diff options
Diffstat (limited to 'examples')
48 files changed, 217 insertions, 238 deletions
diff --git a/examples/baseline.rs b/examples/baseline.rs deleted file mode 100644 index 17278748..00000000 --- a/examples/baseline.rs +++ /dev/null @@ -1,50 +0,0 @@ -//! examples/baseline.rs - -#![deny(unsafe_code)] -#![deny(warnings)] -#![no_main] -#![no_std] - -use panic_semihosting as _; - -// NOTE: does NOT properly work on QEMU -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] -mod app { - use cortex_m_semihosting::{debug, hprintln}; - use lm3s6965::Interrupt; - - #[init] - fn init(cx: init::Context) -> init::LateResources { - // omitted: initialization of `CYCCNT` - - hprintln!("init(baseline = {:?})", cx.start).unwrap(); - - // `foo` inherits the baseline of `init`: `Instant(0)` - foo::spawn().unwrap(); - - init::LateResources {} - } - - #[task] - fn foo(cx: foo::Context) { - static mut ONCE: bool = true; - - hprintln!("foo(baseline = {:?})", cx.scheduled).unwrap(); - - if *ONCE { - *ONCE = false; - - rtic::pend(Interrupt::UART0); - } else { - debug::exit(debug::EXIT_SUCCESS); - } - } - - #[task(binds = UART0)] - fn uart0(cx: uart0::Context) { - hprintln!("UART0(baseline = {:?})", cx.start).unwrap(); - - // `foo` inherits the baseline of `UART0`: its `start` time - foo::spawn().unwrap(); - } -} diff --git a/examples/big-struct-opt.rs b/examples/big-struct-opt.rs index 85ec5e61..e6a5c172 100644 --- a/examples/big-struct-opt.rs +++ b/examples/big-struct-opt.rs @@ -6,7 +6,7 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; /// Some big struct pub struct BigStruct { @@ -31,7 +31,7 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { let big_struct = unsafe { static mut BIG_STRUCT: MaybeUninit<BigStruct> = MaybeUninit::uninit(); @@ -40,9 +40,12 @@ mod app { &mut *BIG_STRUCT.as_mut_ptr() }; - init::LateResources { - // assign the reference so we can use the resource - big_struct, - } + ( + init::LateResources { + // assign the reference so we can use the resource + big_struct, + }, + init::Monotonics(), + ) } } diff --git a/examples/binds.rs b/examples/binds.rs index f681aa57..9cbe2994 100644 --- a/examples/binds.rs +++ b/examples/binds.rs @@ -14,12 +14,12 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); hprintln!("init").unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/capacity.rs b/examples/capacity.rs index b25a7584..06bd921e 100644 --- a/examples/capacity.rs +++ b/examples/capacity.rs @@ -13,10 +13,10 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = UART0)] diff --git a/examples/cfg-whole-task.rs b/examples/cfg-whole-task.rs index b19c280c..47c3530e 100644 --- a/examples/cfg-whole-task.rs +++ b/examples/cfg-whole-task.rs @@ -24,11 +24,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn().unwrap(); foo::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/cfg.rs b/examples/cfg.rs index d3f2cea1..43c2593c 100644 --- a/examples/cfg.rs +++ b/examples/cfg.rs @@ -21,11 +21,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn().unwrap(); foo::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/destructure.rs b/examples/destructure.rs index d843978b..d085e4bf 100644 --- a/examples/destructure.rs +++ b/examples/destructure.rs @@ -24,11 +24,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // Direct destructure diff --git a/examples/double_schedule.rs b/examples/double_schedule.rs index 32477efe..403f3583 100644 --- a/examples/double_schedule.rs +++ b/examples/double_schedule.rs @@ -7,29 +7,37 @@ use panic_semihosting as _; -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { - use rtic::cyccnt::U32Ext; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + use rtic::time::duration::Seconds; - #[resources] - struct Resources { - nothing: (), - } + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { task1::spawn().ok(); - init::LateResources { nothing: () } + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; + + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); + + (init::LateResources {}, init::Monotonics(mono)) } #[task] fn task1(_cx: task1::Context) { - task2::schedule(_cx.scheduled + 100.cycles()).ok(); + task2::spawn_after(Seconds(1_u32)).ok(); } #[task] fn task2(_cx: task2::Context) { - task1::schedule(_cx.scheduled + 100.cycles()).ok(); + task1::spawn_after(Seconds(1_u32)).ok(); } } diff --git a/examples/extern_binds.rs b/examples/extern_binds.rs index 632f4ca0..3c8786dd 100644 --- a/examples/extern_binds.rs +++ b/examples/extern_binds.rs @@ -20,12 +20,12 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); hprintln!