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Add example for STM32F411 with HW & SW tasks communicating via MPSC channel (#953)
* Add example with HW & SW tasks communicating via MPSC channel * example: f411-adc-mpcsc: nit: typos * example: f411-adc-mpsc: prefer text over picture --------- Co-authored-by: Milton Eduardo Sosa <milton@Miltons-MacBook-Pro.local> Co-authored-by: Henrik Tjäder <henrik@tjaders.com>
This commit is contained in:
Milton Eduardo Sosa
GitHub
parent
35891f4559
commit
624f643a97
7 changed files with 1068 additions and 0 deletions
14
examples/stm32f411_adc_and_mpsc_channel/.cargo/config.toml
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14
examples/stm32f411_adc_and_mpsc_channel/.cargo/config.toml
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@ -0,0 +1,14 @@
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[target.thumbv7em-none-eabihf]
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runner = "probe-rs run --chip STM32F411CEUx"
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rustflags = [
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"-C", "link-arg=-Tlink.x",
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"-C", "link-arg=-Tdefmt.x",
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]
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[build]
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target = "thumbv7em-none-eabihf"
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[env]
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DEFMT_LOG = "debug"
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712
examples/stm32f411_adc_and_mpsc_channel/Cargo.lock
generated
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712
examples/stm32f411_adc_and_mpsc_channel/Cargo.lock
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@ -0,0 +1,712 @@
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# This file is automatically @generated by Cargo.
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# It is not intended for manual editing.
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version = 3
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[[package]]
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name = "atomic-polyfill"
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version = "1.0.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
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dependencies = [
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"critical-section",
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]
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[[package]]
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name = "bare-metal"
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version = "0.2.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
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dependencies = [
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"rustc_version",
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]
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[[package]]
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name = "bare-metal"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
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[[package]]
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name = "bitfield"
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version = "0.13.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
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[[package]]
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name = "bitflags"
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version = "1.3.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
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[[package]]
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name = "byteorder"
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version = "1.5.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
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[[package]]
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name = "cfg-if"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
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[[package]]
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name = "cortex-m"
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version = "0.7.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
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dependencies = [
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"bare-metal 0.2.5",
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"bitfield",
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"critical-section",
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"embedded-hal 0.2.7",
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"volatile-register",
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]
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[[package]]
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name = "cortex-m-rt"
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version = "0.7.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
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dependencies = [
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"cortex-m-rt-macros",
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]
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[[package]]
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name = "cortex-m-rt-macros"
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version = "0.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 1.0.109",
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]
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[[package]]
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name = "critical-section"
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version = "1.1.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
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[[package]]
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name = "defmt"
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version = "0.3.8"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
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dependencies = [
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"bitflags",
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"defmt-macros",
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]
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[[package]]
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name = "defmt-macros"
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version = "0.3.9"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
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dependencies = [
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"defmt-parser",
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"proc-macro-error",
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"proc-macro2",
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"quote",
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"syn 2.0.67",
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]
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[[package]]
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name = "defmt-parser"
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version = "0.3.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
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dependencies = [
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"thiserror",
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]
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[[package]]
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name = "defmt-rtt"
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version = "0.4.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bab697b3dbbc1750b7c8b821aa6f6e7f2480b47a99bc057a2ed7b170ebef0c51"
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dependencies = [
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"critical-section",
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"defmt",
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]
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[[package]]
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name = "deranged"
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version = "0.3.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b42b6fa04a440b495c8b04d0e71b707c585f83cb9cb28cf8cd0d976c315e31b4"
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dependencies = [
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"powerfmt",
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]
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[[package]]
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name = "document-features"
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version = "0.2.8"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ef5282ad69563b5fc40319526ba27e0e7363d552a896f0297d54f767717f9b95"
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dependencies = [
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"litrs",
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]
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[[package]]
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name = "embedded-dma"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "994f7e5b5cb23521c22304927195f236813053eb9c065dd2226a32ba64695446"
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dependencies = [
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"stable_deref_trait",
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]
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[[package]]
