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https://github.com/rtic-rs/rtic.git
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take 3
This commit is contained in:
Jorge Aparicio
parent
cc4be26480
commit
1f5f94bc31
3 changed files with 254 additions and 174 deletions
116
examples/tq.rs
116
examples/tq.rs
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@ -13,8 +13,9 @@ extern crate stm32f103xx;
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use core::cmp;
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use cortex_m::peripheral::syst::SystClkSource;
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use cortex_m::peripheral::{DWT, ITM};
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use rtfm::ll::{Consumer, FreeList, Message, Node, Payload, Producer, RingBuffer, Slot, TimerQueue};
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use cortex_m::peripheral::ITM;
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use rtfm::ll::{Consumer, FreeList, Instant, Node, Producer, RingBuffer, Slot, TaggedPayload,
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TimerQueue};
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use rtfm::{app, Resource, Threshold};
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use stm32f103xx::Interrupt;
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@ -27,25 +28,22 @@ app! {
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resources: {
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/* timer queue */
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static TQ: TimerQueue<Task, [Message<Task>; 2]>;
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static TQ: TimerQueue<Task, [TaggedPayload<Task>; 2]>;
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/* a */
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// payloads w/ after
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static AN: [Node<i32>; 2] = [Node::new(), Node::new()];
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static AFL: FreeList<i32> = FreeList::new();
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static AQ: RingBuffer<(u32, i32), [(u32, i32); ACAP + 1], u8> = RingBuffer::u8();
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static AQC: Consumer<'static, (u32, i32), [(u32, i32); ACAP + 1], u8>;
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static AQP: Producer<'static, (u32, i32), [(u32, i32); ACAP + 1], u8>;
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/* exti0 */
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static Q1: RingBuffer<Task1, [Task1; ACAP + 1], u8> = RingBuffer::u8();
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static Q1C: Consumer<'static, Task1, [Task1; ACAP + 1], u8>;
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static Q1P: Producer<'static, Task1, [Task1; ACAP + 1], u8>;
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static Q1: RingBuffer<TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8> =
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RingBuffer::u8();
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static Q1C: Consumer<'static, TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8>;
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static Q1P: Producer<'static, TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8>;
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},
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init: {
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resources: [AN, Q1, AQ],
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resources: [AN, Q1],
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},
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tasks: {
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@ -60,14 +58,14 @@ app! {
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// dispatch interrupt
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EXTI0: {
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path: exti0,
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resources: [AQC, Q1C],
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resources: [Q1C, AFL],
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priority: 1,
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},
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// timer queue
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SYS_TICK: {
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path: sys_tick,
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resources: [TQ, AQP, Q1P, AFL],
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resources: [TQ, Q1P],
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priority: 2,
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},
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},
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@ -88,12 +86,9 @@ pub fn init(mut p: ::init::Peripherals, r: init::Resources) -> init::LateResourc
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r.AFL.push(Slot::new(n));
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}
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let (aqp, aqc) = r.AQ.split();
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let (q1p, q1c) = r.Q1.split();
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init::LateResources {
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TQ: TimerQueue::new(p.core.SYST),
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AQC: aqc,
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AQP: aqp,
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Q1C: q1c,
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Q1P: q1p,
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}
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@ -107,13 +102,12 @@ pub fn idle() -> ! {
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}
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}
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fn a(_t: &mut Threshold, bl: u32, payload: i32) {
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let now = DWT::get_cycle_count();
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fn a(_t: &mut Threshold, bl: Instant, payload: i32) {
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unsafe {
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iprintln!(
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&mut (*ITM::ptr()).stim[0],
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"a(now={}, bl={}, payload={})",
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now,
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"a(now={:?}, bl={:?}, payload={})",
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Instant::now(),
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bl,
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payload
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)
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@ -122,21 +116,24 @@ fn a(_t: &mut Threshold, bl: u32, payload: i32) {
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fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
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/* expansion */
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let bl = DWT::get_cycle_count();
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let bl = Instant::now();
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let mut async = a::Async::new(bl, r.TQ, r.AFL);
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/* end of expansion */
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unsafe { iprintln!(&mut (*ITM::ptr()).stim[0], "EXTI0(bl={})", bl) }
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unsafe { iprintln!(&mut (*ITM::ptr()).stim[0], "EXTI0(bl={:?})", bl) }
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async.a(t, 100 * MS, 0).unwrap();
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async.a(t, 50 * MS, 1).unwrap();
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}
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/* auto generated */
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fn exti0(_t: &mut Threshold, mut r: EXTI0::Resources) {
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while let Some(task) = r.Q1C.dequeue() {
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match task {
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fn exti0(t: &mut Threshold, mut r: EXTI0::Resources) {
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while let Some(payload) = r.Q1C.dequeue() {
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match payload.tag() {
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Task1::a => {
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let (bl, payload) = r.AQC.dequeue().unwrap();
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let (bl, payload, slot) = unsafe { payload.coerce() }.read();
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r.AFL.claim_mut(t, |afl, _| afl.push(slot));
