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+//! 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;
+
+ // ..
+}