mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-11-23 12:12:50 +01:00
Fix nrf monotonics (#852)
* Fix nrf::timer * Bootstrap nrf52840-blinky example * More work on nrf blinky example * Fix README * Add asserts for correct timer functionality * Add correctness check to other monotonics as well * Update Changelog * Fix potential timing issues * Fix race condition in nrf::rtc * Add changelog * Add rtc blinky example * Change rtc example to RC lf clock source * Add changelog to rtic-time * Add changelog * Attempt to fix CI * Update teensy4-blinky Cargo.lock
This commit is contained in:
Finomnis
GitHub
parent
1622f6b953
commit
89160b7cb9
18 changed files with 1080 additions and 101 deletions
31
.github/workflows/build.yml
vendored
31
.github/workflows/build.yml
vendored
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@ -148,7 +148,7 @@ jobs:
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steps:
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steps:
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- name: Checkout
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- name: Checkout
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uses: actions/checkout@v4
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uses: actions/checkout@v4
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- name: Install rust ${{ matrix.toolchain }}
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- name: Install rust ${{ matrix.toolchain }}
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run: |
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run: |
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rustup set profile minimal
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rustup set profile minimal
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@ -164,6 +164,9 @@ jobs:
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- name: Cache Dependencies
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- name: Cache Dependencies
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uses: Swatinem/rust-cache@v2
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uses: Swatinem/rust-cache@v2
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- name: Install flip-link
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run: cargo install flip-link
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- name: Check the examples
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- name: Check the examples
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run: cargo xtask usage-example-build
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run: cargo xtask usage-example-build
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@ -275,22 +278,22 @@ jobs:
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cp -r target/doc $td/api
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cp -r target/doc $td/api
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echo rtic
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echo rtic
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lychee --offline --format detailed $td/api/rtic/
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lychee --offline --format detailed $td/api/rtic/
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echo rtic_common
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echo rtic_common
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lychee --offline --format detailed $td/api/rtic_common/
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lychee --offline --format detailed $td/api/rtic_common/
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echo rtic_macros
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echo rtic_macros
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lychee --offline --format detailed $td/api/rtic_macros/
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lychee --offline --format detailed $td/api/rtic_macros/
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echo rtic_monotonics
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echo rtic_monotonics
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lychee --offline --format detailed $td/api/rtic_monotonics/
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lychee --offline --format detailed $td/api/rtic_monotonics/
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echo rtic_sync
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echo rtic_sync
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lychee --offline --format detailed $td/api/rtic_sync/
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lychee --offline --format detailed $td/api/rtic_sync/
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echo rtic_time
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echo rtic_time
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lychee --offline --format detailed $td/api/rtic_time/
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lychee --offline --format detailed $td/api/rtic_time/
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- name: Archive the API docs
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- name: Archive the API docs
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run: |
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run: |
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@ -336,7 +339,7 @@ jobs:
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name: apidocs
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name: apidocs
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- name: Extract the API docs
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- name: Extract the API docs
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run: tar -xf apidocs.tar
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run: tar -xf apidocs.tar
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- name: Check links
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- name: Check links
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run: |
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run: |
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@ -463,7 +466,7 @@ jobs:
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# master branch.
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# master branch.
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# As master moves on to development, the work on the
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# As master moves on to development, the work on the
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# stable version will happen in release/v"stable_version".
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# stable version will happen in release/v"stable_version".
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# Thus, no need to push changes
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# Thus, no need to push changes
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#
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#
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# This needs to run before book is built, as bookbuilding fetches from the branch
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# This needs to run before book is built, as bookbuilding fetches from the branch
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pushtostablebranch:
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pushtostablebranch:
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runs-on: ubuntu-22.04
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runs-on: ubuntu-22.04
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needs:
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needs:
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- pushtostablebranch
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- pushtostablebranch
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- docs
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- docs
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- mdbookold
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- mdbookold
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- mdbook
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- mdbook
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# Only run this when pushing to master branch
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# Only run this when pushing to master branch
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uses: taiki-e/install-action@v2
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uses: taiki-e/install-action@v2
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with:
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with:
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tool: mdbook-mermaid
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tool: mdbook-mermaid
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- name: mdBook Action
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- name: mdBook Action
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uses: peaceiris/actions-mdbook@v1
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uses: peaceiris/actions-mdbook@v1
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with:
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with:
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- name: Extract the dev-version book and API docs
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- name: Extract the dev-version book and API docs
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run: |
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run: |
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tar -xf book.tar
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tar -xf book.tar
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- name: Download built old versions of books and API docs
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- name: Download built old versions of books and API docs
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uses: actions/download-artifact@v3
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uses: actions/download-artifact@v3
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- name: Extract the old version books and API docs
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- name: Extract the old version books and API docs
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run: |
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run: |
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tar -xf mdbookold.tar
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tar -xf mdbookold.tar
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- name: Prepare books
|
- name: Prepare books
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shell: 'script --return --quiet --command "bash {0}"'
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shell: 'script --return --quiet --command "bash {0}"'
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- name: Extract the books
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- name: Extract the books
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run: |
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run: |
