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This commit is contained in:
Jorge Aparicio 2018-04-29 08:45:31 +02:00
parent 754f041ae0
commit 8723c6d45b
41 changed files with 1974 additions and 2851 deletions
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55
examples/async-after.rs Normal file
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#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
free_interrupts: [EXTI1],
tasks: {
exti0: {
interrupt: EXTI0,
async_after: [a],
},
a: {},
},
}
const S: u32 = 8_000_000;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
init::LateResources {}
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn exti0(mut ctxt: exti0::Context) {
ctxt.async.a.post(&mut ctxt.threshold, 1 * S, ());
}
fn a(ctxt: a::Context) {
asm::bkpt();
}

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examples/async.rs Normal file
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#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
init: {
async: [a],
},
free_interrupts: [EXTI1],
tasks: {
exti0: {
interrupt: EXTI0,
async: [a],
},
a: {},
},
}
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
init::LateResources {}
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn exti0(mut ctxt: exti0::Context) {
ctxt.async.a.post(&mut ctxt.threshold, ());
}
fn a(ctxt: a::Context) {
asm::bkpt();
}

50
examples/custom-type.rs
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#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
pub struct Foo;
app! {
device: stm32f103xx,
resources: {
static CO_OWNED: Foo = Foo;
static ON: Foo = Foo;
static OWNED: Foo = Foo;
static SHARED: Foo = Foo;
},
idle: {
resources: [OWNED, SHARED],
},
tasks: {
SYS_TICK: {
path: sys_tick,
resources: [CO_OWNED, ON, SHARED],
},
TIM2: {
enabled: false,
path: tim2,
priority: 1,
resources: [CO_OWNED],
},
},
}
fn init(_p: ::init::Peripherals, _r: ::init::Resources) {}
fn idle(_t: &mut Threshold, _r: ::idle::Resources) -> ! {
loop {}
}
fn sys_tick(_t: &mut Threshold, _r: SYS_TICK::Resources) {}
fn tim2(_t: &mut Threshold, _r: TIM2::Resources) {}

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examples/empty.rs Normal file
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#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
}
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
init::LateResources {}
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}

84
examples/full-syntax.rs
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//! A showcase of the `app!` macro syntax
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
app! {
device: stm32f103xx,
resources: {
static CO_OWNED: u32 = 0;
static ON: bool = false;
static OWNED: bool = false;
static SHARED: bool = false;
},
init: {
// This is the path to the `init` function
//
// `init` doesn't necessarily has to be in the root of the crate
path: main::init,
},
idle: {
// This is a path to the `idle` function
//
// `idle` doesn't necessarily has to be in the root of the crate
path: main::idle,
resources: [OWNED, SHARED],
},
tasks: {
SYS_TICK: {
path: sys_tick,
// If omitted priority is assumed to be 1
// priority: 1,
resources: [CO_OWNED, ON, SHARED],
},
TIM2: {
// Tasks are enabled, between `init` and `idle`, by default but they
// can start disabled if `false` is specified here
enabled: false,
path: tim2,
priority: 1,
resources: [CO_OWNED],
},
},
}
mod main {
use rtfm::{self, Resource, Threshold};
pub fn init(_p: ::init::Peripherals, _r: ::init::Resources) {}
pub fn idle(t: &mut Threshold, mut r: ::idle::Resources) -> ! {
loop {
*r.OWNED != *r.OWNED;
if *r.OWNED {
if r.SHARED.claim(t, |shared, _| *shared) {
rtfm::wfi();
}
} else {
r.SHARED.claim_mut(t, |shared, _| *shared = !*shared);
}
}
}
}
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
*r.ON = !*r.ON;
*r.CO_OWNED += 1;
}
fn tim2(_t: &mut Threshold, mut r: TIM2::Resources) {
*r.CO_OWNED += 1;
}

