mirror of
https://github.com/rtic-rs/rtic.git
synced 2025-12-18 05:45:19 +01:00
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>
This commit is contained in:
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GitHub
parent
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commit
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54 changed files with 2637 additions and 1676 deletions
118
examples/stm32f3_blinky/Cargo.lock
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118
examples/stm32f3_blinky/Cargo.lock
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@ -52,11 +52,12 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
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[[package]]
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name = "bxcan"
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version = "0.6.2"
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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 = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
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checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
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dependencies = [
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"bitflags",
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"embedded-hal 0.2.7",
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"nb 1.1.0",
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"vcell",
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]
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@ -86,7 +87,7 @@ 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",
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"embedded-hal 0.2.7",
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"volatile-register",
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]
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@ -112,9 +113,9 @@ dependencies = [
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[[package]]
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name = "critical-section"
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version = "1.1.1"
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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 = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
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checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
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[[package]]
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name = "darling"
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@ -136,7 +137,7 @@ dependencies = [
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"ident_case",
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"proc-macro2",
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"quote",
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"syn 2.0.22",
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"syn 2.0.50",
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]
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[[package]]
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@ -147,7 +148,7 @@ checksum = "29a358ff9f12ec09c3e61fef9b5a9902623a695a46a917b07f269bff1445611a"
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dependencies = [
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"darling_core",
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"quote",
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"syn 2.0.22",
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"syn 2.0.50",
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]
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[[package]]
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@ -169,6 +170,21 @@ dependencies = [
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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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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
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[[package]]
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name = "embedded-hal-async"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
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dependencies = [
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"embedded-hal 1.0.0",
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]
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[[package]]
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name = "embedded-time"
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version = "0.12.1"
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@ -180,9 +196,9 @@ dependencies = [
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[[package]]
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name = "enumset"
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version = "1.1.2"
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version = "1.1.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e875f1719c16de097dee81ed675e2d9bb63096823ed3f0ca827b7dea3028bbbb"
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checksum = "226c0da7462c13fb57e5cc9e0dc8f0635e7d27f276a3a7fd30054647f669007d"
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dependencies = [
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"enumset_derive",
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]
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@ -196,7 +212,7 @@ dependencies = [
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"darling",
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"proc-macro2",
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"quote",
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"syn 2.0.22",
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"syn 2.0.50",
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]
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@ -343,28 +359,28 @@ dependencies = [
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[[package]]
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name = "num-traits"
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version = "0.2.15"
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version = "0.2.18"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
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checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
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dependencies = [
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"autocfg",
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]
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name = "panic-rtt-target"
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version = "0.1.2"
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version = "0.1.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0d6ab67bc881453e4c90f958c657c1303670ea87bc1a16e87fd71a40f656dce9"
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checksum = "608d1d809dd8960d5e8364981279c7ab280a13d98b99eae049885a7ab2b1cbfe"
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dependencies = [
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"cortex-m",
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"rtt-target 0.3.1",
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"critical-section",
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"rtt-target",
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]
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[[package]]
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name = "paste"
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version = "1.0.12"
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version = "1.0.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
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checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
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[[package]]
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name = "pin-project-lite"
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@ -378,6 +394,12 @@ version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
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name = "portable-atomic"
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version = "1.6.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
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name = "proc-macro-error"
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version = "1.0.4"
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[[package]]
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name = "proc-macro2"
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version = "1.0.63"
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version = "1.0.78"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7b368fba921b0dce7e60f5e04ec15e565b3303972b42bcfde1d0713b881959eb"
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checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
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dependencies = [
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"unicode-ident",
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]
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name = "quote"
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version = "1.0.29"
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version = "1.0.35"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "573015e8ab27661678357f27dc26460738fd2b6c86e46f386fde94cb5d913105"
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checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
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dependencies = [
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]
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[[package]]
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name = "rtic"
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version = "2.0.0"
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version = "2.0.1"
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dependencies = [
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"atomic-polyfill",
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"bare-metal 1.0.0",
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[[package]]
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name = "rtic-common"
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version = "1.0.0"
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version = "1.0.1"
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dependencies = [
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"critical-section",
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"portable-atomic",
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]
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@ -456,49 +479,44 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
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[[package]]
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name = "rtic-macros"
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version = "2.0.0"
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version = "2.0.1"
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dependencies = [
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"indexmap",
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"proc-macro-error",
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"proc-macro2",
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"quote",
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"syn 1.0.109",
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"syn 2.0.50",
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]
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[[package]]
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name = "rtic-monotonics"
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version = "1.0.0"
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version = "2.0.0"
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dependencies = [
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"atomic-polyfill",
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"cfg-if",
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"cortex-m",
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"embedded-hal 1.0.0",
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"fugit",
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"rtic-time",
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]
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[[package]]
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name = "rtic-time"
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version = "1.0.0"
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version = "2.0.0"
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dependencies = [
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"critical-section",
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"embedded-hal 1.0.0",
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"embedded-hal-async",
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"fugit",
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"futures-util",
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"rtic-common",
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]
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[[package]]
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name = "rtt-target"
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version = "0.3.1"
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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 = "065d6058bb1204f51a562a67209e1817cf714759d5cf845aa45c75fa7b0b9d9b"
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dependencies = [
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"ufmt-write",
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]
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[[package]]
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name = "rtt-target"
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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 = "3afa12c77ba1b9bf560e4039a9b9a08bb9cde0e9e6923955eeb917dd8d5cf303"
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checksum = "10b34c9e6832388e45f3c01f1bb60a016384a0a4ad80cdd7d34913bed25037f0"
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dependencies = [
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"critical-section",
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"ufmt-write",
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[[package]]
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name = "stm32f3"
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version = "0.14.0"
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version = "0.15.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "265cda62ac13307414de4aca58dbbbd8038ddba85cffbb335823aa216f2e3200"
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checksum = "b28b37228ef3fa47956af38c6abd756e912f244c1657f14e66d42fc8d74ea96f"
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dependencies = [
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"bare-metal 1.0.0",
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"cortex-m",
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name = "stm32f3-blinky"
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version = "0.1.0"
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dependencies = [
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"embedded-hal",
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"cortex-m",
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"embedded-hal 0.2.7",
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"panic-rtt-target",
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"rtic",
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"rtic-monotonics",
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"rtt-target 0.4.0",
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"rtt-target",
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"stm32f3xx-hal",
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]
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[[package]]
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name = "stm32f3xx-hal"
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version = "0.9.2"
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version = "0.10.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4c9d827f02df3826371c897404dfbea8a1abd544eed9d6cdc3e5f6e9f04b9e06"
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checksum = "4c73e8b6e63435b75198d2fe2b27cd7f5c8e0b07bd5da9f82cffddf23210f77f"
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dependencies = [
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"bare-metal 1.0.0",
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"bxcan",
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"cfg-if",
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"cortex-m",
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"cortex-m-rt",
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"critical-section",
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"embedded-dma",
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"embedded-hal",
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"embedded-hal 0.2.7",
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"embedded-time",
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"enumset",
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"nb 1.1.0",
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"num-traits",
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"paste",
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"rtcc",
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"slice-group-by",
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[[package]]
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name = "syn"
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version = "2.0.22"
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version = "2.0.50"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2efbeae7acf4eabd6bcdcbd11c92f45231ddda7539edc7806bd1a04a03b24616"
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checksum = "74f1bdc9872430ce9b75da68329d1c1746faf50ffac5f19e02b71e37ff881ffb"
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dependencies = [
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"proc-macro2",
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"quote",
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[dependencies.rtic-monotonics]
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path = "../../rtic-monotonics"
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version = "1.0.0"
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version = "2.0.0"
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features = ["cortex-m-systick"]
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[dependencies.cortex-m]
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version = "0.7.7"
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features = ["critical-section-single-core"]
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[dependencies]
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embedded-hal = "0.2.7"
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panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] }
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rtt-target = { version = "0.4.0" }
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panic-rtt-target = { version = "0.1.3" }
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rtt-target = { version = "0.5.0" }
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[dependencies.stm32f3xx-hal]
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features = ["stm32f303xc", "rt"]
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version = "0.9.2"
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version = "0.10.0"
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# this lets you use `cargo fix`!
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[[bin]]
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use panic_rtt_target as _;
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use rtic::app;
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use rtic_monotonics::systick::*;
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use rtic_monotonics::systick::prelude::*;
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use rtt_target::{rprintln, rtt_init_print};
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use stm32f3xx_hal::gpio::{Output, PushPull, PA5};
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use stm32f3xx_hal::prelude::*;
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systick_monotonic!(Mono, 1000);
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#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])]
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mod app {
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use super::*;
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let mut rcc = cx.device.RCC.constrain();
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// Initialize the systick interrupt & obtain the token to prove that we did
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let systick_mono_token = rtic_monotonics::create_systick_token!();
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Systick::start(cx.core.SYST, 36_000_000, systick_mono_token); // default STM32F303 clock-rate is 36MHz
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Mono::start(cx.core.SYST, 36_000_000); // default STM32F303 clock-rate is 36MHz
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rtt_init_print!();
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rprintln!("init");
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cx.local.led.set_low().unwrap();
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*cx.local.state = true;
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}
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Systick::delay(1000.millis()).await;
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Mono::delay(1000.millis()).await;
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}
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}
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}
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