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tar -xf bookstodeploy.tar
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tar -xf bookstodeploy.tar
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- name: Deploy to GH-pages
|
- name: Deploy to GH-pages
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uses: peaceiris/actions-gh-pages@v3
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uses: peaceiris/actions-gh-pages@v3
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18
examples/nrf52840_blinky/.cargo/config.toml
Normal file
18
examples/nrf52840_blinky/.cargo/config.toml
Normal file
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@ -0,0 +1,18 @@
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[target.'cfg(all(target_arch = "arm", target_os = "none"))']
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runner = "probe-rs run --chip nRF52840_xxAA"
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rustflags = [
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"-C", "linker=flip-link",
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"-C", "link-arg=-Tlink.x",
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"-C", "link-arg=-Tdefmt.x",
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# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
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# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
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"-C", "link-arg=--nmagic",
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]
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[build]
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target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
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[alias]
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rb = "run --bin"
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rrb = "run --release --bin"
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1
examples/nrf52840_blinky/.gitignore
vendored
Normal file
1
examples/nrf52840_blinky/.gitignore
vendored
Normal file
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|
@ -0,0 +1 @@
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|
/target
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9
examples/nrf52840_blinky/.vscode/settings.json
vendored
Normal file
9
examples/nrf52840_blinky/.vscode/settings.json
vendored
Normal file
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@ -0,0 +1,9 @@
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|
{
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|
// override the default setting (`cargo check --all-targets`) which produces the following error
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// "can't find crate for `test`" when the default compilation target is a no_std target
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||||||
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// with these changes RA will call `cargo check --bins` on save
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"rust-analyzer.checkOnSave.allTargets": false,
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"rust-analyzer.checkOnSave.extraArgs": [
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"--bins"
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]
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|
}
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612
examples/nrf52840_blinky/Cargo.lock
generated
Normal file
612
examples/nrf52840_blinky/Cargo.lock
generated
Normal file
|
|
@ -0,0 +1,612 @@
|
||||||
|
# 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"
|
||||||
|
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||||
|
dependencies = [
|
||||||
|
"critical-section",
|
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|
]
|
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|
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|
[[package]]
|
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|
name = "az"
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|
version = "1.2.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7b7e4c2464d97fe331d41de9d5db0def0a96f4d823b8b32a2efd503578988973"
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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"
|
||||||
|
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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|
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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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|
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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 = "bytemuck"
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|
version = "1.14.0"
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|
source = "registry+https://github.com/rust-lang/crates.io-index"
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|
checksum = "374d28ec25809ee0e23827c2ab573d729e293f281dfe393500e7ad618baa61c6"
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|
[[package]]
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|
name = "cast"
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version = "0.3.0"
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|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
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|
checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
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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 = "cortex-m-semihosting"
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|
version = "0.5.0"
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|
source = "registry+https://github.com/rust-lang/crates.io-index"
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|
checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
|
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|
dependencies = [
|
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|
"cortex-m",
|
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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 = "crunchy"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7a81dae078cea95a014a339291cec439d2f232ebe854a9d672b796c6afafa9b7"
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[[package]]
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name = "defmt"
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|
version = "0.3.5"
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|
source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a8a2d011b2fee29fb7d659b83c43fce9a2cb4df453e16d441a51448e448f3f98"
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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 = "0.3.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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|
checksum = "54f0216f6c5acb5ae1a47050a6645024e6edafc2ee32d421955eccfef12ef92e"
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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 2.0.39",
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]
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[[package]]
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name = "defmt-parser"
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version = "0.3.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "269924c02afd7f94bc4cecbfa5c379f6ffcf9766b3408fe63d22c728654eccd0"
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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 = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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|
checksum = "609923761264dd99ed9c7d209718cda4631c5fe84668e0f0960124cbb844c49f"
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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 = "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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||||||
|
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||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"unicode-ident",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "thiserror"
|
||||||
|
version = "1.0.50"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
|
||||||
|
dependencies = [
|
||||||
|
"thiserror-impl",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "thiserror-impl"
|
||||||
|
version = "1.0.50"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn 2.0.39",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "typenum"
|
||||||
|
version = "1.17.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "unicode-ident"
|
||||||
|
version = "1.0.12"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "usb-device"
|
||||||
|
version = "0.2.9"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
|
||||||
|
|
||||||
|
[[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",
|
||||||
|
]
|
||||||
68
examples/nrf52840_blinky/Cargo.toml
Normal file
68
examples/nrf52840_blinky/Cargo.toml
Normal file
|
|
@ -0,0 +1,68 @@
|
||||||
|
[package]
|
||||||
|
authors = ["Finomnis <finomnis@gmail.com>"]
|
||||||
|
name = "nrf52840-blinky"
|
||||||
|
edition = "2021"
|
||||||
|
version = "0.1.0"
|
||||||
|
|
||||||
|
[workspace]
|
||||||
|
|
||||||
|
[lib]
|
||||||
|
harness = false
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||||
|
cortex-m-rt = "0.7"
|
||||||
|
defmt = "0.3"
|
||||||
|
defmt-rtt = "0.4"
|
||||||
|
panic-probe = { version = "0.3", features = ["print-defmt"] }
|
||||||
|
cortex-m-semihosting = "0.5.0"
|
||||||
|
nrf52840-hal = "0.16.0"
|
||||||
|
fugit = { version = "0.3.7", features = ["defmt"] }
|
||||||
|
|
||||||
|
[dependencies.rtic]
|
||||||
|
path = "../../rtic"
|
||||||
|
version = "2.0.1"
|
||||||
|
features = ["thumbv7-backend"]
|
||||||
|
|
||||||
|
[dependencies.rtic-monotonics]
|
||||||
|
path = "../../rtic-monotonics"
|
||||||
|
version = "1.4.0"
|
||||||
|
features = ["nrf52840"]
|
||||||
|
|
||||||
|
# cargo build/run
|
||||||
|
[profile.dev]
|
||||||
|
codegen-units = 1
|
||||||
|
debug = 2
|
||||||
|
debug-assertions = true # <-
|
||||||
|
incremental = false
|
||||||
|
opt-level = 'z' # <-
|
||||||
|
overflow-checks = true # <-
|
||||||
|
|
||||||
|
# cargo test
|
||||||
|
[profile.test]
|
||||||
|
codegen-units = 1
|
||||||
|
debug = 2
|
||||||
|
debug-assertions = true # <-
|
||||||
|
incremental = false
|
||||||
|
opt-level = 3 # <-
|
||||||
|
overflow-checks = true # <-
|
||||||
|
|
||||||
|
# cargo build/run --release
|
||||||
|
[profile.release]
|
||||||
|
codegen-units = 1
|
||||||
|
debug = 2
|
||||||
|
debug-assertions = false # <-
|
||||||
|
incremental = false
|
||||||
|
lto = 'fat'
|
||||||
|
opt-level = 3 # <-
|
||||||
|
overflow-checks = false # <-
|
||||||
|
|
||||||
|
# cargo test --release
|
||||||
|
[profile.bench]
|
||||||
|
codegen-units = 1
|
||||||
|
debug = 2
|
||||||
|
debug-assertions = false # <-
|
||||||
|
incremental = false
|
||||||
|
lto = 'fat'
|
||||||
|
opt-level = 3 # <-
|
||||||
|
overflow-checks = false # <-
|
||||||
33
examples/nrf52840_blinky/README.md
Normal file
33
examples/nrf52840_blinky/README.md
Normal file
|
|
@ -0,0 +1,33 @@
|
||||||
|
# `nrf52840_blinky`
|
||||||
|
|
||||||
|
An RTIC blinky example intended for [nrf52840-dongle].
