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-rw-r--r--Cargo.toml9
-rw-r--r--examples/generics.rs12
-rw-r--r--examples/one-task.rs34
-rw-r--r--examples/zero-tasks.rs5
-rw-r--r--macros/src/check.rs18
-rw-r--r--macros/src/trans.rs18
-rw-r--r--src/lib.rs2
7 files changed, 68 insertions, 30 deletions
diff --git a/Cargo.toml b/Cargo.toml
index 5675d767..37db8565 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 57c9b8eb..afcafa0a 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 e58d9fcd..38f01354 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 9176103d..58e6afc7 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 3cd112ac..63cac1fa 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 96ff770b..b97ff408 100644
--- a/macros/src/trans.rs
+++ b/macros/src/trans.rs
@@ -161,8 +161,13 @@ 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![];
@@ -255,7 +260,10 @@ 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 +276,7 @@ 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 +292,7 @@ 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();
});
}
diff --git a/src/lib.rs b/src/lib.rs
index 4ab8ec58..f5481bc4 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);
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-08-05 15:40:44 +0000