mirror of
https://github.com/rtic-rs/rtic.git
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Monotonic rewrite (#874)
* Rework timer_queue and monotonic architecture Goals: * make Monotonic purely internal * make Monotonic purely tick passed, no fugit involved * create a wrapper struct in the user's code via a macro that then converts the "now" from the tick based monotonic to a fugit based timestamp We need to proxy the delay functions of the timer queue anyway, so we could simply perform the conversion in those proxy functions. * Update cargo.lock * Update readme of rtic-time * CI: ESP32: Redact esp_image: Too volatile * Fixup: Changelog double entry rebase mistake --------- Co-authored-by: Henrik Tjäder <henrik@tjaders.com>
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name = "rtic-time"
|
||||
version = "1.0.0"
|
||||
version = "2.0.0"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal-async",
|
||||
"fugit",
|
||||
"futures-util",
|
||||
"rtic-common",
|
||||
]
|
||||
|
|
@ -494,10 +560,21 @@ dependencies = [
|
|||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.9"
|
||||
name = "syn"
|
||||
version = "2.0.51"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b15811caf2415fb889178633e7724bad2509101cde276048e013b9def5e51fa0"
|
||||
checksum = "6ab617d94515e94ae53b8406c628598680aa0c9587474ecbe58188f7b345d66c"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
|
||||
[[package]]
|
||||
name = "usb-device"
|
||||
|
|
@ -525,9 +602,9 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
|||
|
||||
[[package]]
|
||||
name = "volatile-register"
|
||||
version = "0.2.1"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
|
||||
checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||
dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
|
|
|
|||
|
|
@ -15,14 +15,14 @@ features = ["thumbv6-backend"]
|
|||
|
||||
[dependencies.rtic-monotonics]
|
||||
path = "../../rtic-monotonics"
|
||||
version = "1.0.0"
|
||||
version = "2.0.0"
|
||||
features = ["rp2040"]
|
||||
|
||||
[dependencies]
|
||||
cortex-m = "0.7"
|
||||
embedded-hal = { version = "0.2.7", features = ["unproven"] }
|
||||
fugit = "0.3"
|
||||
rp-pico = "0.7.0"
|
||||
rp-pico = "0.8.0"
|
||||
panic-probe = "0.3"
|
||||
|
||||
[profile.dev]
|
||||
|
|
|
|||
|
|
@ -1,15 +1,21 @@
|
|||
#![no_std]
|
||||
#![no_main]
|
||||
|
||||
#[rtic::app(
|
||||
device = rp_pico::hal::pac,
|
||||
dispatchers = [TIMER_IRQ_1]
|
||||
)]
|
||||
use rtic_monotonics::rp2040::prelude::*;
|
||||
|
||||
rp2040_timer_monotonic!(Mono);
|
||||
|
||||
#[rtic::app(device = rp_pico::hal::pac)]
|
||||
mod app {
|
||||
use super::*;
|
||||
|
||||
use rp_pico::hal::{
|
||||
clocks, gpio,
|
||||
gpio::pin::bank0::{Gpio2, Gpio25, Gpio3},
|
||||
gpio::pin::PushPullOutput,
|
||||
clocks,
|
||||
gpio::{
|
||||
self,
|
||||
bank0::{Gpio2, Gpio25, Gpio3},
|
||||
FunctionSioOutput, PullNone, PullUp,
|
||||
},
|
||||
pac,
|
||||
sio::Sio,
|
||||
watchdog::Watchdog,
|
||||
|
|
@ -20,15 +26,13 @@ mod app {
|
|||
use core::mem::MaybeUninit;
|
||||
use embedded_hal::digital::v2::{OutputPin, ToggleableOutputPin};
|
||||
use fugit::RateExtU32;
|
||||
use rtic_monotonics::rp2040::*;
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
type I2CBus = I2C<
|
||||
pac::I2C1,
|
||||
(
|
||||
gpio::Pin<Gpio2, gpio::FunctionI2C>,
|
||||
gpio::Pin<Gpio3, gpio::FunctionI2C>,
|
||||
gpio::Pin<Gpio2, gpio::FunctionI2C, PullUp>,
|
||||
gpio::Pin<Gpio3, gpio::FunctionI2C, PullUp>,
|
||||
),
|
||||
>;
|
||||
|
||||
|
|
@ -37,7 +41,7 @@ mod app {
|
|||
|
||||
#[local]
|
||||
struct Local {
|
||||
led: gpio::Pin<Gpio25, PushPullOutput>,
|
||||
led: gpio::Pin<Gpio25, FunctionSioOutput, PullNone>,
|
||||
i2c: &'static mut I2CBus,
|
||||
}
|
||||
|
||||
|
|
@ -48,11 +52,8 @@ mod app {
|
|||
i2c_ctx: MaybeUninit<I2CBus> = MaybeUninit::uninit()
|
||||
])]
|
||||
fn init(mut ctx: init::Context) -> (Shared, Local) {
|
||||
// Initialize the interrupt for the RP2040 timer and obtain the token
|
||||
// proving that we have.
|
||||
let rp2040_timer_token = rtic_monotonics::create_rp2040_monotonic_token!();
|
||||
// Configure the clocks, watchdog - The default is to generate a 125 MHz system clock
|
||||
Timer::start(ctx.device.TIMER, &mut ctx.device.RESETS, rp2040_timer_token); // default rp2040 clock-rate is 125MHz
|
||||
Mono::start(ctx.device.TIMER, &mut ctx.device.RESETS); // default rp2040 clock-rate is 125MHz
|
||||
let mut watchdog = Watchdog::new(ctx.device.WATCHDOG);
|
||||
let clocks = clocks::init_clocks_and_plls(
|
||||
XOSC_CRYSTAL_FREQ,
|
||||
|
|
@ -74,12 +75,21 @@ mod app {
|
|||
sio.gpio_bank0,
|
||||
&mut ctx.device.RESETS,
|
||||
);
|
||||
let mut led = gpioa.led.into_push_pull_output();
|
||||
let mut led = gpioa
|
||||
.led
|
||||
.into_pull_type::<PullNone>()
|
||||
.into_push_pull_output();
|
||||
led.set_low().unwrap();
|
||||
|
||||
// Init I2C pins
|
||||
let sda_pin = gpioa.gpio2.into_mode::<gpio::FunctionI2C>();
|
||||
let scl_pin = gpioa.gpio3.into_mode::<gpio::FunctionI2C>();
|
||||
let sda_pin = gpioa
|
||||
.gpio2
|
||||
.into_pull_up_disabled()
|
||||
.into_function::<gpio::FunctionI2C>();
|
||||
let scl_pin = gpioa
|
||||
.gpio3
|
||||
.into_pull_up_disabled()
|
||||
.into_function::<gpio::FunctionI2C>();
|
||||
|
||||
// Init I2C itself, using MaybeUninit to overwrite the previously
|
||||
// uninitialized i2c_ctx variable without dropping its value
|
||||
|
|
@ -118,7 +128,7 @@ mod app {
|
|||
// now to do something with it!
|
||||
|
||||
// Delay for 1 second
|
||||
Timer::delay(1000.millis()).await;
|
||||
Mono::delay(1000.millis()).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue