From 3b00a2bdb8cc78d1c6572dba1defbf1576ade878 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Wed, 10 Nov 2021 09:28:03 +0100
Subject: [PATCH] Updated the monotonic impl chapter

---
 book/en/src/by-example/tips_monotonic_impl.md | 40 +++++++++++--------
 1 file changed, 23 insertions(+), 17 deletions(-)

diff --git a/book/en/src/by-example/tips_monotonic_impl.md b/book/en/src/by-example/tips_monotonic_impl.md
index ad04ef0a69..608281a5cf 100644
--- a/book/en/src/by-example/tips_monotonic_impl.md
+++ b/book/en/src/by-example/tips_monotonic_impl.md
@@ -6,36 +6,42 @@ implement the [`rtic_monotonic::Monotonic`] trait.
 
 Implementing time that supports a vast range is generally **very** difficult, and in RTIC 0.5 it was a
 common problem how to implement time handling and not get stuck in weird special cases. Moreover
-it was difficult to understand the relation between time and the timers used for scheduling. From
-RTIC 0.6 we have moved to use [`embedded_time`] as the basis for all time-based operation and
-abstraction of clocks. This is why from RTIC 0.6 it is almost trivial to implement the `Monotonic`
-trait and use any timer in a system for scheduling.
+it was difficult to understand the relation between time and the timers used for scheduling. For
+RTIC 0.6 we have moved to assume the user has a time library, e.g. [`fugit`] or [`embedded_time`],
+as the basis for all time-based operations when implementing `Monotonic`. This is why in RTIC 0.6
+it is almost trivial to implement the `Monotonic` trait and use any timer in a system for scheduling.
 
 The trait documents the requirements for each method, however a small PoC implementation is provided
 below.
 
 [`rtic_monotonic::Monotonic`]: https://docs.rs/rtic-monotonic/
+[`fugit`]: https://docs.rs/fugit/
 [`embedded_time`]: https://docs.rs/embedded_time/
 
 ```rust
-use rtic_monotonic::{embedded_time::clock::Error, Clock, Fraction, Instant, Monotonic};
+pub use fugit::{self, ExtU32};
+use rtic_monotonic::Monotonic;
 
 /// Example wrapper struct for a timer
-pub struct Timer<const FREQ: u32> {
+pub struct Timer<const TIMER_HZ: u32> {
     tim: TIM2,
 }
 
-impl<const FREQ: u32> Clock for Timer<FREQ> {
-    const SCALING_FACTOR: Fraction = Fraction::new(1, FREQ);
-    type T = u32;
+impl<const TIMER_HZ: u32> Monotonic for Timer<TIMER_HZ> {
+    type Instant = fugit::TimerInstantU32<TIMER_HZ>;
+    type Duration = fugit::TimerDurationU32<TIMER_HZ>;
 
-    #[inline(always)]
-    fn try_now(&self) -> Result<Instant<Self>, Error> {
-        Ok(Instant::new(Self::count()))
+    fn now(&mut self) -> Self::Instant {
+        // Read the timer count
+        Self::Instant::from_ticks(Self::count())
+    }
+
+    fn zero() -> Self::Instant {
+        // This is used while the app is in `#[init]`, if the system cannot
+        // support time in `#[init]` this can also be a `panic!(..)`
+        Self::Instant::from_ticks(0)
     }
-}
 
-impl Monotonic for Timer<TIM2> {
     unsafe fn reset(&mut self) {
         // Reset timer counter
         self.tim.cnt.write(|_, w| w.bits(0));
@@ -45,11 +51,11 @@ impl Monotonic for Timer<TIM2> {
         self.tim.dier.modify(|_, w| w.cc1ie().set_bit());
     }
 
-    // Use Compare channel 1 for Monotonic
-    fn set_compare(&mut self, instant: &Instant<Self>) {
+    fn set_compare(&mut self, instant: Instant<Self>) {
+        // Use Compare channel 1 for Monotonic
         self.tim
             .ccr1
-            .write(|w| w.ccr().bits(instant.duration_since_epoch().integer()));
+            .write(|w| w.ccr().bits(instant.ticks()));
     }
 
     fn clear_compare_flag(&mut self) {