|
||||||
|
|
||||||
|
[nrf52840-dongle]: https://www.nordicsemi.com/Products/Development-hardware/nrf52840-dongle
|
||||||
|
|
||||||
|
## Dependencies
|
||||||
|
|
||||||
|
#### 1. `flip-link`:
|
||||||
|
|
||||||
|
```console
|
||||||
|
$ cargo install flip-link
|
||||||
|
```
|
||||||
|
|
||||||
|
#### 2. `probe-rs`:
|
||||||
|
|
||||||
|
``` console
|
||||||
|
$ # make sure to install v0.2.0 or later
|
||||||
|
$ cargo install probe-rs --features cli
|
||||||
|
```
|
||||||
|
|
||||||
|
|
||||||
|
## Run
|
||||||
|
|
||||||
|
The [nrf52840-dongle] needs to be connected to the computer via an SWD probe, like a [J-Link EDU Mini].
|
||||||
|
|
||||||
|
Then, run:
|
||||||
|
|
||||||
|
```
|
||||||
|
cargo run --release --bin blinky_timer
|
||||||
|
```
|
||||||
|
|
||||||
|
[J-Link EDU Mini]: https://www.segger.com/products/debug-probes/j-link/models/j-link-edu-mini/
|
||||||
69
examples/nrf52840_blinky/src/bin/blinky_rtc.rs
Normal file
69
examples/nrf52840_blinky/src/bin/blinky_rtc.rs
Normal file
|
|
@ -0,0 +1,69 @@
|
||||||
|
#![deny(unsafe_code)]
|
||||||
|
#![deny(warnings)]
|
||||||
|
#![no_main]
|
||||||
|
#![no_std]
|
||||||
|
#![feature(type_alias_impl_trait)]
|
||||||
|
|
||||||
|
use nrf52840_blinky::hal;
|
||||||
|
|
||||||
|
#[rtic::app(device = hal::pac, dispatchers = [SWI0_EGU0])]
|
||||||
|
mod app {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
use hal::gpio::{Level, Output, Pin, PushPull};
|
||||||
|
use hal::prelude::*;
|
||||||
|
|
||||||
|
use rtic_monotonics::nrf::rtc::Rtc0 as Mono;
|
||||||
|
use rtic_monotonics::nrf::rtc::*;
|
||||||
|
use rtic_monotonics::Monotonic;
|
||||||
|
|
||||||
|
#[shared]
|
||||||
|
struct Shared {}
|
||||||
|
|
||||||
|
#[local]
|
||||||
|
struct Local {
|
||||||
|
led: Pin<Output<PushPull>>,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[init]
|
||||||
|
fn init(cx: init::Context) -> (Shared, Local) {
|
||||||
|
// Configure low frequency clock
|
||||||
|
hal::clocks::Clocks::new(cx.device.CLOCK).start_lfclk();
|
||||||
|
|
||||||
|
// Initialize Monotonic
|
||||||
|
let token = rtic_monotonics::create_nrf_rtc0_monotonic_token!();
|
||||||
|
Mono::start(cx.device.RTC0, token);
|
||||||
|
|
||||||
|
// Setup LED
|
||||||
|
let port0 = hal::gpio::p0::Parts::new(cx.device.P0);
|
||||||
|
let led = port0.p0_06.into_push_pull_output(Level::Low).degrade();
|
||||||
|
|
||||||
|
// Schedule the blinking task
|
||||||
|
blink::spawn().ok();
|
||||||
|
|
||||||
|
(Shared {}, Local { led })
|
||||||
|
}
|
||||||
|
|
||||||
|
#[task(local = [led])]
|
||||||
|
async fn blink(cx: blink::Context) {
|
||||||
|
let blink::LocalResources { led, .. } = cx.local;
|
||||||
|
|
||||||
|
let mut next_tick = Mono::now();
|
||||||
|
let mut blink_on = false;
|
||||||
|
loop {
|
||||||
|
let now = Mono::now();
|
||||||
|
let now_ms: fugit::SecsDurationU64 = now.duration_since_epoch().convert();
|
||||||
|
defmt::println!("Timer {} ({})", now_ms, now.ticks());
|
||||||
|
|
||||||
|
blink_on = !blink_on;
|
||||||
|
if blink_on {
|
||||||
|
led.set_high().unwrap();
|
||||||
|
} else {
|
||||||
|
led.set_low().unwrap();
|
||||||
|
}
|
||||||
|
|
||||||
|
next_tick += 1000.millis();
|
||||||
|
Mono::delay_until(next_tick).await;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
66
examples/nrf52840_blinky/src/bin/blinky_timer.rs
Normal file
66
examples/nrf52840_blinky/src/bin/blinky_timer.rs
Normal file
|
|
@ -0,0 +1,66 @@
|
||||||
|
#![deny(unsafe_code)]
|
||||||
|
#![deny(warnings)]
|
||||||
|
#![no_main]
|
||||||
|
#![no_std]
|
||||||
|
#![feature(type_alias_impl_trait)]
|
||||||
|
|
||||||
|
use nrf52840_blinky::hal;
|
||||||
|
|
||||||
|
#[rtic::app(device = hal::pac, dispatchers = [SWI0_EGU0])]
|
||||||
|
mod app {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
use hal::gpio::{Level, Output, Pin, PushPull};
|
||||||
|
use hal::prelude::*;
|
||||||
|
|
||||||
|
use rtic_monotonics::nrf::timer::Timer0 as Mono;
|
||||||
|
use rtic_monotonics::nrf::timer::*;
|
||||||
|
use rtic_monotonics::Monotonic;
|
||||||
|
|
||||||
|
#[shared]
|
||||||
|
struct Shared {}
|
||||||
|
|
||||||
|
#[local]
|
||||||
|
struct Local {
|
||||||
|
led: Pin<Output<PushPull>>,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[init]
|
||||||
|
fn init(cx: init::Context) -> (Shared, Local) {
