mirror of
https://github.com/rtic-rs/rtic.git
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timer as future
This commit is contained in:
Per Lindgren
parent
22d7957485
commit
d7ca3efd03
1 changed files with 91 additions and 100 deletions
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@ -20,43 +20,36 @@ use panic_semihosting as _;
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#[rtic::app(device = lm3s6965, dispatchers = [SSI0], peripherals = true)]
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mod app {
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use crate::Timer;
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use crate::*;
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#[resources]
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struct Resources {
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syst: cortex_m::peripheral::SYST,
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#[init(None)]
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waker: Option<Waker>,
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}
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#[init]
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fn init(cx: init::Context) -> init::LateResources {
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// foo::spawn().unwrap();
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let mut syst = cx.core.SYST;
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syst.set_reload(100000);
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syst.enable_interrupt();
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syst.enable_counter();
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hprintln!("init").unwrap();
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init::LateResources { syst }
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foo::spawn().unwrap();
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init::LateResources { syst: cx.core.SYST }
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}
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#[idle]
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fn idle(_: idle::Context) -> ! {
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// foo::spawn().unwrap();
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// debug::exit(debug::EXIT_SUCCESS);
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loop {
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continue;
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hprintln!("idle");
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cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
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}
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}
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#[task]
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fn foo(_c: foo::Context) {
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#[task(resources = [syst])]
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fn foo(mut cx: foo::Context) {
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// BEGIN BOILERPLATE
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type F = impl Future + 'static;
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fn create() -> F {
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task()
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fn create(cx: foo::Context<'static>) -> F {
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task(cx)
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}
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static mut TASK: Task<F> = Task::new();
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@ -65,98 +58,95 @@ mod app {
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unsafe {
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match TASK {
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Task::Idle | Task::Done(_) => {
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hprintln!("create task").ok();
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TASK.spawn(create);
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hprintln!("foo spawn task").ok();
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TASK.spawn(|| create(mem::transmute(cx)));
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}
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_ => {}
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};
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hprintln!("poll").ok();
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hprintln!("foo trampoline poll").ok();
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TASK.poll(|| {});
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match TASK {
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Task::Done(ref r) => {
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hprintln!("done").ok();
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hprintln!("r = {:?}", mem::transmute::<_, &u32>(r)).ok();
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hprintln!("foo trampoline done").ok();
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// hprintln!("r = {:?}", mem::transmute::<_, &u32>(r)).ok();
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}
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_ => {
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hprintln!("running").ok();
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hprintln!("foo trampoline running").ok();
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}
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}
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}
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// END BOILERPLATE
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async fn task() -> u32 {
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hprintln!("foo1").ok();
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// let a: u32 = bar::spawn().await;
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// hprintln!("foo2 {}", a).ok();
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5
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async fn task(mut cx: foo::Context<'static>) {
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hprintln!("foo task").ok();
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hprintln!("delay long time").ok();
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let fut = cx.resources.syst.lock(|syst| timer_delay(syst, 5000000));
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hprintln!("we have just created the future");
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fut.await; // this calls poll on the timer future
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hprintln!("foo task resumed").ok();
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hprintln!("delay short time").ok();
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cx.resources
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.syst
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.lock(|syst| timer_delay(syst, 1000000))
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.await;
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hprintln!("foo task resumed").ok();
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}
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}
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#[task(resources = [syst, waker])]
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fn timer(cx: timer::Context<'static>, ticks: u32) {
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// BEGIN BOILERPLATE
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type F = impl Future + 'static;
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fn create(cx: timer::Context<'static>, ticks: u32) -> F {
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task(cx, ticks)
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}
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static mut TASK: Task<F> = Task::new();
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hprintln!("timer trampoline").ok();
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unsafe {
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match TASK {
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Task::Idle | Task::Done(_) => {
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hprintln!("create task").ok();
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TASK.spawn(|| create(mem::transmute(cx), ticks));
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}
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_ => {}
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};
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hprintln!("timer poll").ok();
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TASK.poll(|| {});
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match TASK {
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Task::Done(_) => {
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hprintln!("timer done").ok();
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}
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_ => {
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hprintln!("running").ok();
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}
