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Monotonic rewrite (#874)

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* 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>
This commit is contained in:
Finomnis 2024-04-11 00:00:38 +02:00 • committed by GitHub
parent e4cc5fd17b
commit 8c23e178f3
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GPG key ID: B5690EEEBB952194
54 changed files with 2637 additions and 1676 deletions
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50
examples/rp2040_local_i2c_init/src/main.rs
View file

@ -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;
}
}
}