|
||||||
|
// Initialize Monotonic
|
||||||
|
let token = rtic_monotonics::create_nrf_timer0_monotonic_token!();
|
||||||
|
Mono::start(cx.device.TIMER0, token);
|
||||||
|
|
||||||
|
// Setup LED
|
||||||
|
let port0 = hal::gpio::p0::Parts::new(cx.device.P0);
|
||||||
|
let led = port0.p0_06.into_push_pull_output(Level::Low).degrade();
|
||||||
|
|
||||||
|
// Schedule the blinking task
|
||||||
|
blink::spawn().ok();
|
||||||
|
|
||||||
|
(Shared {}, Local { led })
|
||||||
|
}
|
||||||
|
|
||||||
|
#[task(local = [led])]
|
||||||
|
async fn blink(cx: blink::Context) {
|
||||||
|
let blink::LocalResources { led, .. } = cx.local;
|
||||||
|
|
||||||
|
let mut next_tick = Mono::now();
|
||||||
|
let mut blink_on = false;
|
||||||
|
loop {
|
||||||
|
let now = Mono::now();
|
||||||
|
let now_ms: fugit::SecsDurationU64 = now.duration_since_epoch().convert();
|
||||||
|
defmt::println!("Timer {} ({})", now_ms, now.ticks());
|
||||||
|
|
||||||
|
blink_on = !blink_on;
|
||||||
|
if blink_on {
|
||||||
|
led.set_high().unwrap();
|
||||||
|
} else {
|
||||||
|
led.set_low().unwrap();
|
||||||
|
}
|
||||||
|
|
||||||
|
next_tick += 1000.millis();
|
||||||
|
Mono::delay_until(next_tick).await;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
37
examples/nrf52840_blinky/src/lib.rs
Normal file
37
examples/nrf52840_blinky/src/lib.rs
Normal file
|
|
@ -0,0 +1,37 @@
|
||||||
|
#![no_main]
|
||||||
|
#![no_std]
|
||||||
|
|
||||||
|
use cortex_m_semihosting::debug;
|
||||||
|
|
||||||
|
use defmt_rtt as _; // global logger
|
||||||
|
|
||||||
|
pub use nrf52840_hal as hal; // memory layout
|
||||||
|
|
||||||
|
use panic_probe as _;
|
||||||
|
|
||||||
|
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||||
|
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||||
|
#[defmt::panic_handler]
|
||||||
|
fn panic() -> ! {
|
||||||
|
cortex_m::asm::udf()
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||||
|
/// with status code 0.
|
||||||
|
pub fn exit() -> ! {
|
||||||
|
loop {
|
||||||
|
debug::exit(debug::EXIT_SUCCESS);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Hardfault handler.
|
||||||
|
///
|
||||||
|
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||||
|
/// with an error. This seems better than the default, which is to spin in a
|
||||||
|
/// loop.
|
||||||
|
#[cortex_m_rt::exception]
|
||||||
|
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||||
|
loop {
|
||||||
|
debug::exit(debug::EXIT_FAILURE);
|
||||||
|
}
|
||||||
|
}
|
||||||
10
examples/teensy4_blinky/Cargo.lock
generated
10
examples/teensy4_blinky/Cargo.lock
generated
|
|
@ -133,9 +133,9 @@ dependencies = [
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "embedded-hal"
|
name = "embedded-hal"
|
||||||
version = "1.0.0-rc.1"
|
version = "1.0.0-rc.2"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "2894bc2f0457b8ca3d6b8ab8aad64d9337583672494013457f86c5a9146c0e22"
|
checksum = "3e57ec6ad0bc8eb967cf9c9f144177f5e8f2f6f02dad0b8b683f9f05f6b22def"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "equivalent"
|
name = "equivalent"
|
||||||
|
|
@ -440,12 +440,12 @@ dependencies = [
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "rtic-monotonics"
|
name = "rtic-monotonics"
|
||||||
version = "1.3.0"
|
version = "1.4.0"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"atomic-polyfill",
|
"atomic-polyfill",
|
||||||
"cfg-if",
|
"cfg-if",
|
||||||
"cortex-m",
|
"cortex-m",
|
||||||
"embedded-hal 1.0.0-rc.1",
|
"embedded-hal 1.0.0-rc.2",
|
||||||
"fugit",
|
"fugit",
|
||||||
"imxrt-ral",
|
"imxrt-ral",
|
||||||
"rtic-time",
|
"rtic-time",
|
||||||
|
|
@ -453,7 +453,7 @@ dependencies = [
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "rtic-time"
|
name = "rtic-time"
|
||||||
version = "1.0.0"
|
version = "1.1.0"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"critical-section",
|
"critical-section",
|
||||||
"futures-util",
|
"futures-util",
|
||||||
|
|
|
||||||
|
|
@ -7,6 +7,12 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
|
||||||
|
|
||||||
## Unreleased
|
## Unreleased
|
||||||
|
|
||||||
|
### Fixed
|
||||||
|
|
||||||
|
- Race condition in `nrf::timer`.
|
||||||
|
- Race condition in `nrf::rtc`.
|
||||||
|
- Add internal counter integrity check to all half-period based monotonics.
|
||||||
|
|
||||||
## v1.4.0 - 2023-12-04
|
## v1.4.0 - 2023-12-04
|
||||||
|
|
||||||
### Fixed
|
### Fixed
|
||||||
|
|
|
||||||
|
|
@ -141,13 +141,15 @@ macro_rules! make_timer {
|
||||||
// so it gets combined with rollover interrupt
|
// so it gets combined with rollover interrupt
|
||||||
ral::write_reg!(ral::gpt, gpt, OCR[1], 0x0000_0000);
|
ral::write_reg!(ral::gpt, gpt, OCR[1], 0x0000_0000);
|
||||||
|
|
||||||
|
// Initialize timer queue
|
||||||
|
$tq.initialize(Self {});
|
||||||
|
|
||||||
// Enable the timer
|
// Enable the timer
|
||||||
ral::modify_reg!(ral::gpt, gpt, CR, EN: 1);
|
ral::modify_reg!(ral::gpt, gpt, CR, EN: 1);
|
||||||
ral::modify_reg!(ral::gpt, gpt, CR,
|
ral::modify_reg!(ral::gpt, gpt, CR,
|
||||||
ENMOD: 0, // Keep state when disabled
|
ENMOD: 0, // Keep state when disabled
|
||||||
);
|
);
|
||||||
|
|
||||||
$tq.initialize(Self {});
|
|
||||||
|
|
||||||
// SAFETY: We take full ownership of the peripheral and interrupt vector,
|
// SAFETY: We take full ownership of the peripheral and interrupt vector,
|
||||||
// plus we are not using any external shared resources so we won't impact
|
// plus we are not using any external shared resources so we won't impact
|
||||||
|
|
@ -244,13 +246,15 @@ macro_rules! make_timer {
|
||||||
let (rollover, half_rollover) = ral::read_reg!(ral::gpt, gpt, SR, ROV, OF1);
|
let (rollover, half_rollover) = ral::read_reg!(ral::gpt, gpt, SR, ROV, OF1);
|
||||||
|
|
||||||
if rollover != 0 {
|
if rollover != 0 {
|
||||||
$period.fetch_add(1, Ordering::Relaxed);
|
let prev = $period.fetch_add(1, Ordering::Relaxed);
|
||||||
ral::write_reg!(ral::gpt, gpt, SR, ROV: 1);
|
ral::write_reg!(ral::gpt, gpt, SR, ROV: 1);
|
||||||
|
assert!(prev % 2 == 1, "Monotonic must have skipped an interrupt!");
|
||||||
}
|
}
|
||||||
|
|
||||||
if half_rollover != 0 {
|
if half_rollover != 0 {
|
||||||
$period.fetch_add(1, Ordering::Relaxed);
|
let prev = $period.fetch_add(1, Ordering::Relaxed);
|
||||||
ral::write_reg!(ral::gpt, gpt, SR, OF1: 1);
|
ral::write_reg!(ral::gpt, gpt, SR, OF1: 1);
|
||||||
|
assert!(prev % 2 == 0, "Monotonic must have skipped an interrupt!");
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -44,6 +44,7 @@ use crate::{Monotonic, TimeoutError, TimerQueue};
|
||||||
use atomic_polyfill::{AtomicU32, Ordering};
|
use atomic_polyfill::{AtomicU32, Ordering};
|
||||||
use core::future::Future;
|
use core::future::Future;
|
||||||
pub use fugit::{self, ExtU64, ExtU64Ceil};
|
pub use fugit::{self, ExtU64, ExtU64Ceil};
|
||||||
|
use rtic_time::half_period_counter::calculate_now;
|
||||||
|
|
||||||
#[doc(hidden)]
|
#[doc(hidden)]
|
||||||
#[macro_export]
|
#[macro_export]
|
||||||
|
|
@ -92,6 +93,16 @@ macro_rules! create_nrf_rtc2_monotonic_token {
|
||||||
}};
|
}};
|
||||||
}
|
}
|
||||||
|
|
||||||
|
struct TimerValueU24(u32);
|
||||||
|
impl rtic_time::half_period_counter::TimerValue for TimerValueU24 {
|
||||||
|
const BITS: u32 = 24;
|
||||||
|
}
|
||||||
|
impl From<TimerValueU24> for u64 {
|
||||||
|
fn from(value: TimerValueU24) -> Self {
|
||||||
|
Self::from(value.0)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
macro_rules! make_rtc {
|
macro_rules! make_rtc {
|
||||||
($mono_name:ident, $rtc:ident, $overflow:ident, $tq:ident$(, doc: ($($doc:tt)*))?) => {
|
($mono_name:ident, $rtc:ident, $overflow:ident, $tq:ident$(, doc: ($($doc:tt)*))?) => {
|
||||||
/// Monotonic timer queue implementation.
|
/// Monotonic timer queue implementation.
|
||||||
|
|
@ -107,13 +118,49 @@ macro_rules! make_rtc {
|
||||||
/// Start the timer monotonic.
|
/// Start the timer monotonic.
|
||||||
pub fn start(rtc: $rtc, _interrupt_token: impl crate::InterruptToken<Self>) {
|
pub fn start(rtc: $rtc, _interrupt_token: impl crate::InterruptToken<Self>) {
|
||||||
unsafe { rtc.prescaler.write(|w| w.bits(0)) };
|
unsafe { rtc.prescaler.write(|w| w.bits(0)) };
|
||||||
rtc.intenset.write(|w| w.compare0().set().ovrflw().set());
|
|
||||||
rtc.evtenset.write(|w| w.compare0().set().ovrflw().set());
|
|
||||||
|
|
||||||
rtc.tasks_clear.write(|w| unsafe { w.bits(1) });
|
// Disable interrupts, as preparation
|
||||||
rtc.tasks_start.write(|w| unsafe { w.bits(1) });
|
rtc.intenclr.write(|w| w
|
||||||
|
.compare0().clear()
|
||||||
|
.compare1().clear()
|
||||||
|
.ovrflw().clear()
|
||||||
|
);
|
||||||
|
|
||||||
$tq.initialize(Self {});
|
// Configure compare registers
|
||||||
|
rtc.cc[0].write(|w| unsafe { w.bits(0) }); // Dynamic wakeup
|
||||||
|
rtc.cc[1].write(|w| unsafe { w.bits(0x80_0000) }); // Half-period
|
||||||
|
|
||||||
|
// Timing critical, make sure we don't get interrupted
|
||||||
|
critical_section::with(|_|{
|
||||||
|
// Reset the timer
|
||||||
|
rtc.tasks_clear.write(|w| unsafe { w.bits(1) });
|
||||||
|
rtc.tasks_start.write(|w| unsafe { w.bits(1) });
|
||||||
|
|
||||||
|
// Clear pending events.