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}
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}
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// END BOILERPLATE
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// for now assume this async task is done directly
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async fn task(mut cx: timer::Context<'static>, ticks: u32) {
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hprintln!("SysTick {:?}", ticks).ok();
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// let q = Q {};
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//q.await;
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// cx.resources.waker.lock(|w| *w = Some())
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}
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// static mut Q: Q<F1> =Q
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// struct Q {
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// Init
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// #[task(resources = [syst])]
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// fn timer(cx: timer::Context<'static>) {
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// // BEGIN BOILERPLATE
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// type F = impl Future + 'static;
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// fn create(cx: timer::Context<'static>) -> F {
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// task(cx)
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// }
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// impl Future for Q {
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// type Output = ();
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// static mut TASK: Task<F> = Task::new();
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// fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
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// // you get the waker in cx.waker()
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// hprintln!("timer trampoline").ok();
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// unsafe {
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// match TASK {
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// Task::Idle | Task::Done(_) => {
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// hprintln!("create task").ok();
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// TASK.spawn(|| create(mem::transmute(cx)));
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// }
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// _ => {}
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// };
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// hprintln!("timer poll").ok();
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// Poll::Pending
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// TASK.poll(|| {});
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// match TASK {
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// Task::Done(_) => {
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// hprintln!("timer done").ok();
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// }
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// _ => {
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// hprintln!("running").ok();
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// }
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// }
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// }
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// // END BOILERPLATE
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// // for now assume this async task is done directly
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// async fn task(mut cx: timer::Context<'static>) {
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// hprintln!("SysTick").ok();
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// Timer::delay(100000).await;
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// // cx.resources.waker.lock(|w| *w = Some())
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// }
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// }
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}
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// This the actual RTIC task, binds to systic.
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#[task(binds = SysTick, resources = [waker], priority = 2)]
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#[task(binds = SysTick, resources = [], priority = 2)]
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fn systic(mut cx: systic::Context) {
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hprintln!("waker {}", cx.resources.waker.lock(|w| w.is_some())).ok();
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hprintln!("systic interrupt").ok();
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crate::app::foo::spawn(); // this should be from a Queue later
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}
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}
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@ -214,40 +204,41 @@ impl<F: Future + 'static> Task<F> {
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Task::Done(_) => {}
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}
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}
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unsafe fn get_waker(&mut self, wake: fn()) -> Waker {
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match self {
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Task::Running(future) => {
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let future = Pin::new_unchecked(future);
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let waker_data: *const () = mem::transmute(wake);
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let waker = Waker::from_raw(RawWaker::new(waker_data, &WAKER_VTABLE));
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waker
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}
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_ => unreachable!(),
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}
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}
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}
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//=============
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// Yield
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// Timer
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// Later we want a proper queue
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struct Yield {
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done: bool,
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use heapless;
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pub struct Timer {
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pub done: bool,
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// pub waker_task: Option<fn() -> Result<(), ()>>,
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}
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impl Future for Yield {
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type Output = u32;
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impl Future for Timer {
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type Output = ();
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fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
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if self.done {
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Poll::Ready(73)
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Poll::Ready(())
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} else {
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hprintln!("timer polled");
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cx.waker().wake_by_ref();
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hprintln!("after wake_by_ref");
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self.done = true;
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Poll::Pending
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}
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}
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}
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fn please_yield() -> Yield {
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Yield { done: false }
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fn timer_delay(syst: &mut cortex_m::peripheral::SYST, t: u32) -> Timer {
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hprintln!("timer_delay {}", t);
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syst.set_reload(t);
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syst.enable_counter();
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syst.enable_interrupt();
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Timer {
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done: false,
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// waker_task: Some(app::foo::spawn), // we should add waker field to async task context i RTIC
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}
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}
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