rtic/examples/pool.rs

//! examples/pool.rs

#![deny(unsafe_code)]
#![deny(warnings)]
#![no_main]
#![no_std]

use cortex_m_semihosting::{debug, hprintln};
use heapless::{
    pool,
    pool::singleton::{Box, Pool},
};
use lm3s6965::Interrupt;
use panic_semihosting as _;
use rtic::app;

// Declare a pool of 128-byte memory blocks
pool!(P: [u8; 128]);

#[app(device = lm3s6965)]
const APP: () = {
    #[init]
    fn init(_: init::Context) -> init::LateResources {
        static mut MEMORY: [u8; 512] = [0; 512];

        // Increase the capacity of the memory pool by ~4
        P::grow(MEMORY);

        rtic::pend(Interrupt::I2C0);

        init::LateResources {}
    }

    #[task(binds = I2C0, priority = 2, spawn = [foo, bar])]
    fn i2c0(c: i2c0::Context) {
        // claim a memory block, leave it uninitialized and ..
        let x = P::alloc().unwrap().freeze();

        // .. send it to the `foo` task
        c.spawn.foo(x).ok().unwrap();

        // send another block to the task `bar`
        c.spawn.bar(P::alloc().unwrap().freeze()).ok().unwrap();
    }

    #[task]
    fn foo(_: foo::Context, x: Box<P>) {
        hprintln!("foo({:?})", x.as_ptr()).unwrap();

        // explicitly return the block to the pool
        drop(x);

        debug::exit(debug::EXIT_SUCCESS);
    }

    #[task(priority = 2)]
    fn bar(_: bar::Context, x: Box<P>) {
        hprintln!("bar({:?})", x.as_ptr()).unwrap();

        // this is done automatically so we can omit the call to `drop`
        // drop(x);
    }

    // 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();
    }
};