74
examples/generics.rs
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//! Working with resources in a generic fashion
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Resource, Threshold};
use stm32f103xx::{SPI1, GPIOA};
app! {
device: stm32f103xx,
resources: {
static GPIOA: GPIOA;
static SPI1: SPI1;
},
tasks: {
EXTI0: {
path: exti0,
priority: 1,
resources: [GPIOA, SPI1],
},
EXTI1: {
path: exti1,
priority: 2,
resources: [GPIOA, SPI1],
},
},
}
fn init(p: init::Peripherals) -> init::LateResources {
init::LateResources {
GPIOA: p.device.GPIOA,
SPI1: p.device.SPI1,
}
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
// A generic function that uses some resources
fn work<G, S>(t: &mut Threshold, gpioa: &G, spi1: &S)
where
G: Resource<Data = GPIOA>,
S: Resource<Data = SPI1>,
{
gpioa.claim(t, |_gpioa, t| {
// drive NSS low
spi1.claim(t, |_spi1, _| {
// transfer data
});
// drive NSS high
});
}
// This task needs critical sections to access the resources
fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
work(t, &r.GPIOA, &r.SPI1);
}
// This task has direct access to the resources
fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
work(t, &r.GPIOA, &r.SPI1);
}

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examples/interrupt.rs Normal file
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#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
tasks: {
exti0: {
interrupt: EXTI0,
},
},
}
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
init::LateResources {}
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn exti0(ctxt: exti0::Context) {}

87
examples/late-resources.rs
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//! Demonstrates initialization of resources in `init`.
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
app! {
device: stm32f103xx,
resources: {
// Usually, resources are initialized with a constant initializer:
static ON: bool = false;
// However, there are cases where this is not possible or not desired.
// For example, there may not be a sensible value to use, or the type may
// not be constructible in a constant (like `Vec`).
//
// While it is possible to use an `Option` in some cases, that requires
// you to properly initialize it and `.unwrap()` it at every use. It
// also consumes more memory.
//
// To solve this, it is possible to defer initialization of resources to
// `init` by omitting the initializer. Doing that will require `init` to
// return the values of all "late" resources.
static IP_ADDRESS: u32;
// PORT is used by 2 tasks, making it a shared resource. This just tests
// another internal code path and is not important for the example.
static PORT: u16;
},
idle: {
// Test that late resources can be used in idle
resources: [IP_ADDRESS],
},
tasks: {
SYS_TICK: {
priority: 1,
path: sys_tick,
resources: [IP_ADDRESS, PORT, ON],
},
EXTI0: {
priority: 2,
path: exti0,
resources: [PORT],
}
}
}
// The signature of `init` is now required to have a specific return type.
fn init(_p: init::Peripherals, _r: init::Resources) -> init::LateResources {
// `init::Resources` does not contain `IP_ADDRESS`, since it is not yet
// initialized.
//_r.IP_ADDRESS; // doesn't compile
// ...obtain value for IP_ADDRESS from EEPROM/DHCP...
let ip_address = 0x7f000001;
init::LateResources {
// This struct will contain fields for all resources with omitted
// initializers.
IP_ADDRESS: ip_address,
PORT: 0,
}
}
fn sys_tick(_t: &mut Threshold, r: SYS_TICK::Resources) {
// Other tasks can access late resources like any other, since they are
// guaranteed to be initialized when tasks are run.
r.IP_ADDRESS;
}
fn exti0(_t: &mut Threshold, _r: EXTI0::Resources) {}
fn idle(_t: &mut Threshold, _r: idle::Resources) -> ! {
loop {
rtfm::wfi();
}
}