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a(&mut unsafe { Threshold::new(1) }, bl, payload);
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}
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}
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@ -145,29 +142,26 @@ fn exti0(_t: &mut Threshold, mut r: EXTI0::Resources) {
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fn sys_tick(t: &mut Threshold, r: SYS_TICK::Resources) {
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#[allow(non_snake_case)]
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let SYS_TICK::Resources {
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mut AFL,
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mut AQP,
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mut Q1P,
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mut TQ,
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} = r;
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let SYS_TICK::Resources { mut Q1P, mut TQ } = r;
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enum State<T> {
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Message(Message<T>),
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Baseline(u32),
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enum State<T>
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where
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T: Copy,
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{
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Payload(TaggedPayload<T>),
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Baseline(Instant),
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Done,
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}
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loop {
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let state = TQ.claim_mut(t, |tq, _| {
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if let Some(m) = tq.queue.peek().cloned() {
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if (DWT::get_cycle_count() as i32).wrapping_sub(m.baseline as i32) >= 0 {
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if let Some(bl) = tq.queue.peek().map(|p| p.baseline()) {
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if Instant::now() >= bl {
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// message ready
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tq.queue.pop();
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State::Message(m)
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State::Payload(tq.queue.pop().unwrap())
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} else {
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// set timeout
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State::Baseline(m.baseline)
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// new timeout
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State::Baseline(bl)
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}
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} else {
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// empty queue
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@ -177,30 +171,16 @@ fn sys_tick(t: &mut Threshold, r: SYS_TICK::Resources) {
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});
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match state {
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State::Message(m) => {
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match m.task {
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Task::a => {
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// read payload
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let (payload, slot) = unsafe { Payload::<i32>::from(m.payload) }.read();
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// return free slot to the free list
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AFL.claim_mut(t, |afl, _| afl.push(slot));
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// enqueue a new `a` task
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AQP.claim_mut(t, |aqp, t| {
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aqp.enqueue_unchecked((m.baseline, payload));
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Q1P.claim_mut(t, |q1p, _| {
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q1p.enqueue_unchecked(Task1::a);
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rtfm::set_pending(Interrupt::EXTI0);
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});
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});
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}
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State::Payload(p) => match p.tag() {
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Task::a => {
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Q1P.claim_mut(t, |q1p, _| q1p.enqueue_unchecked(p.retag(Task1::a)));
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rtfm::set_pending(Interrupt::EXTI0);
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}
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}
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},
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State::Baseline(bl) => {
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const MAX: u32 = 0x00ffffff;
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let diff = (bl as i32).wrapping_sub(DWT::get_cycle_count() as i32);
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let diff = bl - Instant::now();
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if diff < 0 {
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// message became ready
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@ -237,21 +217,21 @@ pub enum Task {
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mod a {
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use cortex_m::peripheral::SCB;
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use rtfm::ll::Message;
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use rtfm::ll::Instant;
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use rtfm::{Resource, Threshold};
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use Task;
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#[allow(non_snake_case)]
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pub struct Async {
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// inherited baseline
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baseline: u32,
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baseline: Instant,
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TQ: ::EXTI1::TQ,
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AFL: ::EXTI1::AFL,
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}
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impl Async {
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#[allow(non_snake_case)]
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pub fn new(bl: u32, TQ: ::EXTI1::TQ, AFL: ::EXTI1::AFL) -> Self {
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pub fn new(bl: Instant, TQ: ::EXTI1::TQ, AFL: ::EXTI1::AFL) -> Self {
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Async {
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baseline: bl,
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TQ,
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@ -267,10 +247,10 @@ mod a {
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// full
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Err(payload)
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} else {
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let bl = baseline.wrapping_add(after);
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let bl = baseline + after;
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if tq.queue
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.peek()
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.map(|head| (bl as i32).wrapping_sub(head.baseline as i32) < 0)
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.map(|head| bl < head.baseline())
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.unwrap_or(true)
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{
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tq.syst.enable_interrupt();
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@ -278,9 +258,7 @@ mod a {
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unsafe { (*SCB::ptr()).icsr.write(1 << 26) }
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}
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tq.queue
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.push(Message::new(bl, Task::a, slot.write(payload)))
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.ok();
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tq.queue.push(slot.write(bl, payload).tag(Task::a)).ok();
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Ok(())
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}
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