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name = "embedded-hal"
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version = "0.2.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
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dependencies = [
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"nb 0.1.3",
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"void",
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]
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[[package]]
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name = "embedded-hal"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
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[[package]]
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name = "embedded-hal-async"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
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dependencies = [
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"embedded-hal 1.0.0",
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]
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[[package]]
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name = "embedded-hal-bus"
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version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "57b4e6ede84339ebdb418cd986e6320a34b017cdf99b5cc3efceec6450b06886"
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dependencies = [
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"critical-section",
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"embedded-hal 1.0.0",
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"embedded-hal-async",
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]
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[[package]]
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name = "embedded-hal-nb"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "fba4268c14288c828995299e59b12babdbe170f6c6d73731af1b4648142e8605"
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dependencies = [
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"embedded-hal 1.0.0",
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"nb 1.1.0",
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]
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[[package]]
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name = "embedded-storage"
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version = "0.3.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
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[[package]]
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name = "enumflags2"
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version = "0.7.10"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d232db7f5956f3f14313dc2f87985c58bd2c695ce124c8cdd984e08e15ac133d"
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dependencies = [
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"enumflags2_derive",
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]
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[[package]]
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name = "enumflags2_derive"
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version = "0.7.10"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "de0d48a183585823424a4ce1aa132d174a6a81bd540895822eb4c8373a8e49e8"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.67",
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]
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[[package]]
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name = "equivalent"
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version = "1.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
|
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[[package]]
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name = "fugit"
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|
version = "0.3.7"
|
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|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
|
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|
dependencies = [
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"gcd",
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]
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[[package]]
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name = "fugit-timer"
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version = "0.1.3"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "d9607bfc4c388f9d629704f56ede4a007546cad417b3bcd6fc7c87dc7edce04a"
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dependencies = [
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"fugit",
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"nb 1.1.0",
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]
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[[package]]
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name = "futures-core"
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version = "0.3.30"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
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[[package]]
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name = "futures-task"
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version = "0.3.30"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
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[[package]]
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name = "futures-util"
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version = "0.3.30"
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
|
||||||
|
dependencies = [
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"futures-core",
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"futures-task",
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"pin-project-lite",
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"pin-utils",
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]
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[[package]]
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name = "gcd"
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version = "2.3.0"
|
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|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
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|
checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
|
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[[package]]
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name = "hash32"
|
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|
version = "0.3.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
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|
checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
|
||||||
|
dependencies = [
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"byteorder",
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]
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[[package]]
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name = "hashbrown"
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version = "0.14.5"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
|
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[[package]]
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name = "heapless"
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|
version = "0.8.0"
|
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|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
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|
checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
|
||||||
|
dependencies = [
|
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|
"hash32",
|
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|
"stable_deref_trait",
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]
|
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[[package]]
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name = "indexmap"
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|
version = "2.2.6"
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|
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|
"deranged",
|
||||||
|
"num-conv",
|
||||||
|
"powerfmt",
|
||||||
|
"time-core",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "time-core"
|
||||||
|
version = "0.1.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "unicode-ident"
|
||||||
|
version = "1.0.12"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "vcell"
|
||||||
|
version = "0.1.3"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "version_check"
|
||||||
|
version = "0.9.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "void"
|
||||||
|
version = "1.0.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "volatile-register"
|
||||||
|
version = "0.2.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||||
|
dependencies = [
|
||||||
|
"vcell",
|
||||||
|
]
|
||||||
30
examples/stm32f411_adc_and_mpsc_channel/Cargo.toml
Normal file
30
examples/stm32f411_adc_and_mpsc_channel/Cargo.toml
Normal file
|
|
@ -0,0 +1,30 @@
|
||||||
|
[workspace]
|
||||||
|
|
||||||
|
[package]
|
||||||
|
authors = ["<Milton Sosa <milton.eduardo.sosa@gmail.com>"]
|
||||||
|
edition = "2018"
|
||||||
|
readme = "README.md"
|
||||||
|
name = "stm32f411_adc_and_mpsc_channel"
|
||||||
|
version = "0.1.0"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
|
||||||
|
cortex-m-rt = "0.7.1"
|
||||||
|
rtic = {version = "2.1.1", features=["thumbv7-backend", "rtic-monotonics"]}
|
||||||
|
rtic-monotonics = { version = "2.0.1", features = ["cortex-m-systick"]}
|
||||||
|
panic-halt = "0.2.0"
|
||||||
|
embedded-hal = "1.0.0"
|
||||||
|
defmt = "0.3.5"
|
||||||
|
defmt-rtt = { version = "0.4.1"}
|
||||||
|
rtic-sync = "1.3.0"
|
||||||
|
|
||||||
|
[dependencies.stm32f4xx-hal]
|
||||||
|
version = "0.21.0"
