|
| 1 | +//! examples/cfg-monotonic.rs |
| 2 | +
|
| 3 | +#![deny(unsafe_code)] |
| 4 | +#![deny(warnings)] |
| 5 | +#![deny(missing_docs)] |
| 6 | +#![no_main] |
| 7 | +#![no_std] |
| 8 | + |
| 9 | +use panic_semihosting as _; |
| 10 | + |
| 11 | +#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])] |
| 12 | +mod app { |
| 13 | + use cortex_m_semihosting::{debug, hprintln}; |
| 14 | + use systick_monotonic::*; // Implements the `Monotonic` trait |
| 15 | + |
| 16 | + // A monotonic timer to enable scheduling in RTIC |
| 17 | + #[cfg(feature = "killmono")] |
| 18 | + #[monotonic(binds = SysTick, default = true)] |
| 19 | + type MyMono = Systick<100>; // 100 Hz / 10 ms granularity |
| 20 | + |
| 21 | + // Not allowed by current rtic-syntax: |
| 22 | + // error: `#[monotonic(...)]` on a specific type must appear at most once |
| 23 | + // --> examples/cfg-monotonic.rs:23:10 |
| 24 | + // | |
| 25 | + // 23 | type MyMono = Systick<100>; // 100 Hz / 10 ms granularity |
| 26 | + // | ^^^^^^ |
| 27 | + // #[monotonic(binds = SysTick, default = true)] |
| 28 | + // type MyMono = Systick<100>; // 100 Hz / 10 ms granularity |
| 29 | + |
| 30 | + // Not allowed by current rtic-syntax: |
| 31 | + // error: this interrupt is already bound |
| 32 | + // --> examples/cfg-monotonic.rs:31:25 |
| 33 | + // | |
| 34 | + // 31 | #[monotonic(binds = SysTick, default = true)] |
| 35 | + // | ^^^^^^^ |
| 36 | + // #[monotonic(binds = SysTick, default = true)] |
| 37 | + // type MyMono2 = DwtSystick<100>; // 100 Hz / 10 ms granularity |
| 38 | + |
| 39 | + // Resources shared between tasks |
| 40 | + #[shared] |
| 41 | + struct Shared { |
| 42 | + s1: u32, |
| 43 | + s2: i32, |
| 44 | + } |
| 45 | + |
| 46 | + // Local resources to specific tasks (cannot be shared) |
| 47 | + #[local] |
| 48 | + struct Local { |
| 49 | + l1: u8, |
| 50 | + l2: i8, |
| 51 | + } |
| 52 | + |
| 53 | + #[init] |
| 54 | + fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { |
| 55 | + let _systick = cx.core.SYST; |
| 56 | + |
| 57 | + // Initialize the monotonic (SysTick rate in QEMU is 12 MHz) |
| 58 | + #[cfg(feature = "killmono")] |
| 59 | + let mono = Systick::new(systick, 12_000_000); |
| 60 | + |
| 61 | + // Spawn the task `foo` directly after `init` finishes |
| 62 | + foo::spawn().unwrap(); |
| 63 | + |
| 64 | + debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator |
| 65 | + |
| 66 | + ( |
| 67 | + // Initialization of shared resources |
| 68 | + Shared { s1: 0, s2: 1 }, |
| 69 | + // Initialization of task local resources |
| 70 | + Local { l1: 2, l2: 3 }, |
| 71 | + // Move the monotonic timer to the RTIC run-time, this enables |
| 72 | + // scheduling |
| 73 | + #[cfg(feature = "killmono")] |
| 74 | + init::Monotonics(mono), |
| 75 | + init::Monotonics(), |
| 76 | + ) |
| 77 | + } |
| 78 | + |
| 79 | + // Background task, runs whenever no other tasks are running |
| 80 | + #[idle] |
| 81 | + fn idle(_: idle::Context) -> ! { |
| 82 | + loop { |
| 83 | + continue; |
| 84 | + } |
| 85 | + } |
| 86 | + |
| 87 | + // Software task, not bound to a hardware interrupt. |
| 88 | + // This task takes the task local resource `l1` |
| 89 | + // The resources `s1` and `s2` are shared between all other tasks. |
| 90 | + #[task(shared = [s1, s2], local = [l1])] |
| 91 | + fn foo(_: foo::Context) { |
| 92 | + // This task is only spawned once in `init`, hence this task will run |
| 93 | + // only once |
| 94 | + |
| 95 | + hprintln!("foo"); |
| 96 | + } |
| 97 | + |
| 98 | + // Software task, also not bound to a hardware interrupt |
| 99 | + // This task takes the task local resource `l2` |
| 100 | + // The resources `s1` and `s2` are shared between all other tasks. |
| 101 | + #[task(shared = [s1, s2], local = [l2])] |
| 102 | + fn bar(_: bar::Context) { |
| 103 | + hprintln!("bar"); |
| 104 | + |
| 105 | + // Run `bar` once per second |
| 106 | + // bar::spawn_after(1.secs()).unwrap(); |
| 107 | + } |
| 108 | + |
| 109 | + // Hardware task, bound to a hardware interrupt |
| 110 | + // The resources `s1` and `s2` are shared between all other tasks. |
| 111 | + #[task(binds = UART0, priority = 3, shared = [s1, s2])] |
| 112 | + fn uart0_interrupt(_: uart0_interrupt::Context) { |
| 113 | + // This task is bound to the interrupt `UART0` and will run |
| 114 | + // whenever the interrupt fires |
| 115 | + |
| 116 | + // Note that RTIC does NOT clear the interrupt flag, this is up to the |
| 117 | + // user |
| 118 | + |
| 119 | + hprintln!("UART0 interrupt!"); |
| 120 | + } |
| 121 | +} |
![bors[bot]](https://avatars.githubusercontent.com/in/1847?v=4&size=40){kind=avatar}
0 commit comments