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examples/nested.rs
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//! Nesting claims and how the preemption threshold works
//!
//! If you run this program you'll hit the breakpoints as indicated by the
//! letters in the comments: A, then B, then C, etc.
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Resource, Threshold};
use stm32f103xx::Interrupt;
app! {
device: stm32f103xx,
resources: {
static LOW: u64 = 0;
static HIGH: u64 = 0;
},
tasks: {
EXTI0: {
path: exti0,
priority: 1,
resources: [LOW, HIGH],
},
EXTI1: {
path: exti1,
priority: 2,
resources: [LOW],
},
EXTI2: {
path: exti2,
priority: 3,
resources: [HIGH],
},
},
}
fn init(_p: init::Peripherals, _r: init::Resources) {}
fn idle() -> ! {
// A
rtfm::bkpt();
// Sets task `exti0` as pending
//
// Because `exti0` has higher priority than `idle` it will be executed
// immediately
rtfm::set_pending(Interrupt::EXTI0); // ~> exti0
loop {
rtfm::wfi();
}
}
#[allow(non_snake_case)]
fn exti0(t: &mut Threshold, EXTI0::Resources { mut LOW, mut HIGH }: EXTI0::Resources) {
// Because this task has a priority of 1 the preemption threshold `t` also
// starts at 1
// B
rtfm::bkpt();
// Because `exti1` has higher priority than `exti0` it can preempt it
rtfm::set_pending(Interrupt::EXTI1); // ~> exti1
// A claim creates a critical section
LOW.claim_mut(t, |_low, t| {
// This claim increases the preemption threshold to 2
//
// 2 is just high enough to not race with task `exti1` for access to the
// `LOW` resource
// D
rtfm::bkpt();
// Now `exti1` can't preempt this task because its priority is equal to
// the current preemption threshold
rtfm::set_pending(Interrupt::EXTI1);
// But `exti2` can, because its priority is higher than the current
// preemption threshold
rtfm::set_pending(Interrupt::EXTI2); // ~> exti2
// F
rtfm::bkpt();
// Claims can be nested
HIGH.claim_mut(t, |_high, _| {
// This claim increases the preemption threshold to 3
// Now `exti2` can't preempt this task
rtfm::set_pending(Interrupt::EXTI2);
// G
rtfm::bkpt();
});
// Upon leaving the critical section the preemption threshold drops back
// to 2 and `exti2` immediately preempts this task
// ~> exti2
});
// Once again the preemption threshold drops but this time to 1. Now the
// pending `exti1` task can preempt this task
// ~> exti1
}
fn exti1(_t: &mut Threshold, _r: EXTI1::Resources) {
// C, I
rtfm::bkpt();
}
fn exti2(_t: &mut Threshold, _r: EXTI2::Resources) {
// E, H
rtfm::bkpt();
}

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examples/one-task.rs
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//! An application with one task
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use cortex_m::peripheral::syst::SystClkSource;
use rtfm::{app, Threshold};
use stm32f103xx::GPIOC;
app! {
device: stm32f103xx,
// Here data resources are declared
//
// Data resources are static variables that are safe to share across tasks
resources: {
// Declaration of resources looks exactly like declaration of static
// variables
static ON: bool = false;
},
// Here tasks are declared
//
// Each task corresponds to an interrupt or an exception. Every time the
// interrupt or exception becomes *pending* the corresponding task handler
// will be executed.
tasks: {
// Here we declare that we'll use the SYS_TICK exception as a task
SYS_TICK: {
// Path to the task handler
path: sys_tick,
// These are the resources this task has access to.
//
// The resources listed here must also appear in `app.resources`
resources: [ON],
},
}
}
fn init(mut p: init::Peripherals, r: init::Resources) {
// `init` can modify all the `resources` declared in `app!`
r.ON;
// power on GPIOC
p.device.RCC.apb2enr.modify(|_, w| w.iopcen().enabled());
// configure PC13 as output
p.device.GPIOC.bsrr.write(|w| w.bs13().set());
p.device
.GPIOC
.crh
.modify(|_, w| w.mode13().output().cnf13().push());
// configure the system timer to generate one interrupt every second
p.core.SYST.set_clock_source(SystClkSource::Core);
p.core.SYST.set_reload(8_000_000); // 1s
p.core.SYST.enable_interrupt();
p.core.SYST.enable_counter();
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
// This is the task handler of the SYS_TICK exception
//
// `_t` is the preemption threshold token. We won't use it in this program.
//
// `r` is the set of resources this task has access to. `SYS_TICK::Resources`
// has one field per resource declared in `app!`.
#[allow(unsafe_code)]
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// toggle state
*r.ON = !*r.ON;
if *r.ON {
// set the pin PC13 high
// NOTE(unsafe) atomic write to a stateless register
unsafe {
(*GPIOC::ptr()).bsrr.write(|w| w.bs13().set());
}
} else {
// set the pin PC13 low
// NOTE(unsafe) atomic write to a stateless register
unsafe {
(*GPIOC::ptr()).bsrr.write(|w| w.br13().reset());
}
}
}

