rtic-monotonics: Feature gate monotonics correctly to support multiple MCUs

rtic-monotonics/Cargo.toml

@@ -17,18 +17,22 @@ license = "MIT OR Apache-2.0"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-cortex-m = { version = "0.7.6" }
-embedded-hal-async = "0.2.0-alpha.0"
-fugit = { version = "0.3.6", features = ["defmt"] }
 rtic-time = { version = "1.0.0-alpha.0", path = "../rtic-time" }
+embedded-hal-async = "0.2.0-alpha.0"
+fugit = { version = "0.3.6" }
 atomic-polyfill = "1"
 cfg-if = "1.0.0"
+cortex-m = { version = "0.7.6", optional = true }
 rp2040-pac = { version = ">=0.2.0,<0.5", optional = true }
 
 [features]
 default = []
+defmt = ["fugit/defmt"]
 
+# Systick on Cortex-M, default 1 kHz
+cortex_m_systick = ["dep:cortex-m"]
 systick_100hz = []
 systick_10khz = []
 
+# Timer peripheral on the RP2040
 rp2040 = ["dep:rp2040-pac"]

rtic-monotonics/src/lib.rs

@@ -9,6 +9,7 @@
 
 pub use rtic_time::{Monotonic, TimeoutError, TimerQueue};
 
+#[cfg(feature = "cortex_m_sytick")]
 pub mod systick;
 
 #[cfg(feature = "rp2040")]

rtic-monotonics/src/rp2040.rs

@@ -106,7 +106,7 @@ impl Monotonic for Timer {
     }
 
     fn pend_interrupt() {
-        cortex_m::peripheral::NVIC::pend(Interrupt::TIMER_IRQ_0);
+        rp2040_pac::NVIC::pend(Interrupt::TIMER_IRQ_0);
     }
 
     fn on_interrupt() {}