|
||||||
|
// Should be close enough to the timer reset that we don't miss any events.
|
||||||
|
rtc.events_ovrflw.write(|w| w);
|
||||||
|
rtc.events_compare[0].write(|w| w);
|
||||||
|
rtc.events_compare[1].write(|w| w);
|
||||||
|
|
||||||
|
// Make sure overflow counter is synced with the timer value
|
||||||
|
$overflow.store(0, Ordering::SeqCst);
|
||||||
|
|
||||||
|
// Initialized the timer queue
|
||||||
|
$tq.initialize(Self {});
|
||||||
|
|
||||||
|
// Enable interrupts.
|
||||||
|
// Should be close enough to the timer reset that we don't miss any events.
|
||||||
|
rtc.intenset.write(|w| w
|
||||||
|
.compare0().set()
|
||||||
|
.compare1().set()
|
||||||
|
.ovrflw().set()
|
||||||
|
);
|
||||||
|
rtc.evtenset.write(|w| w
|
||||||
|
.compare0().set()
|
||||||
|
.compare1().set()
|
||||||
|
.ovrflw().set()
|
||||||
|
);
|
||||||
|
});
|
||||||
|
|
||||||
// SAFETY: We take full ownership of the peripheral and interrupt vector,
|
// SAFETY: We take full ownership of the peripheral and interrupt vector,
|
||||||
// plus we are not using any external shared resources so we won't impact
|
// plus we are not using any external shared resources so we won't impact
|
||||||
|
|
@ -130,12 +177,6 @@ macro_rules! make_rtc {
|
||||||
&$tq
|
&$tq
|
||||||
}
|
}
|
||||||
|
|
||||||
#[inline(always)]
|
|
||||||
fn is_overflow() -> bool {
|
|
||||||
let rtc = unsafe { &*$rtc::PTR };
|
|
||||||
rtc.events_ovrflw.read().bits() == 1
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Timeout at a specific time.
|
/// Timeout at a specific time.
|
||||||
#[inline]
|
#[inline]
|
||||||
pub async fn timeout_at<F: Future>(
|
pub async fn timeout_at<F: Future>(
|
||||||
|
|
@ -181,31 +222,24 @@ macro_rules! make_rtc {
|
||||||
type Duration = fugit::TimerDurationU64<32_768>;
|
type Duration = fugit::TimerDurationU64<32_768>;
|
||||||
|
|
||||||
fn now() -> Self::Instant {
|
fn now() -> Self::Instant {
|
||||||
// In a critical section to not get a race between overflow updates and reading it
|
let rtc = unsafe { &*$rtc::PTR };
|
||||||
// and the flag here.
|
Self::Instant::from_ticks(calculate_now(
|
||||||
critical_section::with(|_| {
|
$overflow.load(Ordering::Relaxed),
|
||||||
let rtc = unsafe { &*$rtc::PTR };
|
|| TimerValueU24(rtc.counter.read().bits())
|
||||||
let cnt = rtc.counter.read().bits();
|
))
|
||||||
// OVERFLOW HAPPENS HERE race needs to be handled
|
|
||||||
let ovf = if Self::is_overflow() {
|
|
||||||
$overflow.load(Ordering::Relaxed) + 1
|
|
||||||
} else {
|
|
||||||
$overflow.load(Ordering::Relaxed)
|
|
||||||
} as u64;
|
|
||||||
|
|
||||||
// Check and fix if above race happened
|
|
||||||
let new_cnt = rtc.counter.read().bits();
|
|
||||||
let cnt = if new_cnt >= cnt { cnt } else { new_cnt } as u64;
|
|
||||||
|
|
||||||
Self::Instant::from_ticks((ovf << 24) | cnt)
|
|
||||||
})
|
|
||||||
}
|
}
|
||||||
|
|
||||||
fn on_interrupt() {
|
fn on_interrupt() {
|
||||||
let rtc = unsafe { &*$rtc::PTR };
|
let rtc = unsafe { &*$rtc::PTR };
|
||||||
if Self::is_overflow() {
|
if rtc.events_ovrflw.read().bits() == 1 {
|
||||||
$overflow.fetch_add(1, Ordering::SeqCst);
|
|
||||||
rtc.events_ovrflw.write(|w| unsafe { w.bits(0) });
|
rtc.events_ovrflw.write(|w| unsafe { w.bits(0) });
|
||||||
|
let prev = $overflow.fetch_add(1, Ordering::Relaxed);
|
||||||
|
assert!(prev % 2 == 1, "Monotonic must have skipped an interrupt!");
|
||||||
|
}
|
||||||
|
if rtc.events_compare[1].read().bits() == 1 {
|
||||||
|
rtc.events_compare[1].write(|w| unsafe { w.bits(0) });
|
||||||
|
let prev = $overflow.fetch_add(1, Ordering::Relaxed);
|
||||||
|
assert!(prev % 2 == 0, "Monotonic must have skipped an interrupt!");
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -221,7 +255,7 @@ macro_rules! make_rtc {
|
||||||
|
|
||||||
fn set_compare(instant: Self::Instant) {
|
fn set_compare(instant: Self::Instant) {
|
||||||
let rtc = unsafe { &*$rtc::PTR };
|
let rtc = unsafe { &*$rtc::PTR };
|
||||||
unsafe { rtc.cc[0].write(|w| w.bits(instant.ticks() as u32 & 0xffffff)) };
|
unsafe { rtc.cc[0].write(|w| w.bits(instant.ticks() as u32 & 0xff_ffff)) };
|
||||||
}
|
}
|
||||||
|
|
||||||
fn clear_compare_flag() {
|
fn clear_compare_flag() {
|
||||||
|
|
|
||||||
|
|
@ -30,6 +30,7 @@ use crate::{Monotonic, TimeoutError, TimerQueue};
|
||||||
use atomic_polyfill::{AtomicU32, Ordering};
|
use atomic_polyfill::{AtomicU32, Ordering};
|
