rtic/examples/generics.rs

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//! Working with resources in a generic fashion
#![deny(unsafe_code)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Resource, Threshold};
use stm32f103xx::{SPI1, GPIOA};
app! {
device: stm32f103xx,
tasks: {
EXTI0: {
enabled: true,
path: exti0,
priority: 1,
resources: [GPIOA, SPI1],
},
EXTI1: {
enabled: true,
path: exti1,
priority: 2,
resources: [GPIOA, SPI1],
},
},
}
fn init(_p: init::Peripherals) {}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
// a generic function to use resources in any task (regardless of its priority)
fn work<G, S>(t: &mut Threshold, gpioa: &G, spi1: &S)
where
G: Resource<Data = GPIOA>,
S: Resource<Data = SPI1>,
{
gpioa.claim(t, |_gpioa, t| {
// drive NSS low
spi1.claim(t, |_spi1, _| {
// transfer data
});
// drive NSS high
});
}
// this task needs critical sections to access the resources
fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
work(t, &r.GPIOA, &r.SPI1);
}
// this task has direct access to the resources
fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
work(t, r.GPIOA, r.SPI1);
}