("init").unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/extern_spawn.rs b/examples/extern_spawn.rs index 1be3d512..275ac539 100644 --- a/examples/extern_spawn.rs +++ b/examples/extern_spawn.rs @@ -22,10 +22,10 @@ mod app { use crate::foo; #[init] - fn init(_c: init::Context) -> init::LateResources { + fn init(_c: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn(1, 2).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } extern "Rust" { diff --git a/examples/generics.rs b/examples/generics.rs index f3829a06..eabfff7e 100644 --- a/examples/generics.rs +++ b/examples/generics.rs @@ -21,11 +21,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = UART0, resources = [shared])] diff --git a/examples/hardware.rs b/examples/hardware.rs index 99e8da2e..3cf98807 100644 --- a/examples/hardware.rs +++ b/examples/hardware.rs @@ -13,14 +13,14 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { // Pends the UART0 interrupt but its handler won't run until *after* // `init` returns because interrupts are disabled rtic::pend(Interrupt::UART0); // equivalent to NVIC::pend hprintln!("init").unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/idle.rs b/examples/idle.rs index 1aac56c2..db03dc70 100644 --- a/examples/idle.rs +++ b/examples/idle.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { hprintln!("init").unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/init.rs b/examples/init.rs index ca67a2b7..9de79581 100644 --- a/examples/init.rs +++ b/examples/init.rs @@ -12,7 +12,7 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(cx: init::Context) -> init::LateResources { + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { static mut X: u32 = 0; // Cortex-M peripherals @@ -32,6 +32,6 @@ mod app { debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } } diff --git a/examples/late.rs b/examples/late.rs index d4efaba3..e65b6e69 100644 --- a/examples/late.rs +++ b/examples/late.rs @@ -25,13 +25,13 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { static mut Q: Queue<u32, U4> = Queue(i::Queue::new()); let (p, c) = Q.split(); // Initialization of late resources - init::LateResources { p, c } + (init::LateResources { p, c }, init::Monotonics()) } #[idle(resources = [c])] diff --git a/examples/lock.rs b/examples/lock.rs index 2fbf7608..75d47d24 100644 --- a/examples/lock.rs +++ b/examples/lock.rs @@ -19,10 +19,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::GPIOA); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // when omitted priority is assumed to be `1` diff --git a/examples/message.rs b/examples/message.rs index 4c5d8997..722e73a7 100644 --- a/examples/message.rs +++ b/examples/message.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn(/* no message */).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/multilock.rs b/examples/multilock.rs index a6985dfa..ad9d72ab 100644 --- a/examples/multilock.rs +++ b/examples/multilock.rs @@ -25,10 +25,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::GPIOA); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // when omitted priority is assumed to be `1` diff --git a/examples/not-sync.rs b/examples/not-sync.rs index 21c316ae..f01d4043 100644 --- a/examples/not-sync.rs +++ b/examples/not-sync.rs @@ -6,7 +6,7 @@ #![no_std] use core::marker::PhantomData; -use panic_halt as _; +use panic_semihosting as _; pub struct NotSync { _0: PhantomData<*const ()>, @@ -25,10 +25,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(resources = [&shared])] diff --git a/examples/only-shared-access.rs b/examples/only-shared-access.rs index 8d42fd4d..2c6ad4c4 100644 --- a/examples/only-shared-access.rs +++ b/examples/only-shared-access.rs @@ -18,11 +18,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources { key: 0xdeadbeef } + (init::LateResources { key: 0xdeadbeef }, init::Monotonics()) } #[task(binds = UART0, resources = [&key])] diff --git a/examples/periodic.rs b/examples/periodic.rs index 3ff9c907..82c21280 100644 --- a/examples/periodic.rs +++ b/examples/periodic.rs @@ -8,27 +8,33 @@ use panic_semihosting as _; // NOTE: does NOT work on QEMU! -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { - use cortex_m_semihosting::hprintln; - use rtic::cyccnt::{Instant, U32Ext}; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + use rtic::time::duration::Seconds; - const PERIOD: u32 = 8_000_000; + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[init] - fn init(cx: init::Context) -> init::LateResources { - // omitted: initialization of `CYCCNT` + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; - foo::schedule(cx.start + PERIOD.cycles()).unwrap(); + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); - init::LateResources {} + foo::spawn_after(Seconds(1_u32)).unwrap(); + + (init::LateResources {}, init::Monotonics(mono)) } #[task] - fn foo(cx: foo::Context) { - let now = Instant::now(); - hprintln!("foo(scheduled = {:?}, now = {:?})", cx.scheduled, now).unwrap(); - - foo::schedule(cx.scheduled + PERIOD.cycles()).unwrap(); + fn foo(_cx: foo::Context) { + // Periodic + foo::spawn_after(Seconds(1_u32)).unwrap(); } } diff --git a/examples/peripherals-taken.rs b/examples/peripherals-taken.rs index 98f06b08..6b4a282b 100644 --- a/examples/peripherals-taken.rs +++ b/examples/peripherals-taken.rs @@ -10,10 +10,10 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { assert!(cortex_m::Peripherals::take().is_none()); debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } } diff --git a/examples/pool.rs b/examples/pool.rs index eaad9c09..44405b49 100644 --- a/examples/pool.rs +++ b/examples/pool.rs @@ -25,7 +25,7 @@ mod app { use super::P; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { static mut MEMORY: [u8; 512] = [0; 512]; // Increase the capacity of the memory pool by ~4 @@ -33,7 +33,7 @@ mod app { rtic::pend(Interrupt::I2C0); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = I2C0, priority = 2)] diff --git a/examples/preempt.rs b/examples/preempt.rs index ee75c46f..14b3a0a6 100644 --- a/examples/preempt.rs +++ b/examples/preempt.rs @@ -12,10 +12,10 @@ mod app { use lm3s6965::Interrupt; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::GPIOA); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = GPIOA, priority = 1)] diff --git a/examples/ramfunc.rs b/examples/ramfunc.rs index b5aa17b9..d9c8143f 100644 --- a/examples/ramfunc.rs +++ b/examples/ramfunc.rs @@ -19,10 +19,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[inline(never)] diff --git a/examples/resource-user-struct.rs b/examples/resource-user-struct.rs index a550bb2a..6ad540b0 100644 --- a/examples/resource-user-struct.rs +++ b/examples/resource-user-struct.rs @@ -27,11 +27,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // `shared` cannot be accessed from this context diff --git a/examples/resource.rs b/examples/resource.rs index 60aa52b0..c8c57bf5 100644 --- a/examples/resource.rs +++ b/examples/resource.rs @@ -20,11 +20,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } // `shared` cannot be accessed from this context diff --git a/examples/schedule.rs b/examples/schedule.rs index 5f73c500..d6d44998 100644 --- a/examples/schedule.rs +++ b/examples/schedule.rs @@ -5,45 +5,47 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; // NOTE: does NOT work on QEMU! -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { - use cortex_m::peripheral::DWT; use cortex_m_semihosting::hprintln; - use rtic::cyccnt::{Instant, U32Ext as _}; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + use rtic::time::duration::Seconds; + + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[init()] - 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(); + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; - // 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 + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); - hprintln!("init @ {:?}", now).unwrap(); + hprintln!