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#![no_main]
#![no_std]
#![feature(type_alias_impl_trait)]
use panic_semihosting as _;
// NOTES:
//
// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async
// task can have a mutable reference stored.
// - Spawning an async task equates to it being polled once.
#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0, UART0, UART1], peripherals = true)]
mod app {
use cortex_m_semihosting::{debug, hprintln};
use systick_monotonic::*;
#[shared]
struct Shared {
a: u32,
b: u32,
}
#[local]
struct Local {}
#[monotonic(binds = SysTick, default = true)]
type MyMono = Systick<100>;
#[init]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init").unwrap();
normal_task::spawn().ok();
async_task::spawn().ok();
normal_task2::spawn().ok();
async_task2::spawn().ok();
(
Shared { a: 0, b: 0 },
Local {},
init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
)
}
#[idle]
fn idle(_: idle::Context) -> ! {
// debug::exit(debug::EXIT_SUCCESS);
loop {
// hprintln!("idle");
cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
}
}
#[task(priority = 1, shared = [a, b])]
fn normal_task(_cx: normal_task::Context) {
hprintln!("hello from normal 1").ok();
}
#[task(priority = 1, shared = [a, b])]
async fn async_task(_cx: async_task::Context) {
hprintln!("hello from async 1").ok();
debug::exit(debug::EXIT_SUCCESS);
}
#[task(priority = 2, shared = [a, b])]
fn normal_task2(_cx: normal_task2::Context) {
hprintln!("hello from normal 2").ok();
}
#[task(priority = 2, shared = [a, b])]
async fn async_task2(_cx: async_task2::Context) {
hprintln!("hello from async 2").ok();
}
}
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