|
||||||
|
features = ["stm32f411"] # replace the model of your microcontroller here
|
||||||
|
|
||||||
|
# this lets you use `cargo fix`!
|
||||||
|
[[bin]]
|
||||||
|
name = "stm32f411_adc_and_mpsc_channel"
|
||||||
|
test = false
|
||||||
|
bench = false
|
||||||
|
|
||||||
46
examples/stm32f411_adc_and_mpsc_channel/README.md
Normal file
46
examples/stm32f411_adc_and_mpsc_channel/README.md
Normal file
|
|
@ -0,0 +1,46 @@
|
||||||
|
# STM32F411CEU6 ADC example
|
||||||
|
This example is a continuation of the **stm32f411_adc**.
|
||||||
|
In this variant, there are 3 tasks (1 HW & 2 SW) involved and communication between them by means of an MPSC channel.
|
||||||
|
|
||||||
|
In the `#[init]` before spawning any task, an MPSC channel is created and split in its two parts.
|
||||||
|
Immediately after separating the `Receiver` and `Sender` the software task `printer_actor` is spawned and receives the `Receiver` end of the channel and starts listening.
|
||||||
|
|
||||||
|
Then two clones of the `Sender` type are created. The first one is stored as Local resource for the HW task and the second, is passed as an argument when the `pinger` software task is spawned.
|
||||||
|
|
||||||
|
## Hardware task bound to EXTI0: `gpio_interrupt_handler`
|
||||||
|
This task,
|
||||||
|
- Decreases the value of __delayval__ by 200
|
||||||
|
- Takes a new sample from the ADC input connected on pin `PA1`
|
||||||
|
- Sends a message of type `Message::PotentiometerValue` to the printer task
|
||||||
|
- Clears the interrupt_pending_bit
|
||||||
|
|
||||||
|
## Software task: `printer_actor`
|
||||||
|
This task makes use of the unused interrupt __SPI1__ as a dispatcher. Since it is an async fn, it ia constantly awaiting for incoming messages from other actors.
|
||||||
|
Depending on the type of message received, it prints something different.
|
||||||
|
|
||||||
|
## Software task: `pinger`
|
||||||
|
This is just a simple task that sends ping every 25000 millis and uses __SPI2__ as a dispatcher.
|
||||||
|
|
||||||
|
## How-to
|
||||||
|
|
||||||
|
### Build
|
||||||
|
Run `cargo build --release` to compile the code. If you run it for the first time, it will take some time to download and compile dependencies.
|
||||||
|
|
||||||
|
### Run
|
||||||
|
Install `probe-rs` and configure it using the [debugging extension for VScode](https://probe.rs/docs/tools/debugger/).
|
||||||
|
|
||||||
|
The output should look like this:
|
||||||
|
|
||||||
|
```
|
||||||
|
INFO Printer actor received a PING from software task
|
||||||
|
INFO Current delay value 1900
|
||||||
|
INFO Printer actor received a new PotentiometerValue: 607 from hardware task.
|
||||||
|
|
||||||
|
INFO Current delay value 1800
|
||||||
|
INFO Printer actor received a new PotentiometerValue: 1011 from hardware task.
|
||||||
|
|
||||||
|
INFO Current delay value 1700
|
||||||
|
INFO Printer actor received a new PotentiometerValue: 819 from hardware task.
|
||||||
|
|
||||||
|
INFO Printer actor received a PING from software task
|
||||||
|
```
|
||||||
31
examples/stm32f411_adc_and_mpsc_channel/build.rs
Normal file
31
examples/stm32f411_adc_and_mpsc_channel/build.rs
Normal file
|
|
@ -0,0 +1,31 @@
|
||||||
|
//! This build script copies the `memory.x` file from the crate root into
|
||||||
|
//! a directory where the linker can always find it at build time.
|
||||||
|
//! For many projects this is optional, as the linker always searches the
|
||||||
|
//! project root directory -- wherever `Cargo.toml` is. However, if you
|
||||||
|
//! are using a workspace or have a more complicated build setup, this
|
||||||
|
//! build script becomes required. Additionally, by requesting that
|
||||||
|
//! Cargo re-run the build script whenever `memory.x` is changed,
|
||||||
|
//! updating `memory.x` ensures a rebuild of the application with the
|
||||||
|
//! new memory settings.