||||||
use core::future::Future;
|
use core::future::Future;
|
||||||
pub use fugit::{self, ExtU64, ExtU64Ceil};
|
pub use fugit::{self, ExtU64, ExtU64Ceil};
|
||||||
|
use rtic_time::half_period_counter::calculate_now;
|
||||||
|
|
||||||
#[cfg(feature = "nrf52810")]
|
#[cfg(feature = "nrf52810")]
|
||||||
use nrf52810_pac::{self as pac, Interrupt, TIMER0, TIMER1, TIMER2};
|
use nrf52810_pac::{self as pac, Interrupt, TIMER0, TIMER1, TIMER2};
|
||||||
|
|
@ -139,17 +140,45 @@ macro_rules! make_timer {
|
||||||
// 1 MHz
|
// 1 MHz
|
||||||
timer.prescaler.write(|w| unsafe { w.prescaler().bits(4) });
|
timer.prescaler.write(|w| unsafe { w.prescaler().bits(4) });
|
||||||
timer.bitmode.write(|w| w.bitmode()._32bit());
|
timer.bitmode.write(|w| w.bitmode()._32bit());
|
||||||
timer
|
|
||||||
.intenset
|
|
||||||
.modify(|_, w| w.compare0().set().compare1().set());
|
|
||||||
timer.cc[1].write(|w| unsafe { w.cc().bits(0) }); // Overflow
|
|
||||||
timer.tasks_clear.write(|w| unsafe { w.bits(1) });
|
|
||||||
timer.tasks_start.write(|w| unsafe { w.bits(1) });
|
|
||||||
|
|
||||||
$tq.initialize(Self {});
|
// Disable interrupts, as preparation
|
||||||
|
timer.intenclr.modify(|_, w| w
|
||||||
|
.compare0().clear()
|
||||||
|
.compare1().clear()
|
||||||
|
.compare2().clear()
|
||||||
|
);
|
||||||
|
|
||||||
timer.events_compare[0].write(|w| w);
|
// Configure compare registers
|
||||||
timer.events_compare[1].write(|w| w);
|
timer.cc[0].write(|w| unsafe { w.cc().bits(0) }); // Dynamic wakeup
|
||||||
|
timer.cc[1].write(|w| unsafe { w.cc().bits(0x0000_0000) }); // Overflow
|
||||||
|
timer.cc[2].write(|w| unsafe { w.cc().bits(0x8000_0000) }); // Half-period
|
||||||
|
|
||||||
|
// Timing critical, make sure we don't get interrupted
|
||||||
|
critical_section::with(|_|{
|
||||||
|
// Reset the timer
|
||||||
|
timer.tasks_clear.write(|w| unsafe { w.bits(1) });
|
||||||
|
timer.tasks_start.write(|w| unsafe { w.bits(1) });
|
||||||
|
|
||||||
|
// Clear pending events.
|
||||||
|
// Should be close enough to the timer reset that we don't miss any events.
|
||||||
|
timer.events_compare[0].write(|w| w);
|
||||||
|
timer.events_compare[1].write(|w| w);
|
||||||
|
timer.events_compare[2].write(|w| w);
|
||||||
|
|
||||||
|
// Make sure overflow counter is synced with the timer value
|
||||||
|
$overflow.store(0, Ordering::SeqCst);
|
||||||
|
|
||||||
|
// Initialized the timer queue
|
||||||
|
$tq.initialize(Self {});
|
||||||
|
|
||||||
|
// Enable interrupts.
|
||||||
|
// Should be close enough to the timer reset that we don't miss any events.
|
||||||
|
timer.intenset.modify(|_, w| w
|
||||||
|
.compare0().set()
|
||||||
|
.compare1().set()
|
||||||
|
.compare2().set()
|
||||||
|
);
|
||||||
|
});
|
||||||
|
|
||||||
// SAFETY: We take full ownership of the peripheral and interrupt vector,
|
// SAFETY: We take full ownership of the peripheral and interrupt vector,
|
||||||
// plus we are not using any external shared resources so we won't impact
|
// plus we are not using any external shared resources so we won't impact
|
||||||
|
|
@ -166,12 +195,6 @@ macro_rules! make_timer {
|
||||||
&$tq
|
&$tq
|
||||||
}
|
}
|
||||||
|
|
||||||
#[inline(always)]
|
|
||||||
fn is_overflow() -> bool {
|
|
||||||
let timer = unsafe { &*$timer::PTR };
|
|
||||||
timer.events_compare[1].read().bits() & 1 != 0
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Timeout at a specific time.
|
/// Timeout at a specific time.
|
||||||
#[inline]
|
#[inline]
|
||||||
pub async fn timeout_at<F: Future>(
|
pub async fn timeout_at<F: Future>(
|
||||||
|
|
@ -216,45 +239,35 @@ macro_rules! make_timer {
|
||||||
type Duration = fugit::TimerDurationU64<1_000_000>;
|
type Duration = fugit::TimerDurationU64<1_000_000>;
|
||||||
|
|
||||||
fn now() -> Self::Instant {
|
fn now() -> Self::Instant {
|
||||||
// In a critical section to not get a race between overflow updates and reading it
|
let timer = unsafe { &*$timer::PTR };
|
||||||
// and the flag here.
|
|
||||||
critical_section::with(|_| {
|
|
||||||
let timer = unsafe { &*$timer::PTR };
|
|
||||||
timer.tasks_capture[2].write(|w| unsafe { w.bits(1) });
|
|
||||||
let cnt = timer.cc[2].read().bits();
|
|
||||||
|
|
||||||
let unhandled_overflow = if Self::is_overflow() {
|
Self::Instant::from_ticks(calculate_now(
|
||||||
// The overflow has not been handled yet, so add an extra to the read overflow.