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examples/periodic-payload.rs Normal file
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// # -Os
// init
// a(bl=8000000, now=8000180, input=0)
// a(bl=16000000, now=16000180, input=1)
// a(bl=24000000, now=24000180, input=2)
//
// # -O3
// init
// a(bl=8000000, now=8000168, input=0)
// a(bl=16000000, now=16000168, input=1)
// a(bl=24000000, now=24000168, input=2)
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
resources: {
static ITM: ITM;
},
init: {
async_after: [a],
},
free_interrupts: [EXTI0],
tasks: {
a: {
async_after: [a],
input: u16,
resources: [ITM],
},
},
}
const MS: u32 = 8_000;
const S: u32 = 1_000 * MS;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
iprintln!(&mut ctxt.core.ITM.stim[0], "init");
ctxt.async.a.post(&mut ctxt.threshold, 1 * S, 0).ok();
init::LateResources { ITM: ctxt.core.ITM }
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn a(mut ctxt: a::Context) {
let now = DWT::get_cycle_count();
let input = ctxt.input;
let bl = ctxt.baseline;
let itm = ctxt.resources.ITM;
iprintln!(
&mut itm.stim[0],
"a(bl={}, now={}, input={})",
bl,
now,
input
);
ctxt.async
.a
.post(&mut ctxt.threshold, 1 * S, input + 1)
.ok();
}

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// # -Os
// a(bl=16000000, now=16000248, input=0)
// b(bl=24000000, now=24000251, input=0)
// a(bl=32000000, now=32000248, input=1)
// b(bl=48000000, now=48000283, input=1)
// a(bl=48000000, now=48002427, input=2)
// a(bl=64000000, now=64000248, input=3)
// b(bl=72000000, now=72000251, input=2)
// a(bl=80000000, now=80000248, input=4)
// b(bl=96000000, now=96000283, input=3)
// a(bl=96000000, now=96002427, input=5)
// # -O3
// init
// a(bl=16000000, now=16000231, input=0)
// b(bl=24000000, now=24000230, input=0)
// a(bl=32000000, now=32000231, input=1)
// b(bl=48000000, now=48000259, input=1)
// a(bl=48000000, now=48002397, input=2)
// a(bl=64000000, now=64000231, input=3)
// b(bl=72000000, now=72000230, input=2)
// a(bl=80000000, now=80000231, input=4)
// b(bl=96000000, now=96000259, input=3)
// a(bl=96000000, now=96002397, input=5)
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
resources: {
static ITM: ITM;
},
init: {
async_after: [a, b],
},
free_interrupts: [EXTI0, EXTI1],
tasks: {
a: {
async_after: [a],
input: u32,
resources: [ITM],
},
b: {
async_after: [b],
input: u32,
priority: 2,
resources: [ITM],
},
},
}
const MS: u32 = 8_000;
const S: u32 = 1_000 * MS;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
iprintln!(&mut ctxt.core.ITM.stim[0], "init");
ctxt.async.a.post(&mut ctxt.threshold, 2 * S, 0).ok();
ctxt.async.b.post(&mut ctxt.threshold, 3 * S, 0).ok();
init::LateResources { ITM: ctxt.core.ITM }
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn a(mut ctxt: a::Context) {
let now = DWT::get_cycle_count();
let input = ctxt.input;
let bl = ctxt.baseline;
ctxt.resources.ITM.claim_mut(&mut ctxt.threshold, |itm, _| {
iprintln!(
&mut itm.stim[0],
"a(bl={}, now={}, input={})",
bl,
now,
input
);
});
ctxt.async
.a
.post(&mut ctxt.threshold, 2 * S, input + 1)
.ok();
}
fn b(mut ctxt: b::Context) {
let now = DWT::get_cycle_count();
let bl = ctxt.baseline;
let input = ctxt.input;
let t = &mut ctxt.threshold;
iprintln!(
&mut ctxt.resources.ITM.borrow_mut(t).stim[0],
"b(bl={}, now={}, input={})",
bl,
now,
input,
);
ctxt.async.b.post(t, 3 * S, input + 1).ok();
}