|
||||||
|
|
||||||
|
use std::env;
|
||||||
|
use std::fs::File;
|
||||||
|
use std::io::Write;
|
||||||
|
use std::path::PathBuf;
|
||||||
|
|
||||||
|
fn main() {
|
||||||
|
// Put `memory.x` in our output directory and ensure it's
|
||||||
|
// on the linker search path.
|
||||||
|
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
|
||||||
|
File::create(out.join("memory.x"))
|
||||||
|
.unwrap()
|
||||||
|
.write_all(include_bytes!("memory.x"))
|
||||||
|
.unwrap();
|
||||||
|
println!("cargo:rustc-link-search={}", out.display());
|
||||||
|
|
||||||
|
// By default, Cargo will re-run a build script whenever
|
||||||
|
// any file in the project changes. By specifying `memory.x`
|
||||||
|
// here, we ensure the build script is only re-run when
|
||||||
|
// `memory.x` is changed.
|
||||||
|
println!("cargo:rerun-if-changed=memory.x");
|
||||||
|
}
|
||||||
6
examples/stm32f411_adc_and_mpsc_channel/memory.x
Normal file
6
examples/stm32f411_adc_and_mpsc_channel/memory.x
Normal file
|
|
@ -0,0 +1,6 @@
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
/* NOTE 1 K = 1 KiBi = 1024 bytes */
|
||||||
|
FLASH : ORIGIN = 0x08000000, LENGTH = 512K
|
||||||
|
RAM : ORIGIN = 0x20000000, LENGTH = 96K
|
||||||
|
}
|
||||||
229
examples/stm32f411_adc_and_mpsc_channel/src/main.rs
Normal file
229
examples/stm32f411_adc_and_mpsc_channel/src/main.rs
Normal file
|
|
@ -0,0 +1,229 @@
|
||||||
|
#![deny(unsafe_code)]
|
||||||
|
#![deny(warnings)]
|
||||||
|
#![no_main]
|
||||||
|
#![no_std]
|
||||||
|
|
||||||
|
use panic_halt as _;
|
||||||
|
|
||||||
|
#[rtic::app(device = stm32f4xx_hal::pac, peripherals = true, dispatchers = [SPI1, SPI2])]
|
||||||
|
mod app {
|
||||||
|
|
||||||
|
use defmt_rtt as _;
|
||||||
|
use rtic_monotonics::systick::prelude::*;
|
||||||
|
use rtic_sync::channel::{Receiver, Sender};
|
||||||
|
use rtic_sync::make_channel;
|
||||||
|
use stm32f4xx_hal::pac::ADC1;
|
||||||
|
use stm32f4xx_hal::{
|
||||||
|
adc::{
|
||||||
|
config::{AdcConfig, SampleTime},
|
||||||
|
Adc,
|
||||||
|
},
|
||||||
|
gpio::{self, Analog, Edge, Input, Output, PushPull},
|
||||||
|
pac::TIM1,
|
||||||
|
prelude::*,
|
||||||
|
timer,
|
||||||
|
};
|
||||||
|
|
||||||
|
systick_monotonic!(Mono, 100);
|
||||||
|
|
||||||
|
// A simple placeholder for the analog pin
|
||||||
|
struct Potentiometer {
|
||||||
|
analog_input: gpio::PA1<Analog>,
|
||||||
|
}
|
||||||
|
|
||||||
|
// An enum specifying the type of messages the printer actor running on
|
||||||
|
// a software expects
|
||||||
|
enum Message {
|
||||||
|
PotentiometerValue(u16),
|
||||||
|
Ping,
|
||||||
|
}
|
||||||
|
|
||||||
|
// Resources shared between tasks
|
||||||
|
#[shared]
|
||||||
|
struct Shared {
|
||||||
|
delayval: u32,
|
||||||
|
adc_module: Adc<ADC1>,
|
||||||
|
}
|
||||||
|
|
||||||
|
// Local resources to specific tasks (cannot be shared)
|
||||||
|
#[local]
|
||||||
|
struct Local {
|
||||||
|
sender_from_exti0: Sender<'static, Message, 8>,
|
||||||
|
button: gpio::PA0<Input>,
|
||||||
|
pot_instance: Potentiometer,
|
||||||
|
led: gpio::PC13<Output<PushPull>>,
|
||||||
|
delay: timer::DelayMs<TIM1>,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[init]
|
||||||
|
fn init(ctx: init::Context) -> (Shared, Local) {
|
||||||
|
Mono::start(ctx.core.SYST, 12_000_000);
|
||||||
|
let mut dp = ctx.device;
|
||||||
|
|
||||||
|
// Configure and obtain handle for delay abstraction
|
||||||
|
// 1) Promote RCC structure to HAL to be able to configure clocks
|
||||||
|
let rcc = dp.RCC.constrain();
|
||||||
|
|
||||||
|
// 2) Configure the system clocks
|
||||||
|
// 25 MHz must be used for HSE on the Blackpill-STM32F411CE board according to manual
|
||||||
|
let clocks = rcc.cfgr.use_hse(25.MHz()).freeze();
