx.local.usb_acm.wait_connection()).await {
+            match embassy_time::with_timeout(
+                Duration::from_millis(200),
+                ctx.local.usb_acm.wait_connection(),
+            )
+            .await
+            {
                 Ok(_) => {
                     defmt::info!("ACM Connected");
                     connected_usb_acm(&mut ctx).await;
@@ -349,8 +346,11 @@ mod app {
         let mut buffer = [0u8; 64];
         loop {
             // Poll for a frame for up to 50 milliseconds.
-            if let Ok(result) =
-                Mono::timeout_after(50.millis(), ctx.local.usb_acm.read_packet(&mut buffer)).await
+            if let Ok(result) = embassy_time::with_timeout(
+                Duration::from_millis(50),
+                ctx.local.usb_acm.read_packet(&mut buffer),
+            )
+            .await
             {
                 match result {
                     Ok(n) => {
@@ -377,8 +377,8 @@ mod app {
                 .usb_acm_reader
                 .try_read(&mut buffer[0..MAX_ACM_PACKET_SIZE - 1])
             {
-                match Mono::timeout_after(
-                    20.millis(),
+                match embassy_time::with_timeout(
+                    Duration::from_millis(20),
                     ctx.local.usb_acm.write_packet(&buffer[0..bytes_read]),
                 )
                 .await
@@ -463,8 +463,11 @@ mod app {
             defmt::debug!("Waiting for packet..");
 
             // Poll for a frame for up to 200 milliseconds.
-            if let Ok(result) =
-                Mono::timeout_after(200.millis(), ctx.local.radio.receive(ctx.local.packet)).await
+            if let Ok(result) = embassy_time::with_timeout(
+                Duration::from_millis(200),
+                ctx.local.radio.receive(ctx.local.packet),
+            )
+            .await
             {
                 match result {
                     Ok(_) => {
@@ -481,7 +484,7 @@ mod app {
                         // send packet after 5ms (we know the client waits for 10ms and
                         // we want to ensure they are definitely in receive mode by the
                         // time we send this reply)
-                        Mono::delay(5.millis()).await;
+                        Delay.delay_ms(5).await;
                         if let Err(e) = ctx.local.radio.try_send(ctx.local.packet).await {
                             let _ = writeln!(
                                 &mut ctx.local.usb_acm_write_adapter,
@@ -528,5 +531,3 @@ fn panic(info: &core::panic::PanicInfo) -> ! {
         core::hint::spin_loop();
     }
 }
-
-defmt::timestamp!("{=u64:tus}", bsp::uptime_us());