("init").unwrap(); - // Schedule `foo` to run 8e6 cycles (clock cycles) in the future - foo::schedule(now + 8_000_000.cycles()).unwrap(); + // Schedule `foo` to run 1 second in the future + foo::spawn_after(Seconds(1_u32)).unwrap(); - // Schedule `bar` to run 4e6 cycles in the future - bar::schedule(now + 4_000_000.cycles()).unwrap(); + // Schedule `bar` to run 2 seconds in the future + bar::spawn_after(Seconds(2_u32)).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics(mono)) } #[task] fn foo(_: foo::Context) { - hprintln!("foo @ {:?}", Instant::now()).unwrap(); + hprintln!("foo").unwrap(); } #[task] fn bar(_: bar::Context) { - hprintln!("bar @ {:?}", Instant::now()).unwrap(); + hprintln!("bar").unwrap(); } } diff --git a/examples/spawn.rs b/examples/spawn.rs index 449fcfb9..987ebf7d 100644 --- a/examples/spawn.rs +++ b/examples/spawn.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_c: init::Context) -> init::LateResources { + fn init(_c: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn(1, 2).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task()] diff --git a/examples/spawn2.rs b/examples/spawn2.rs index c485b922..be113f79 100644 --- a/examples/spawn2.rs +++ b/examples/spawn2.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_c: init::Context) -> init::LateResources { + fn init(_c: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn(1, 2).unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/static.rs b/examples/static.rs index 7626c712..cbbc5399 100644 --- a/examples/static.rs +++ b/examples/static.rs @@ -26,13 +26,13 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { static mut Q: Queue<u32, U4> = Queue(i::Queue::new()); let (p, c) = Q.split(); // Initialization of late resources - init::LateResources { p, c } + (init::LateResources { p, c }, init::Monotonics()) } #[idle(resources = [c])] diff --git a/examples/t-binds.rs b/examples/t-binds.rs index 8d52f58a..fbc89e88 100644 --- a/examples/t-binds.rs +++ b/examples/t-binds.rs @@ -5,13 +5,13 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; #[rtic::app(device = lm3s6965)] mod app { #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources {} + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources {}, init::Monotonics()) } // Cortex-M exception diff --git a/examples/t-cfg-resources.rs b/examples/t-cfg-resources.rs index 61eb4c7b..1adcb905 100644 --- a/examples/t-cfg-resources.rs +++ b/examples/t-cfg-resources.rs @@ -3,7 +3,7 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; #[rtic::app(device = lm3s6965)] mod app { @@ -18,13 +18,16 @@ mod app { dummy: (), // dummy such that we have at least one late resource } #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources { - // The feature needs to be applied everywhere x is defined or used - #[cfg(feature = "feature_x")] - x: 0, - dummy: (), // dummy such that we have at least one late resource - } + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + ( + init::LateResources { + // The feature needs to be applied everywhere x is defined or used + #[cfg(feature = "feature_x")] + x: 0, + dummy: (), // dummy such that we have at least one late resource + }, + init::Monotonics(), + ) } #[idle] diff --git a/examples/t-cfg.rs b/examples/t-cfg.rs index 5bcef0af..ef591c4d 100644 --- a/examples/t-cfg.rs +++ b/examples/t-cfg.rs @@ -3,9 +3,9 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0, QEI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])] mod app { #[resources] struct Resources { @@ -15,11 +15,11 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { #[cfg(never)] static mut BAR: u32 = 0; - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/t-htask-main.rs b/examples/t-htask-main.rs index 57076eca..2d480d0b 100644 --- a/examples/t-htask-main.rs +++ b/examples/t-htask-main.rs @@ -10,10 +10,10 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(lm3s6965::Interrupt::UART0); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task(binds = UART0)] diff --git a/examples/t-idle-main.rs b/examples/t-idle-main.rs index 42dac904..891896fa 100644 --- a/examples/t-idle-main.rs +++ b/examples/t-idle-main.rs @@ -10,8 +10,8 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources {} + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/t-init-main.rs