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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]
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: {
path: 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
path: tim2,
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();
}
}
// 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;
// ..
}
fn tim2(_t: &mut Threshold, r: TIM2::Resources) {
// ..
**r.COUNTER += 1;
// ..
}
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