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examples/periodic-preemption.rs Normal file
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// # -Os
// init
// a(bl=16000000, now=16000249)
// b(bl=24000000, now=24000248)
// a(bl=32000000, now=32000249)
// b(bl=48000000, now=48000282)
// a(bl=48000000, now=48001731)
// a(bl=64000000, now=64000249)
// b(bl=72000000, now=72000248)
// a(bl=80000000, now=80000249)
// b(bl=96000000, now=96000282)
// a(bl=96000000, now=96001731)
// # -O3
// init
// a(bl=16000000, now=16000228)
// b(bl=24000000, now=24000231)
// a(bl=32000000, now=32000228)
// b(bl=48000000, now=48000257)
// a(bl=48000000, now=48001705)
// a(bl=64000000, now=64000228)
// b(bl=72000000, now=72000231)
// a(bl=80000000, now=80000228)
// b(bl=96000000, now=96000257)
// a(bl=96000000, now=96001705)
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
resources: {
static ITM: ITM;
},
init: {
async_after: [a, b],
},
free_interrupts: [EXTI0, EXTI1],
tasks: {
a: {
async_after: [a],
resources: [ITM],
},
b: {
async_after: [b],
priority: 2,
resources: [ITM],
},
},
}
const MS: u32 = 8_000;
const S: u32 = 1_000 * MS;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
iprintln!(&mut ctxt.core.ITM.stim[0], "init");
ctxt.async.a.post(&mut ctxt.threshold, 2 * S, ()).ok();
ctxt.async.b.post(&mut ctxt.threshold, 3 * S, ()).ok();
init::LateResources { ITM: ctxt.core.ITM }
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn a(mut ctxt: a::Context) {
let now = DWT::get_cycle_count();
let bl = ctxt.baseline;
ctxt.resources.ITM.claim_mut(&mut ctxt.threshold, |itm, _| {
iprintln!(&mut itm.stim[0], "a(bl={}, now={})", bl, now);
});
ctxt.async.a.post(&mut ctxt.threshold, 2 * S, ()).ok();
}
fn b(mut ctxt: b::Context) {
let now = DWT::get_cycle_count();
let bl = ctxt.baseline;
let t = &mut ctxt.threshold;
iprintln!(
&mut ctxt.resources.ITM.borrow_mut(t).stim[0],
"b(bl={}, now={})",
bl,
now
);
ctxt.async.b.post(t, 3 * S, ()).ok();
}

