Embedded ci works

examples-runner/src/bin/cancel-reschedule.rs

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+//! examples/cancel-reschedule.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use examples_runner as _;
+
+#[rtic::app(device = examples_runner::pac, dispatchers = [SSI0])]
+mod app {
+    use examples_runner::{println, exit};
+    use systick_monotonic::*;
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        let systick = cx.core.SYST;
+
+        // Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
+        let mono = Systick::new(systick, 12_000_000);
+
+        println!("init");
+
+        // Schedule `foo` to run 1 second in the future
+        foo::spawn_after(1.secs()).unwrap();
+
+        (
+            Shared {},
+            Local {},
+            init::Monotonics(mono), // Give the monotonic to RTIC
+        )
+    }
+
+    #[task]
+    fn foo(_: foo::Context) {
+        println!("foo");
+
+        // Schedule `bar` to run 2 seconds in the future (1 second after foo runs)
+        let spawn_handle = baz::spawn_after(2.secs()).unwrap();
+        bar::spawn_after(1.secs(), spawn_handle, false).unwrap(); // Change to true
+    }
+
+    #[task]
+    fn bar(_: bar::Context, baz_handle: baz::SpawnHandle, do_reschedule: bool) {
+        println!("bar");
+
+        if do_reschedule {
+            // Reschedule baz 2 seconds from now, instead of the original 1 second
+            // from now.
+            baz_handle.reschedule_after(2.secs()).unwrap();
+            // Or baz_handle.reschedule_at(/* time */)
+        } else {
+            // Or cancel it
+            baz_handle.cancel().unwrap();
+            exit();
+        }
+    }
+
+    #[task]
+    fn baz(_: baz::Context) {
+        println!("baz");
+        exit();
+    }
+}