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//! examples/task.rs
#![deny(unsafe_code)]
#![deny(warnings)]
#![no_main]
#![no_std]
use cortex_m_semihosting::{debug, hprintln};
use panic_semihosting as _;
#[rtic::app(device = lm3s6965)]
mod app {
#[init(spawn = [foo])]
fn init(c: init::Context) -> init::LateResources {
c.spawn.foo().unwrap();
init::LateResources {}
}
#[task(spawn = [bar, baz])]
fn foo(c: foo::Context) {
hprintln!("foo - start").unwrap();
// spawns `bar` onto the task scheduler
// `foo` and `bar` have the same priority so `bar` will not run until
// after `foo` terminates
c.spawn.bar().unwrap();
hprintln!("foo - middle").unwrap();
// spawns `baz` onto the task scheduler
// `baz` has higher priority than `foo` so it immediately preempts `foo`
c.spawn.baz().unwrap();
hprintln!("foo - end").unwrap();
}
#[task]
fn bar(_: bar::Context) {
hprintln!("bar").unwrap();
debug::exit(debug::EXIT_SUCCESS);
}
#[task(priority = 2)]
fn baz(_: baz::Context) {
hprintln!("baz").unwrap();
}
// RTIC requires that unused interrupts are declared in an extern block when
// using software tasks; these free interrupts will be used to dispatch the
// software tasks.
extern "C" {
fn SSI0();
fn QEI0();
}
}
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