77
examples/periodic.rs Normal file
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@ -0,0 +1,77 @@
// # -Os
// init
// a(bl=8000000, now=8000180)
// a(bl=16000000, now=16000180)
//
// # -O3
// a(bl=8000000, now=8000168)
// a(bl=16000000, now=16000168)
#![allow(warnings)]
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
// extern crate panic_abort;
extern crate panic_itm;
extern crate stm32f103xx;
use core::mem;
use cortex_m::asm;
use cortex_m::peripheral::{DWT, ITM};
use rtfm::{app, Resource};
app! {
device: stm32f103xx,
resources: {
static ITM: ITM;
},
init: {
async_after: [a],
},
free_interrupts: [EXTI0],
tasks: {
a: {
async_after: [a],
resources: [ITM],
},
},
}
const MS: u32 = 8_000;
const S: u32 = 1_000 * MS;
#[inline(always)]
fn init(mut ctxt: init::Context) -> init::LateResources {
iprintln!(&mut ctxt.core.ITM.stim[0], "init");
ctxt.async.a.post(&mut ctxt.threshold, 1 * S, ()).ok();
init::LateResources { ITM: ctxt.core.ITM }
}
#[inline(always)]
fn idle(ctxt: idle::Context) -> ! {
loop {
asm::wfi();
}
}
fn a(mut ctxt: a::Context) {
let now = DWT::get_cycle_count();
let bl = ctxt.baseline;
let itm = ctxt.resources.ITM;
iprintln!(&mut itm.stim[0], "a(bl={}, now={})", bl, now);
ctxt.async.a.post(&mut ctxt.threshold, 1 * S, ()).ok();
}

68
examples/preemption.rs
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@ -1,68 +0,0 @@
//! Two tasks running at *different* priorities with access to the same resource
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Resource, Threshold};
app! {
device: stm32f103xx,
resources: {
static COUNTER: u64 = 0;
},
tasks: {
// The `SYS_TICK` task has higher priority than `TIM2`
SYS_TICK: {
path: sys_tick,
priority: 2,
resources: [COUNTER],
},
TIM2: {
path: tim2,
priority: 1,
resources: [COUNTER],
},
},
}
fn init(_p: init::Peripherals, _r: init::Resources) {
// ..
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// ..
// This task can't be preempted by `tim2` so it has direct access to the
// resource data
*r.COUNTER += 1;
// ..
}
fn tim2(t: &mut Threshold, mut r: TIM2::Resources) {
// ..
// As this task runs at lower priority it needs a critical section to
// prevent `sys_tick` from preempting it while it modifies this resource
// data. The critical section is required to prevent data races which can
// lead to undefined behavior.
r.COUNTER.claim_mut(t, |counter, _t| {
// `claim_mut` creates a critical section
*counter += 1;
});
// ..
}

32
examples/safe-static-mut-ref.rs
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@ -1,32 +0,0 @@
//! Safe creation of `&'static mut` references
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::app;
app! {
device: stm32f103xx,
resources: {
static BUFFER: [u8; 16] = [0; 16];
},
init: {
resources: [BUFFER],
},
}
fn init(_p: init::Peripherals, r: init::Resources) {
let _buf: &'static mut [u8; 16] = r.BUFFER;
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}