b/examples/t-init-main.rs index 0456e874..b77a7df8 100644 --- a/examples/t-init-main.rs +++ b/examples/t-init-main.rs @@ -10,9 +10,9 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } } diff --git a/examples/t-late-not-send.rs b/examples/t-late-not-send.rs index ce3bcbac..579f8436 100644 --- a/examples/t-late-not-send.rs +++ b/examples/t-late-not-send.rs @@ -5,7 +5,7 @@ use core::marker::PhantomData; -use panic_halt as _; +use panic_semihosting as _; pub struct NotSend { _0: PhantomData<*const ()>, @@ -24,10 +24,13 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources { - x: NotSend { _0: PhantomData }, - } + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + ( + init::LateResources { + x: NotSend { _0: PhantomData }, + }, + init::Monotonics(), + ) } #[idle(resources = [x, y])] diff --git a/examples/t-resource.rs b/examples/t-resource.rs index 0a9f3bad..6e83069d 100644 --- a/examples/t-resource.rs +++ b/examples/t-resource.rs @@ -5,7 +5,7 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; #[rtic::app(device = lm3s6965)] mod app { @@ -32,8 +32,8 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources {} + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources {}, init::Monotonics()) } #[idle(resources = [o2, &o4, s1, &s3])] diff --git a/examples/t-schedule-core-stable.rs b/examples/t-schedule-core-stable.rs index 10539014..98d42ce7 100644 --- a/examples/t-schedule-core-stable.rs +++ b/examples/t-schedule-core-stable.rs @@ -5,15 +5,15 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { #[init] - fn init(c: init::Context) -> init::LateResources { - let _c: rtic::Peripherals = c.core; + fn init(c: init::Context) -> (init::LateResources, init::Monotonics) { + let _c: cortex_m::Peripherals = c.core; - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/t-schedule.rs b/examples/t-schedule.rs index 9c94d1b4..bd0ab668 100644 --- a/examples/t-schedule.rs +++ b/examples/t-schedule.rs @@ -5,52 +5,47 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; -#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { - use rtic::cyccnt::{Instant, U32Ext as _}; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + use rtic::time::duration::Seconds; + + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[init] - fn init(c: init::Context) -> init::LateResources { - let _: Result<(), ()> = foo::schedule(c.start + 10.cycles()); - let _: Result<(), u32> = bar::schedule(c.start + 20.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(c.start + 30.cycles(), 0, 1); + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; + + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); - init::LateResources {} + let _: Result<(), ()> = foo::spawn_after(Seconds(1_u32)); + let _: Result<(), u32> = bar::spawn_after(Seconds(2_u32), 0); + let _: Result<(), (u32, u32)> = baz::spawn_after(Seconds(3_u32), 0, 1); + + (init::LateResources {}, init::Monotonics(mono)) } #[idle] fn idle(_: idle::Context) -> ! { - let _: Result<(), ()> = foo::schedule(Instant::now() + 40.cycles()); - let _: Result<(), u32> = bar::schedule(Instant::now() + 50.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(Instant::now() + 60.cycles(), 0, 1); + let _: Result<(), ()> = foo::spawn_at(MyMono::now() + Seconds(3_u32)); + let _: Result<(), u32> = bar::spawn_at(MyMono::now() + Seconds(4_u32), 0); + let _: Result<(), (u32, u32)> = baz::spawn_at(MyMono::now() + Seconds(5_u32), 0, 1); loop { cortex_m::asm::nop(); } } - #[task(binds = SVCall)] - fn svcall(c: svcall::Context) { - let _: Result<(), ()> = foo::schedule(c.start + 70.cycles()); - let _: Result<(), u32> = bar::schedule(c.start + 80.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(c.start + 90.cycles(), 0, 1); - } - - #[task(binds = UART0)] - fn uart0(c: uart0::Context) { - let _: Result<(), ()> = foo::schedule(c.start + 100.cycles()); - let _: Result<(), u32> = bar::schedule(c.start + 110.