|
||||||
|
|
||||||
|
// 3) Create delay handle
|
||||||
|
let delay = dp.TIM1.delay_ms(&clocks);
|
||||||
|
|
||||||
|
// Configure the LED pin as a push pull output and obtain handle
|
||||||
|
// On the Blackpill STM32F411CEU6 there is an on-board LED connected to pin PC13
|
||||||
|
// 4) Promote the GPIOC PAC struct
|
||||||
|
let gpioc = dp.GPIOC.split();
|
||||||
|
|
||||||
|
// 5) Configure PORTC OUTPUT Pins and Obtain Handle
|
||||||
|
let led = gpioc.pc13.into_push_pull_output();
|
||||||
|
|
||||||
|
// Configure the button pin as input and obtain handle
|
||||||
|
// On the Blackpill STM32F411CEU6 there is a button connected to pin PA0
|
||||||
|
// 6) Promote the GPIOA PAC struct
|
||||||
|
let gpioa: gpio::gpioa::Parts = dp.GPIOA.split();
|
||||||
|
// 7) Configure Pin and Obtain Handle
|
||||||
|
let mut button = gpioa.pa0.into_pull_up_input();
|
||||||
|
|
||||||
|
// 8) Configure pin A1 of the blackpill to be of type analog
|
||||||
|
// the input does not need to be mutable since we are only reading it.
|
||||||
|
let analog_input = gpioa.pa1.into_analog();
|
||||||
|
|
||||||
|
// 9) Configure the ADC modulke for single-shot conversion
|
||||||
|
let mut adc = Adc::adc1(dp.ADC1, true, AdcConfig::default());
|
||||||
|
// Calibrate by calculates the system VDDA by sampling the internal VREF
|
||||||
|
// channel and comparing the result with the value stored at the factory.
|
||||||
|
adc.calibrate();
|
||||||
|
|
||||||
|
let pot_instance = Potentiometer {
|
||||||
|
analog_input: analog_input,
|
||||||
|
};
|
||||||
|
|
||||||
|
// Configure Button Pin for Interrupts
|
||||||
|
// 10) Promote SYSCFG structure to HAL to be able to configure interrupts
|
||||||
|
let mut syscfg = dp.SYSCFG.constrain();
|
||||||
|
// 11) Make button an interrupt source
|
||||||
|
button.make_interrupt_source(&mut syscfg);
|
||||||
|
// 12) Configure the interruption to be triggered on a rising edge
|
||||||
|
button.trigger_on_edge(&mut dp.EXTI, Edge::Rising);
|
||||||
|
// 13) Enable gpio interrupt for button
|
||||||
|
button.enable_interrupt(&mut dp.EXTI);
|
||||||
|
|
||||||
|
// 14) Create a channel
|
||||||
|
let (tx_to_printer, rx) = make_channel!(Message, 8);
|
||||||
|
|
||||||
|
// 15) Spawn printer_actor and start listerning
|
||||||
|
printer_actor::spawn(rx).unwrap();
|
||||||
|
|
||||||
|
let sender_from_exti0 = tx_to_printer.clone();
|
||||||
|
let sender_from_pinger = tx_to_printer.clone();
|
||||||
|
pinger::spawn(sender_from_pinger).unwrap();
|
||||||
|
|
||||||
|
(
|
||||||
|
// Initialization of shared resources. In this case delay value and the ADC instance
|
||||||
|
Shared {
|
||||||
|
delayval: 2000_u32,
|
||||||
|
adc_module: adc,
|
||||||
|
},
|
||||||
|
// Initialization of task local resources
|
||||||
|
Local {
|
||||||
|
sender_from_exti0,
|
||||||
|
button,
|
||||||
|
pot_instance,
|
||||||
|
led,
|
||||||
|
delay,
|
||||||
|
},
|
||||||
|
)
|
||||||
|
}
|
||||||
|
|
||||||
|
// Background task, runs whenever no other tasks are running
|
||||||
|
#[idle(local = [led, delay], shared = [delayval])]
|
||||||
|
fn idle(mut ctx: idle::Context) -> ! {
|
||||||
|
let led = ctx.local.led;
|
||||||
|
let delay = ctx.local.delay;
|
||||||
|
loop {
|
||||||
|
// Turn On LED
|
||||||
|
led.set_high();
|
||||||
|
// Obtain shared delay variable and delay
|
||||||
|
delay.delay_ms(ctx.shared.delayval.lock(|del| *del));
|
||||||
|
// Turn off LED
|
||||||
|
led.set_low();
|
||||||
|
// Obtain shared delay variable and delay
|
||||||
|
delay.delay_ms(ctx.shared.delayval.lock(|del| *del));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Handle the IRQ generated when the button is pressed and interact with local and shared resources.
|
||||||
|
#[task(binds = EXTI0, local = [sender_from_exti0, button, pot_instance], shared=[delayval, adc_module])]
|
||||||
|
fn gpio_interrupt_handler(mut ctx: gpio_interrupt_handler::Context) {
|
||||||
|
ctx.shared.delayval.lock(|del| {
|
||||||
|
*del = *del - 100_u32;
|
||||||
|
if *del < 200_u32 {
|
||||||
|
*del = 2000_u32;
|
||||||
|
}
|
||||||
|
*del
|
||||||
|
});
|
||||||
|
|
||||||
|
ctx.shared.delayval.lock(|del| {
|
||||||
|
defmt::info!("Current delay value {:?}", del);
|
||||||
|
});
|
||||||
|
|
||||||
|
// Obtain the Potentiometer instance that belongs to this task ONLY
|
||||||
|
let analog_input = &ctx.local.pot_instance.analog_input;
|
||||||
|
|
||||||
|
let send_to_printer = ctx.local.sender_from_exti0;
|
||||||
|
|
||||||
|
// Obtain the shared instance of Adc and do one conversion of the value seen
|
||||||
|
ctx.shared.adc_module.lock(|adc_module| {
|
||||||
|
let sample = adc_module.convert(analog_input, SampleTime::Cycles_480);
|
||||||
|
|
||||||
|
// Now that we have the sampled value, we want to pass it to the software
|
||||||
|
// task. Since we are in a non-async context, we must use 'try_send' method
|
||||||
|
// and process the result
|
||||||
|
let send_result = send_to_printer.try_send(Message::PotentiometerValue(sample));
|
||||||
|
match send_result {
|
||||||
|
Ok(_) => {}
|
||||||
|
Err(_error) => {
|
||||||
|
defmt::error!("EXTI0 handler could not send message to printer actor");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
});
|
||||||
|
|
||||||
|
ctx.local.button.clear_interrupt_pending_bit();
|
||||||
|
}
|
||||||
|
|
||||||
|
// The printer actor is a software task that listens to an MPSC channel and prints
|
||||||
|
// the incoming Message from other tasks (Hardware or Software)
|
||||||
|
#[task(priority = 1)]
|
||||||
|
async fn printer_actor(_: printer_actor::Context, mut rx: Receiver<'_, Message, 8>) {
|
||||||
|
loop {
|
||||||
|
let maybe_new_message = rx.recv().await;
|
||||||
|
match maybe_new_message {
|
||||||
|
Ok(message) => match message {
|
||||||
|
Message::PotentiometerValue(value) => {
|
||||||
|
defmt::info!(
|
||||||
|
"Printer actor received a new PotentiometerValue: {:?} from hardware task.\n",
|
||||||
|
value
|
||||||
|
);
|
||||||
|
}
|
||||||
|
Message::Ping => {
|
||||||
|
defmt::info!("Printer actor received a PING from software task");
|
||||||
|
}
|
||||||
|
},
|
||||||
|
Err(error) => {
|
||||||
|
panic!("Receiver error {:?}", error);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// This software task sends a Message of type Ping to printer_actor every 25000 millis
|
||||||
|
#[task(priority = 1)]
|
||||||
|
async fn pinger(_: pinger::Context, mut sender_from_pinger: Sender<'_, Message, 8>) {
|
||||||
|
loop {
|
||||||
|
let _ = sender_from_pinger.send(Message::Ping).await;
|
||||||
|
Mono::delay(25000.millis()).await;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Reference in a new issue