273
examples/tq.rs
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@ -1,273 +0,0 @@
// #![deny(unsafe_code)]
// #![deny(warnings)]
#![allow(dead_code)]
#![feature(proc_macro)]
#![no_std]
#[macro_use]
extern crate cortex_m;
extern crate cortex_m_rtfm as rtfm;
extern crate panic_abort;
extern crate stm32f103xx;
use core::cmp;
use cortex_m::peripheral::syst::SystClkSource;
use cortex_m::peripheral::ITM;
use rtfm::ll::{self, Consumer, FreeList, Instant, Node, Producer, RingBuffer, Slot, TaggedPayload,
TimerQueue};
use rtfm::{app, Resource, Threshold};
use stm32f103xx::Interrupt;
const ACAP: usize = 4;
const MS: u32 = 8_000;
app! {
device: stm32f103xx,
resources: {
/* timer queue */
static TQ: TimerQueue<Task, [TaggedPayload<Task>; ACAP]>;
/* a */
// payloads w/ after
static AN: [Node<i32>; ACAP] = unsafe { ll::uninitialized() };
static AFL: FreeList<i32> = FreeList::new();
/* exti0 */
static Q1: RingBuffer<TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8> =
RingBuffer::u8();
static Q1C: Consumer<'static, TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8>;
static Q1P: Producer<'static, TaggedPayload<Task1>, [TaggedPayload<Task1>; ACAP + 1], u8>;
},
init: {
resources: [AN, Q1],
},
tasks: {
EXTI1: {
path: exti1,
resources: [TQ, AFL],
priority: 1,
// async: [a],
},
// dispatch interrupt
EXTI0: {
path: exti0,
resources: [Q1C, AFL],
priority: 3,
},
// timer queue
SYS_TICK: {
path: sys_tick,
resources: [TQ, Q1P],
priority: 2,
},
},
}
pub fn init(mut p: ::init::Peripherals, r: init::Resources) -> init::LateResources {
// ..
/* executed after `init` end */
p.core.DWT.enable_cycle_counter();
unsafe { p.core.DWT.cyccnt.write(0) };
p.core.SYST.set_clock_source(SystClkSource::Core);
p.core.SYST.enable_counter();
p.core.SYST.disable_interrupt();
// populate the free list
for n in r.AN {
r.AFL.push(Slot::new(n));
}
let (q1p, q1c) = r.Q1.split();
init::LateResources {
TQ: TimerQueue::new(p.core.SYST),
Q1C: q1c,
Q1P: q1p,
}
}
pub fn idle() -> ! {
rtfm::set_pending(Interrupt::EXTI1);
loop {
rtfm::wfi()
}
}
fn a(_t: &mut Threshold, bl: Instant, payload: i32) {
unsafe {
iprintln!(
&mut (*ITM::ptr()).stim[0],
"a(now={:?}, bl={:?}, payload={})",
Instant::now(),
bl,
payload
)
}
}
fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
/* expansion */
let bl = Instant::now();
let mut async = a::Async::new(bl, r.TQ, r.AFL);
/* end of expansion */
unsafe { iprintln!(&mut (*ITM::ptr()).stim[0], "EXTI0(bl={:?})", bl) }
async.a(t, 100 * MS, 0).unwrap();
async.a(t, 50 * MS, 1).unwrap();
async.a(t, 75 * MS, 2).unwrap();
async.a(t, 75 * MS + 1, 3).unwrap();
}
/* auto generated */
fn exti0(t: &mut Threshold, mut r: EXTI0::Resources) {
while let Some(payload) = r.Q1C.dequeue() {
match payload.tag() {
Task1::a => {
let (bl, payload, slot) = unsafe { payload.coerce() }.read();
r.AFL.claim_mut(t, |afl, _| afl.push(slot));
a(&mut unsafe { Threshold::new(3) }, bl, payload);
}
}
}
}
fn sys_tick(t: &mut Threshold, r: SYS_TICK::Resources) {
#[allow(non_snake_case)]
let SYS_TICK::Resources { mut Q1P, mut TQ } = r;
enum State<T>
where
T: Copy,
{
Payload(TaggedPayload<T>),
Baseline(Instant),
Done,
}
loop {
let state = TQ.claim_mut(t, |tq, _| {
if let Some(bl) = tq.queue.peek().map(|p| p.baseline()) {
if Instant::now() >= bl {
// message ready
State::Payload(tq.queue.pop().unwrap())
} else {
// new timeout
State::Baseline(bl)
}
} else {
// empty queue
tq.syst.disable_interrupt();
State::Done
}
});
match state {
State::Payload(p) => match p.tag() {
Task::a => {
Q1P.claim_mut(t, |q1p, _| q1p.enqueue_unchecked(p.retag(Task1::a)));
rtfm::set_pending(Interrupt::EXTI0);
}
},
State::Baseline(bl) => {
const MAX: u32 = 0x00ffffff;
let diff = bl - Instant::now();
if diff < 0 {
// message became ready
continue;
} else {
TQ.claim_mut(t, |tq, _| {
tq.syst.set_reload(cmp::min(MAX, diff as u32));
tq.syst.clear_current();
});
return;
}
}
State::Done => {
return;
}
}
}
}
// Tasks dispatched at a priority of 1
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
pub enum Task1 {
a,
}
// All tasks
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
pub enum Task {
a,
}
mod a {
use cortex_m::peripheral::SCB;
use rtfm::ll::Instant;
use rtfm::{Resource, Threshold};
use Task;
#[allow(non_snake_case)]
pub struct Async {
// inherited baseline
baseline: Instant,
TQ: ::EXTI1::TQ,
AFL: ::EXTI1::AFL,
}
impl Async {
#[allow(non_snake_case)]
pub fn new(bl: Instant, TQ: ::EXTI1::TQ, AFL: ::EXTI1::AFL) -> Self {
Async {
baseline: bl,
TQ,
AFL,
}
}
pub fn a(&mut self, t: &mut Threshold, after: u32, payload: i32) -> Result<(), i32> {
if let Some(slot) = self.AFL.claim_mut(t, |afl, _| afl.pop()) {
let baseline = self.baseline;
self.TQ.claim_mut(t, |tq, _| {
if tq.queue.capacity() == tq.queue.len() {
// full
Err(payload)
} else {
let bl = baseline + after;
if tq.queue
.peek()
.map(|head| bl < head.baseline())
.unwrap_or(true)
{
tq.syst.enable_interrupt();
// Set SYST pending
unsafe { (*SCB::ptr()).icsr.write(1 << 26) }
}
tq.queue.push(slot.write(bl, payload).tag(Task::a)).ok();
Ok(())
}
})
} else {
Err(payload)
}
}
}
}

