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https://github.com/rtic-rs/rtic.git
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Add SYSTIMER based ESP32-C3 monotonic (#972)
* add esp32c3 monotonic * fix tests
This commit is contained in:
onsdagens
GitHub
parent
6e68a5e615
commit
805ea267a8
12 changed files with 395 additions and 9 deletions
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@ -1,6 +1,6 @@
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[target.riscv32imc-unknown-none-elf]
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# Real hardware
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#runner = "espflash flash --monitor"
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# runner = "espflash flash --monitor"
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# QEMU emulator
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runner = "./runner.sh"
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@ -14,6 +14,3 @@ rustflags = [
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]
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target = "riscv32imc-unknown-none-elf"
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[unstable]
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build-std = ["core"]
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78
examples/esp32c3/Cargo.lock
generated
78
examples/esp32c3/Cargo.lock
generated
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@ -144,6 +144,15 @@ 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 = "enum-as-inner"
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version = "0.4.0"
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@ -285,6 +294,7 @@ dependencies = [
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"esp-println",
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"esp32c3 0.22.0",
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"rtic",
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"rtic-monotonics",
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]
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[[package]]
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@ -384,6 +394,30 @@ dependencies = [
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"gcd",
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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"
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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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@ -479,6 +513,18 @@ version = "1.0.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
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[[package]]
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name = "pin-project-lite"
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version = "0.2.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
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[[package]]
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name = "pin-utils"
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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 = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
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[[package]]
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name = "portable-atomic"
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version = "1.6.0"
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@ -611,6 +657,14 @@ dependencies = [
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"rtic-macros",
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]
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[[package]]
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name = "rtic-common"
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version = "1.0.1"
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dependencies = [
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"critical-section",
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"portable-atomic",
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]
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[[package]]
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name = "rtic-core"
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version = "1.0.0"
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@ -628,6 +682,30 @@ dependencies = [
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"syn 2.0.53",
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]
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[[package]]
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name = "rtic-monotonics"
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version = "2.0.2"
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dependencies = [
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"cfg-if",
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"esp32c3 0.22.0",
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"fugit",
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"portable-atomic",
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"riscv",
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"rtic-time",
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]
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[[package]]
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name = "rtic-time"
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version = "2.0.0"
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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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"fugit",
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"futures-util",
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"rtic-common",
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]
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[[package]]
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name = "rustversion"
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version = "1.0.14"
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@ -8,6 +8,7 @@ license = "MIT OR Apache-2.0"
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[dependencies]
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rtic = {path = "../../rtic/"}
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rtic-monotonics = {path = "../../rtic-monotonics/"}
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esp-hal = { version = "0.16.1", features = ["esp32c3", "direct-vectoring", "interrupt-preemption"] }
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esp-backtrace = { version = "0.11.0", features = [
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"esp32c3",
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@ -21,4 +22,4 @@ esp-println = { version = "0.9.0", features = ["esp32c3", "uart"] }
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[features]
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test-critical-section = []
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riscv-esp32c3-backend = ["rtic/riscv-esp32c3-backend"]
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riscv-esp32c3-backend = ["rtic/riscv-esp32c3-backend", "rtic-monotonics/esp32c3-systimer"]
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@ -15,12 +15,24 @@ This crate uses the most convenient option in ``cargo-espflash`` and ``espflash`
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## Running the crate
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Uncomment the
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```runner = "espflash flash --monitor"```
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line in ``.cargo/config.toml``
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and comment out (or remove)
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```runner = "./runner.sh"```
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Now, running
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```cargo run --example sw_and_hw --features=riscv-esp32c3-backend (--release)```
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should do the trick.
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in the root of this crate should do the trick.
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# Expected behavior
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The program
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The example ``sw_and_hw``
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- Prints ``init``
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- Enters a high prio task
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- During the execution of the high prio task, the button should be non-functional
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@ -31,3 +43,9 @@ The program
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- Exits the low prio task
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- Prints ``idle``
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The example ``monotonic``
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- Prints ``init``
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- Spawns the ``foo``, ``bar``, ``baz`` tasks (because of hardware interrupt latency dispatch, the order here may vary).
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- Each task prints ``hello from $TASK`` on entry
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- The tasks wait for 1, 2, 3 seconds respectively
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- Once the wait period is over, each task exits printing ``bye from $TASK`` (now in the proper order).
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51
examples/esp32c3/examples/monotonic.rs
Normal file
51
examples/esp32c3/examples/monotonic.rs
Normal file
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@ -0,0 +1,51 @@
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#![no_main]
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#![no_std]
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use esp_backtrace as _;
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#[rtic::app(device = esp32c3, dispatchers = [])]
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mod app {
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use rtic_monotonics::esp32c3::prelude::*;
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esp32c3_systimer_monotonic!(Mono);
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use esp_hal as _;
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use esp_println::println;
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#[shared]
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struct Shared {}
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#[local]
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struct Local {}
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#[init]
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fn init(cx: init::Context) -> (Shared, Local) {
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println!("init");
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let timer = cx.device.SYSTIMER;
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Mono::start(timer);
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foo::spawn().unwrap();
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bar::spawn().unwrap();
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baz::spawn().unwrap();
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(Shared {}, Local {})
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}
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#[task]
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async fn foo(_cx: foo::Context) {
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println!("hello from foo");
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Mono::delay(2_u64.secs()).await;
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println!("bye from foo");
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}
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#[task]
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async fn bar(_cx: bar::Context) {
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println!("hello from bar");
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Mono::delay(3_u64.secs()).await;
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println!("bye from bar");
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}
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#[task]
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async fn baz(_cx: baz::Context) {
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println!("hello from baz");
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Mono::delay(4_u64.secs()).await;
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println!("bye from baz");
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}
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}
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#![no_main]
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#![no_std]
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#[rtic::app(device = esp32c3, dispatchers=[FROM_CPU_INTR0, FROM_CPU_INTR1])]
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mod app {
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use esp_backtrace as _;
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@ -1,4 +1,4 @@
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[toolchain]
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channel = "nightly-2023-11-14"
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channel = "stable"
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components = ["rust-src"]
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targets = ["riscv32imc-unknown-none-elf"]
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