|
$overflow.load(Ordering::Relaxed),
|
||||||
1
|
|| {
|
||||||
} else {
|
timer.tasks_capture[3].write(|w| unsafe { w.bits(1) });
|
||||||
0
|
timer.cc[3].read().bits()
|
||||||
};
|
}
|
||||||
|
))
|
||||||
timer.tasks_capture[2].write(|w| unsafe { w.bits(1) });
|
|
||||||
let new_cnt = timer.cc[2].read().bits();
|
|
||||||
let cnt = if new_cnt >= cnt { cnt } else { new_cnt } as u64;
|
|
||||||
|
|
||||||
Self::Instant::from_ticks(
|
|
||||||
(unhandled_overflow + $overflow.load(Ordering::Relaxed) as u64) << 32
|
|
||||||
| cnt as u64,
|
|
||||||
)
|
|
||||||
})
|
|
||||||
}
|
}
|
||||||
|
|
||||||
fn on_interrupt() {
|
fn on_interrupt() {
|
||||||
let timer = unsafe { &*$timer::PTR };
|
let timer = unsafe { &*$timer::PTR };
|
||||||
|
|
||||||
// If there is a compare match on channel 1, it is an overflow
|
// If there is a compare match on channel 1, it is an overflow
|
||||||
if Self::is_overflow() {
|
if timer.events_compare[1].read().bits() & 1 != 0 {
|
||||||
timer.events_compare[1].write(|w| w);
|
timer.events_compare[1].write(|w| w);
|
||||||
$overflow.fetch_add(1, Ordering::SeqCst);
|
let prev = $overflow.fetch_add(1, Ordering::Relaxed);
|
||||||
|
assert!(prev % 2 == 1, "Monotonic must have skipped an interrupt!");
|
||||||
|
}
|
||||||
|
|
||||||
|
// If there is a compare match on channel 2, it is a half-period overflow
|
||||||
|
if timer.events_compare[2].read().bits() & 1 != 0 {
|
||||||
|
timer.events_compare[2].write(|w| w);
|
||||||
|
let prev = $overflow.fetch_add(1, Ordering::Relaxed);
|
||||||
|
assert!(prev % 2 == 0, "Monotonic must have skipped an interrupt!");
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
fn enable_timer() {}
|
|
||||||
|
|
||||||
fn disable_timer() {}
|
|
||||||
|
|
||||||
fn set_compare(instant: Self::Instant) {
|
fn set_compare(instant: Self::Instant) {
|
||||||
let timer = unsafe { &*$timer::PTR };
|
let timer = unsafe { &*$timer::PTR };
|
||||||
timer.cc[0].write(|w| unsafe { w.cc().bits(instant.ticks() as u32) });
|
timer.cc[0].write(|w| unsafe { w.cc().bits(instant.ticks() as u32) });
|
||||||
|
|
|
||||||
|
|
@ -272,12 +272,14 @@ macro_rules! make_timer {
|
||||||
// Full period
|
// Full period
|
||||||
if $timer.sr().read().uif() {
|
if $timer.sr().read().uif() {
|
||||||
$timer.sr().modify(|r| r.set_uif(false));
|
$timer.sr().modify(|r| r.set_uif(false));
|
||||||
$overflow.fetch_add(1, Ordering::Relaxed);
|
let prev = $overflow.fetch_add(1, Ordering::Relaxed);
|
||||||
|
assert!(prev % 2 == 1, "Monotonic must have missed an interrupt!");
|
||||||
}
|
}
|
||||||
// Half period
|
// Half period
|
||||||
if $timer.sr().read().ccif(2) {
|
if $timer.sr().read().ccif(2) {
|
||||||
$timer.sr().modify(|r| r.set_ccif(2, false));
|
$timer.sr().modify(|r| r.set_ccif(2, false));
|
||||||
$overflow.fetch_add(1, Ordering::Relaxed);
|
let prev = $overflow.fetch_add(1, Ordering::Relaxed);
|
||||||
|
assert!(prev % 2 == 0, "Monotonic must have missed an interrupt!");
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -11,6 +11,8 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
|
||||||
|
|
||||||
### Changed
|
### Changed
|
||||||
|
|
||||||
|
- Docs: Add sanity check to `half_period_counter` code example
|
||||||
|
|
||||||
### Fixed
|
### Fixed
|
||||||
|
|
||||||
## v1.1.0 - 2023-12-04
|
## v1.1.0 - 2023-12-04
|
||||||
|
|
|
||||||
|
|
@ -96,11 +96,13 @@
|
||||||
//! fn on_interrupt() {
|
//! fn on_interrupt() {
|
||||||
//! if overflow_interrupt_happened() {
|
//! if overflow_interrupt_happened() {
|
||||||
//! clear_overflow_interrupt();
|
//! clear_overflow_interrupt();
|
||||||
//! HALF_PERIOD_COUNTER.fetch_add(1, Ordering::Relaxed);
|
//! let prev = HALF_PERIOD_COUNTER.fetch_add(1, Ordering::Relaxed);
|
||||||
|
//! assert!(prev % 2 == 1, "Monotonic must have skipped an interrupt!");
|
||||||
//! }
|
//! }
|
||||||
//! if compare_interrupt_happened() {
|
//! if compare_interrupt_happened() {
|
||||||
//! clear_compare_interrupt();
|
//! clear_compare_interrupt();
|
||||||
//! HALF_PERIOD_COUNTER.fetch_add(1, Ordering::Relaxed);
|
//! let prev = HALF_PERIOD_COUNTER.fetch_add(1, Ordering::Relaxed);
|
||||||
|
//! assert!(prev % 2 == 0, "Monotonic must have skipped an interrupt!");
|
||||||
//! }
|
//! }
|
||||||
//! }
|
//! }
|
||||||
//!
|
//!
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue