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<h1 class="menu-title">Real-Time Interrupt-driven Concurrency</h1>
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<h1 id="a-complete-example-of-migration"><a class="header" href="#a-complete-example-of-migration">A complete example of migration</a></h1>
<p>Below you can find the code for the implementation of the <code>stm32f3_blinky</code> example for v1.0.x and for v2.0.0. Further down, a diff is displayed.</p>
<h1 id="v10x"><a class="header" href="#v10x">v1.0.X</a></h1>
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
</span>#![deny(unsafe_code)]
#![deny(warnings)]
#![no_main]
#![no_std]
<span class="boring">fn main() {
</span>use panic_rtt_target as _;
use rtic::app;
use rtt_target::{rprintln, rtt_init_print};
use stm32f3xx_hal::gpio::{Output, PushPull, PA5};
use stm32f3xx_hal::prelude::*;
use systick_monotonic::{fugit::Duration, Systick};
#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])]
mod app {
use super::*;
#[shared]
struct Shared {}
#[local]
struct Local {
led: PA5&lt;Output&lt;PushPull&gt;&gt;,
state: bool,
}
#[monotonic(binds = SysTick, default = true)]
type MonoTimer = Systick&lt;1000&gt;;
#[init]
fn init(cx: init::Context) -&gt; (Shared, Local, init::Monotonics) {
// Setup clocks
let mut flash = cx.device.FLASH.constrain();
let mut rcc = cx.device.RCC.constrain();
let mono = Systick::new(cx.core.SYST, 36_000_000);
rtt_init_print!();
rprintln!("init");
let _clocks = rcc
.cfgr
.use_hse(8.MHz())
.sysclk(36.MHz())
.pclk1(36.MHz())
.freeze(&amp;mut flash.acr);
// Setup LED
let mut gpioa = cx.device.GPIOA.split(&amp;mut rcc.ahb);
let mut led = gpioa
.pa5
.into_push_pull_output(&amp;mut gpioa.moder, &amp;mut gpioa.otyper);
led.set_high().unwrap();
// Schedule the blinking task
blink::spawn_after(Duration::&lt;u64, 1, 1000&gt;::from_ticks(1000)).unwrap();
(
Shared {},
Local { led, state: false },
init::Monotonics(mono),
)
}
#[task(local = [led, state])]
fn blink(cx: blink::Context) {
rprintln!("blink");
if *cx.local.state {
cx.local.led.set_high().unwrap();
*cx.local.state = false;
} else {
cx.local.led.set_low().unwrap();
*cx.local.state = true;
}
blink::spawn_after(Duration::&lt;u64, 1, 1000&gt;::from_ticks(1000)).unwrap();
}
}
<span class="boring">}</span></code></pre></pre>
<h1 id="v200"><a class="header" href="#v200">V2.0.0</a></h1>
<pre><code class="language-rust noplayground">#![deny(unsafe_code)]
#![deny(warnings)]
#![no_main]
#![no_std]
use panic_rtt_target as _;
use rtic::app;
use rtic_monotonics::systick::prelude::*;
use rtt_target::{rprintln, rtt_init_print};
use stm32f3xx_hal::gpio::{Output, PushPull, PA5};
use stm32f3xx_hal::prelude::*;
systick_monotonic!(Mono, 1000);
#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])]
mod app {
use super::*;
#[shared]
struct Shared {}
#[local]
struct Local {
led: PA5&lt;Output&lt;PushPull&gt;&gt;,
state: bool,
}
#[init]
fn init(cx: init::Context) -&gt; (Shared, Local) {
// Setup clocks
let mut flash = cx.device.FLASH.constrain();
let mut rcc = cx.device.RCC.constrain();
// Initialize the systick interrupt &amp; obtain the token to prove that we did
Mono::start(cx.core.SYST, 36_000_000); // default STM32F303 clock-rate is 36MHz
rtt_init_print!();
rprintln!("init");
let _clocks = rcc
.cfgr
.use_hse(8.MHz())
.sysclk(36.MHz())
.pclk1(36.MHz())
.freeze(&amp;mut flash.acr);
// Setup LED
let mut gpioa = cx.device.GPIOA.split(&amp;mut rcc.ahb);
let mut led = gpioa
.pa5
.into_push_pull_output(&amp;mut gpioa.moder, &amp;mut gpioa.otyper);
led.set_high().unwrap();
// Schedule the blinking task
blink::spawn().ok();
(Shared {}, Local { led, state: false })
}
#[task(local = [led, state])]
async fn blink(cx: blink::Context) {
loop {
rprintln!("blink");
if *cx.local.state {
cx.local.led.set_high().unwrap();
*cx.local.state = false;
} else {
cx.local.led.set_low().unwrap();
*cx.local.state = true;
}
Mono::delay(1000.millis()).await;
}
}
}</code></pre>
<h2 id="a-diff-between-the-two-projects"><a class="header" href="#a-diff-between-the-two-projects">A diff between the two projects</a></h2>
<p><em>Note</em>: This diff may not be 100% accurate, but it displays the important changes.</p>
<pre><code class="language-diff">#![no_main]
#![no_std]
use panic_rtt_target as _;
use rtic::app;
use stm32f3xx_hal::gpio::{Output, PushPull, PA5};
use stm32f3xx_hal::prelude::*;
-use systick_monotonic::{fugit::Duration, Systick};
+use rtic_monotonics::Systick;
#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])]
mod app {
@@ -20,16 +21,14 @@ mod app {
state: bool,
}
- #[monotonic(binds = SysTick, default = true)]
- type MonoTimer = Systick&lt;1000&gt;;
-
#[init]
fn init(cx: init::Context) -&gt; (Shared, Local, init::Monotonics) {
// Setup clocks
let mut flash = cx.device.FLASH.constrain();
let mut rcc = cx.device.RCC.constrain();
- let mono = Systick::new(cx.core.SYST, 36_000_000);
+ let mono_token = rtic_monotonics::create_systick_token!();
+ let mono = Systick::start(cx.core.SYST, 36_000_000, mono_token);
let _clocks = rcc
.cfgr
@@ -46,7 +45,7 @@ mod app {
led.set_high().unwrap();
// Schedule the blinking task
- blink::spawn_after(Duration::&lt;u64, 1, 1000&gt;::from_ticks(1000)).unwrap();
+ blink::spawn().unwrap();
(
Shared {},
@@ -56,14 +55,18 @@ mod app {
}
#[task(local = [led, state])]
- fn blink(cx: blink::Context) {
- rprintln!("blink");
- if *cx.local.state {
- cx.local.led.set_high().unwrap();
- *cx.local.state = false;
- } else {
- cx.local.led.set_low().unwrap();
- *cx.local.state = true;
- blink::spawn_after(Duration::&lt;u64, 1, 1000&gt;::from_ticks(1000)).unwrap();
- }
+ async fn blink(cx: blink::Context) {
+ loop {
+ // A task is now allowed to run forever, provided that
+ // there is an `await` somewhere in the loop.
+ SysTick::delay(1000.millis()).await;
+ rprintln!("blink");
+ if *cx.local.state {
+ cx.local.led.set_high().unwrap();
+ *cx.local.state = false;
+ } else {
+ cx.local.led.set_low().unwrap();
+ *cx.local.state = true;
+ }
+ }
+ }
}
</code></pre>
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