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(c.start + 120.cycles(), 0, 1); - } - #[task] - fn foo(c: foo::Context) { - let _: Result<(), ()> = foo::schedule(c.scheduled + 130.cycles()); - let _: Result<(), u32> = bar::schedule(c.scheduled + 140.cycles(), 0); - let _: Result<(), (u32, u32)> = baz::schedule(c.scheduled + 150.cycles(), 0, 1); - } + fn foo(_: foo::Context) {} #[task] fn bar(_: bar::Context, _x: u32) {} diff --git a/examples/t-spawn.rs b/examples/t-spawn.rs index c9949ef9..ca5c61b2 100644 --- a/examples/t-spawn.rs +++ b/examples/t-spawn.rs @@ -5,17 +5,17 @@ #![no_main] #![no_std] -use panic_halt as _; +use panic_semihosting as _; #[rtic::app(device = lm3s6965, dispatchers = [SSI0])] mod app { #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { let _: Result<(), ()> = foo::spawn(); let _: Result<(), u32> = bar::spawn(0); let _: Result<(), (u32, u32)> = baz::spawn(0, 1); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[idle] diff --git a/examples/t-stask-main.rs b/examples/t-stask-main.rs index 034ad7c5..cfc93425 100644 --- a/examples/t-stask-main.rs +++ b/examples/t-stask-main.rs @@ -10,10 +10,10 @@ mod app { use cortex_m_semihosting::debug; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { taskmain::spawn().ok(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/task-local-minimal.rs b/examples/task-local-minimal.rs index 6e25c10d..f83493c2 100644 --- a/examples/task-local-minimal.rs +++ b/examples/task-local-minimal.rs @@ -18,8 +18,8 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { - init::LateResources { l: 42 } + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { + (init::LateResources { l: 42 }, init::Monotonics()) } // l is task_local diff --git a/examples/task-local.rs b/examples/task-local.rs index e86197a0..3020c3b3 100644 --- a/examples/task-local.rs +++ b/examples/task-local.rs @@ -38,10 +38,10 @@ mod app { } #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { rtic::pend(Interrupt::UART0); rtic::pend(Interrupt::UART1); - init::LateResources { e2: 2, l2: 2 } + (init::LateResources { e2: 2, l2: 2 }, init::Monotonics()) } // `shared` cannot be accessed from this context diff --git a/examples/task.rs b/examples/task.rs index 5e4769a5..9d4492f2 100644 --- a/examples/task.rs +++ b/examples/task.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { foo::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/task_named_main.rs b/examples/task_named_main.rs index c3d21b58..c2c4e62d 100644 --- a/examples/task_named_main.rs +++ b/examples/task_named_main.rs @@ -12,10 +12,10 @@ mod app { use cortex_m_semihosting::{debug, hprintln}; #[init] - fn init(_: init::Context) -> init::LateResources { + fn init(_: init::Context) -> (init::LateResources, init::Monotonics) { main::spawn().unwrap(); - init::LateResources {} + (init::LateResources {}, init::Monotonics()) } #[task] diff --git a/examples/types.rs b/examples/types.rs index bcdd30a9..ff7deb84 100644 --- a/examples/types.rs +++ b/examples/types.rs @@ -7,10 +7,16 @@ use panic_semihosting as _; -#[rtic::app(device = lm3s6965, peripherals = true, monotonic = rtic::cyccnt::CYCCNT, dispatchers = [SSI0])] +#[rtic::app(device = lm3s6965, peripherals = true, dispatchers = [SSI0])] mod app { use cortex_m_semihosting::debug; - use rtic::cyccnt; + use dwt_systick_monotonic::{ + consts::{U0, U8}, + DwtSystick, + }; + + #[monotonic(binds = SysTick, default = true)] + type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz #[resources] struct Resources { @@ -19,14 +25,19 @@ mod app { } #[init] - fn init(cx: init::Context) -> init::LateResources { - let _: cyccnt::Instant = cx.start; - let _: rtic::Peripherals = cx.core; + fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) { + let _: cortex_m::Peripherals = cx.core; let _: lm3s6965::Peripherals = cx.device; debug::exit(debug::EXIT_SUCCESS); - init::LateResources {} + let mut dcb = cx.core.DCB; + let dwt = cx.core.DWT; + let systick = cx.core.SYST; + + let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000); + + (init::LateResources {}, init::Monotonics(mono)) } #[idle] @@ -38,13 +49,11 @@ mod app { #[task(binds = UART0, resources = [shared])] fn uart0(cx: uart0::Context) { - let _: cyccnt::Instant = cx.start; let _: resources::shared = cx.resources.shared; } #[task(priority = 2, resources = [shared])] fn foo(cx: foo::Context) { - let _: cyccnt::Instant = cx.scheduled; let _: resources::shared = cx.resources.shared; let _: foo::Resources = cx.resources; } |