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|
//! examples/async_task2
#![no_main]
#![no_std]
#![feature(const_fn)]
#![feature(type_alias_impl_trait)]
// use core::cell::Cell;
// use core::cell::UnsafeCell;
use core::future::Future;
use core::mem;
// use core::mem::MaybeUninit;
use core::pin::Pin;
// use core::ptr;
// use core::ptr::NonNull;
// use core::sync::atomic::{AtomicPtr, AtomicU32, Ordering};
use core::task::{Context, Poll, Waker};
use rtic::async_util::Task;
use cortex_m_semihosting::{debug, hprintln};
use panic_semihosting as _;
use rtic::Mutex;
#[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
mod app {
use crate::*;
#[resources]
struct Resources {
systick: Systick,
}
#[init]
fn init(cx: init::Context) -> init::LateResources {
hprintln!("init").ok();
foo::spawn().unwrap();
init::LateResources {
systick: Systick {
syst: cx.core.SYST,
state: State::Done,
queue: BinaryHeap::new(),
// waker: None,
},
}
}
#[idle]
fn idle(_: idle::Context) -> ! {
let mut i = 0;
loop {
i += 1;
hprintln!("idle {}", i).ok();
if i == 3 {
debug::exit(debug::EXIT_SUCCESS);
}
cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
}
}
#[task(resources = [systick])]
async fn foo(cx: foo::Context) {
hprintln!("foo task").ok();
let mut systick = cx.resources.systick;
hprintln!("delay long time").ok();
timer_delay(&mut systick, 5000000).await;
hprintln!("delay short time").ok();
timer_delay(&mut systick, 1000000).await;
hprintln!("foo task resumed").ok();
}
// RTIC task bound to the HW SysTick interrupt
#[task(binds = SysTick, resources = [systick], priority = 2)]
fn systic(mut cx: systic::Context) {
hprintln!("systic interrupt").ok();
cx.resources.systick.lock(|s| {
s.syst.disable_interrupt();
s.state = State::Done;
s.queue.pop().map(|w| w.waker.wake());
if let Some(w) = s.queue.peek() {
s.syst.set_reload(w.time);
} else {
s.syst.disable_interrupt();
}
});
}
}
//=============
// Timer
// Later we want a proper queue
//use core::cmp::{Ord, Ordering, PartialOrd};
use core::cmp::Ordering;
use heapless::binary_heap::{BinaryHeap, Max};
use heapless::consts::U8;
// use heapless::Vec;
pub enum State {
Started,
Done,
}
struct Timeout {
time: u32,
waker: Waker,
}
impl Ord for Timeout {
fn cmp(&self, other: &Self) -> Ordering {
self.time.cmp(&other.time)
}
}
impl PartialOrd for Timeout {
fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
Some(self.cmp(&other))
}
}
impl PartialEq for Timeout {
fn eq(&self, other: &Self) -> bool {
self.time == other.time
}
}
impl Eq for Timeout {}
pub struct Systick {
syst: cortex_m::peripheral::SYST,
state: State,
queue: BinaryHeap<Timeout, U8, Max>,
}
//=============
// Timer
// Later we want a proper queue
pub struct Timer<'a, T: Mutex<T = Systick>> {
request: Option<u32>,
systick: &'a mut T,
}
impl<'a, T: Mutex<T = Systick>> Future for Timer<'a, T> {
type Output = ();
fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
let Self { request, systick } = &mut *self;
systick.lock(|s| {
// enqueue a new request
request.take().map(|t| {
s.syst.set_reload(t);
s.syst.enable_counter();
s.syst.enable_interrupt();
s.state = State::Started;
s.queue
.push(Timeout {
time: t,
waker: cx.waker().clone(),
})
.ok();
});
match s.state {
State::Done => Poll::Ready(()),
State::Started => Poll::Pending,
}
})
}
}
fn timer_delay<'a, T: Mutex<T = Systick>>(systick: &'a mut T, t: u32) -> Timer<'a, T> {
hprintln!("timer_delay {}", t).ok();
Timer {
request: Some(t),
systick,
}
}
|
