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Diffstat (limited to 'examples/two-tasks.rs')
-rw-r--r-- | examples/two-tasks.rs | 75 |
1 files changed, 75 insertions, 0 deletions
diff --git a/examples/two-tasks.rs b/examples/two-tasks.rs new file mode 100644 index 00000000..eb74fa8f --- /dev/null +++ b/examples/two-tasks.rs @@ -0,0 +1,75 @@ +//! Two tasks running at the same priority with access to the same resource + +#![deny(unsafe_code)] +#![feature(const_fn)] +#![feature(proc_macro)] +#![no_std] + +#[macro_use(task)] +extern crate cortex_m_rtfm as rtfm; +extern crate stm32f103xx; + +use rtfm::{app, Threshold}; + +app! { + device: stm32f103xx, + + // Resources that are plain data, not peripherals + resources: { + // Declaration of resources looks like the declaration of `static` + // variables + static COUNTER: u64 = 0; + }, + + tasks: { + SYS_TICK: { + priority: 1, + // Both this task and TIM2 have access to the `COUNTER` resource + resources: [COUNTER], + }, + + // An interrupt as a task + TIM2: { + // For interrupts the `enabled` field must be specified. It + // indicates if the interrupt will be enabled or disabled once + // `idle` starts + enabled: true, + priority: 1, + resources: [COUNTER], + }, + }, +} + +// when data resources are declared in the top `resources` field, `init` will +// have full access to them +fn init(_p: init::Peripherals, _r: init::Resources) { + // .. +} + +fn idle() -> ! { + loop { + rtfm::wfi(); + } +} + +task!(SYS_TICK, sys_tick); + +// As both tasks are running at the same priority one can't preempt the other. +// Thus both tasks have direct access to the resource +fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) { + // .. + + **r.COUNTER += 1; + + // .. +} + +task!(TIM2, tim2); + +fn tim2(_t: &mut Threshold, r: TIM2::Resources) { + // .. + + **r.COUNTER += 1; + + // .. +} |