1 files changed, 26 insertions, 13 deletions

diff --git a/examples/schedule.rs b/examples/schedule.rs
index fd633473..7e6adc1a 100644
--- a/examples/schedule.rs
+++ b/examples/schedule.rs
@@ -5,38 +5,51 @@
 #![no_main]
 #![no_std]
 
-extern crate panic_semihosting;
-
+use cortex_m::peripheral::DWT;
 use cortex_m_semihosting::hprintln;
-use rtfm::{app, Instant};
+use panic_halt as _;
+use rtic::cyccnt::{Instant, U32Ext as _};
 
 // NOTE: does NOT work on QEMU!
-#[app(device = lm3s6965)]
-const APP: () = {
+#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
+mod app {
     #[init(schedule = [foo, bar])]
-    fn init() {
-        let now = Instant::now();
+    fn init(mut cx: init::Context) -> init::LateResources {
+        // Initialize (enable) the monotonic timer (CYCCNT)
+        cx.core.DCB.enable_trace();
+        // required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7)
+        DWT::unlock();
+        cx.core.DWT.enable_cycle_counter();
+
+        // semantically, the monotonic timer is frozen at time "zero" during `init`
+        // NOTE do *not* call `Instant::now` in this context; it will return a nonsense value
+        let now = cx.start; // the start time of the system
 
         hprintln!("init @ {:?}", now).unwrap();
 
         // Schedule `foo` to run 8e6 cycles (clock cycles) in the future
-        schedule.foo(now + 8_000_000.cycles()).unwrap();
+        cx.schedule.foo(now + 8_000_000.cycles()).unwrap();
 
         // Schedule `bar` to run 4e6 cycles in the future
-        schedule.bar(now + 4_000_000.cycles()).unwrap();
+        cx.schedule.bar(now + 4_000_000.cycles()).unwrap();
+
+        init::LateResources {}
     }
 
     #[task]
-    fn foo() {
+    fn foo(_: foo::Context) {
         hprintln!("foo  @ {:?}", Instant::now()).unwrap();
     }
 
     #[task]
-    fn bar() {
+    fn bar(_: bar::Context) {
         hprintln!("bar  @ {:?}", Instant::now()).unwrap();
     }
 
+    // RTIC requires that unused interrupts are declared in an extern block when
+    // using software tasks; these free interrupts will be used to dispatch the
+    // software tasks.
     extern "C" {
-        fn UART0();
+        fn SSI0();
     }
-};
+}