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691: Basic cfg support, kind of, for Monotonics r=korken89 a=AfoHT - Enable at least masking out a Monotonic - Add example cfg-ing a Monotonic, showing limitations imposed by rtic-syntax - Update changelog The use case detailed in linked issue seems to be covered: Fixes #664 Co-authored-by: Henrik Tjäder <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,121 @@ | ||
| //! examples/cfg-monotonic.rs | ||
| #![deny(unsafe_code)] | ||
| #![deny(warnings)] | ||
| #![deny(missing_docs)] | ||
| #![no_main] | ||
| #![no_std] | ||
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| use panic_semihosting as _; | ||
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| #[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])] | ||
| mod app { | ||
| use cortex_m_semihosting::{debug, hprintln}; | ||
| use systick_monotonic::*; // Implements the `Monotonic` trait | ||
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| // A monotonic timer to enable scheduling in RTIC | ||
| #[cfg(feature = "killmono")] | ||
| #[monotonic(binds = SysTick, default = true)] | ||
| type MyMono = Systick<100>; // 100 Hz / 10 ms granularity | ||
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| // Not allowed by current rtic-syntax: | ||
| // error: `#[monotonic(...)]` on a specific type must appear at most once | ||
| // --> examples/cfg-monotonic.rs:23:10 | ||
| // | | ||
| // 23 | type MyMono = Systick<100>; // 100 Hz / 10 ms granularity | ||
| // | ^^^^^^ | ||
| // #[monotonic(binds = SysTick, default = true)] | ||
| // type MyMono = Systick<100>; // 100 Hz / 10 ms granularity | ||
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| // Not allowed by current rtic-syntax: | ||
| // error: this interrupt is already bound | ||
| // --> examples/cfg-monotonic.rs:31:25 | ||
| // | | ||
| // 31 | #[monotonic(binds = SysTick, default = true)] | ||
| // | ^^^^^^^ | ||
| // #[monotonic(binds = SysTick, default = true)] | ||
| // type MyMono2 = DwtSystick<100>; // 100 Hz / 10 ms granularity | ||
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| // Resources shared between tasks | ||
| #[shared] | ||
| struct Shared { | ||
| s1: u32, | ||
| s2: i32, | ||
| } | ||
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| // Local resources to specific tasks (cannot be shared) | ||
| #[local] | ||
| struct Local { | ||
| l1: u8, | ||
| l2: i8, | ||
| } | ||
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| #[init] | ||
| fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { | ||
| let _systick = cx.core.SYST; | ||
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| // Initialize the monotonic (SysTick rate in QEMU is 12 MHz) | ||
| #[cfg(feature = "killmono")] | ||
| let mono = Systick::new(systick, 12_000_000); | ||
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| // Spawn the task `foo` directly after `init` finishes | ||
| foo::spawn().unwrap(); | ||
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| debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator | ||
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| ( | ||
| // Initialization of shared resources | ||
| Shared { s1: 0, s2: 1 }, | ||
| // Initialization of task local resources | ||
| Local { l1: 2, l2: 3 }, | ||
| // Move the monotonic timer to the RTIC run-time, this enables | ||
| // scheduling | ||
| #[cfg(feature = "killmono")] | ||
| init::Monotonics(mono), | ||
| init::Monotonics(), | ||
| ) | ||
| } | ||
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| // Background task, runs whenever no other tasks are running | ||
| #[idle] | ||
| fn idle(_: idle::Context) -> ! { | ||
| loop { | ||
| continue; | ||
| } | ||
| } | ||
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| // Software task, not bound to a hardware interrupt. | ||
| // This task takes the task local resource `l1` | ||
| // The resources `s1` and `s2` are shared between all other tasks. | ||
| #[task(shared = [s1, s2], local = [l1])] | ||
| fn foo(_: foo::Context) { | ||
| // This task is only spawned once in `init`, hence this task will run | ||
| // only once | ||
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| hprintln!("foo"); | ||
| } | ||
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| // Software task, also not bound to a hardware interrupt | ||
| // This task takes the task local resource `l2` | ||
| // The resources `s1` and `s2` are shared between all other tasks. | ||
| #[task(shared = [s1, s2], local = [l2])] | ||
| fn bar(_: bar::Context) { | ||
| hprintln!("bar"); | ||
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| // Run `bar` once per second | ||
| // bar::spawn_after(1.secs()).unwrap(); | ||
| } | ||
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| // Hardware task, bound to a hardware interrupt | ||
| // The resources `s1` and `s2` are shared between all other tasks. | ||
| #[task(binds = UART0, priority = 3, shared = [s1, s2])] | ||
| fn uart0_interrupt(_: uart0_interrupt::Context) { | ||
| // This task is bound to the interrupt `UART0` and will run | ||
| // whenever the interrupt fires | ||
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| // Note that RTIC does NOT clear the interrupt flag, this is up to the | ||
| // user | ||
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| hprintln!("UART0 interrupt!"); | ||
| } | ||
| } |
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