59
examples/two-tasks.rs
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@ -1,59 +0,0 @@
//! Two tasks running at the *same* priority with access to the same resource
#![deny(unsafe_code)]
#![deny(warnings)]
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm;
extern crate stm32f103xx;
use rtfm::{app, Threshold};
app! {
device: stm32f103xx,
resources: {
static COUNTER: u64 = 0;
},
// Both SYS_TICK and TIM2 have access to the `COUNTER` data
tasks: {
SYS_TICK: {
path: sys_tick,
resources: [COUNTER],
},
TIM2: {
path: tim2,
resources: [COUNTER],
},
},
}
fn init(_p: init::Peripherals, _r: init::Resources) {
// ..
}
fn idle() -> ! {
loop {
rtfm::wfi();
}
}
// As both tasks are running at the same priority one can't preempt the other.
// Thus both tasks have direct access to the resource
fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
// ..
*r.COUNTER += 1;
// ..
}
fn tim2(_t: &mut Threshold, mut r: TIM2::Resources) {
// ..
*r.COUNTER += 1;
// ..
}

45
examples/zero-tasks.rs
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@ -1,45 +0,0 @@
//! Minimal example with zero tasks
#![deny(unsafe_code)]
#![deny(warnings)]
// IMPORTANT always include this feature gate
#![feature(proc_macro)]
#![no_std]
extern crate cortex_m_rtfm as rtfm; // IMPORTANT always do this rename
extern crate stm32f103xx; // the device crate
// import the procedural macro
use rtfm::app;
// This macro call indicates that this is a RTFM application
//
// This macro will expand to a `main` function so you don't need to supply
// `main` yourself.
app! {
// this is the path to the device crate
device: stm32f103xx,
}
// The initialization phase.
//
// This runs first and within a *global* critical section. Nothing can preempt
// this function.
fn init(p: init::Peripherals) {
// This function has access to all the peripherals of the device
p.core.SYST;
p.device.GPIOA;
p.device.RCC;
// ..
}
// The idle loop.
//
// This runs after `init` and has a priority of 0. All tasks can preempt this
// function. This function can never return so it must contain some sort of
// endless loop.
fn idle() -> ! {
loop {
// This puts the processor to sleep until there's a task to service
rtfm::wfi();
}
}