Added support for SRP based scheduling for armv6m

examples/complex.rs

@@ -0,0 +1,132 @@
+//! examples/complex.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965)]
+mod app {
+
+    use cortex_m_semihosting::{debug, hprintln};
+    use lm3s6965::Interrupt;
+
+    #[shared]
+    struct Shared {
+        s2: u32, // shared with ceiling 2
+        s3: u32, // shared with ceiling 3
+        s4: u32, // shared with ceiling 4
+    }
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
+        hprintln!("init").unwrap();
+
+        (
+            Shared {
+                s2: 0,
+                s3: 0,
+                s4: 0,
+            },
+            Local {},
+            init::Monotonics(),
+        )
+    }
+
+    #[idle(shared = [s2, s3])]
+    fn idle(mut cx: idle::Context) -> ! {
+        hprintln!("idle p0 started").ok();
+        rtic::pend(Interrupt::GPIOC);
+        cx.shared.s3.lock(|s| {
+            hprintln!("idle enter lock s3 {}", s).ok();
+            hprintln!("idle pend t0").ok();
+            rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 3
+            hprintln!("idle pend t1").ok();
+            rtic::pend(Interrupt::GPIOB); // t1 p3, with shared ceiling 3
+            hprintln!("idle pend t2").ok();
+            rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
+            hprintln!("idle still in lock s3 {}", s).ok();
+        });
+        hprintln!("\nback in idle").ok();
+
+        cx.shared.s2.lock(|s| {
+            hprintln!("enter lock s2 {}", s).ok();
+            hprintln!("idle pend t0").ok();
+            rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 2
+            hprintln!("idle pend t1").ok();
+            rtic::pend(Interrupt::GPIOB); // t1 p3, no sharing
+            hprintln!("idle pend t2").ok();
+            rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
+            hprintln!("idle still in lock s2 {}", s).ok();
+        });
+        hprintln!("\nidle exit").ok();
+
+        debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
+
+        loop {
+            cortex_m::asm::nop();
+        }
+    }
+
+    #[task(binds = GPIOA, priority = 2, local = [times: u32 = 0], shared = [s2, s3])]
+    fn t0(cx: t0::Context) {
+        // Safe access to local `static mut` variable
+        *cx.local.times += 1;
+
+        hprintln!(
+            "t0 p2 called {} time{}",
+            *cx.local.times,
+            if *cx.local.times > 1 { "s" } else { "" }
+        )
+        .ok();
+        hprintln!("t0 p2 exit").ok();
+    }
+
+    #[task(binds = GPIOB, priority = 3, local = [times: u32 = 0], shared = [s3, s4])]
+    fn t1(mut cx: t1::Context) {
+        // Safe access to local `static mut` variable
+        *cx.local.times += 1;
+
+        hprintln!(
+            "t1 p3 called {} time{}",
+            *cx.local.times,
+            if *cx.local.times > 1 { "s" } else { "" }
+        )
+        .ok();
+
+        cx.shared.s4.lock(|s| {
+            hprintln!("t1 enter lock s4 {}", s).ok();
+            hprintln!("t1 pend t0").ok();
+            rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 2
+            hprintln!("t1 pend t2").ok();
+            rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
+            hprintln!("t1 still in lock s4 {}", s).ok();
+        });
+
+        hprintln!("t1 p3 exit").ok();
+    }
+
+    #[task(binds = GPIOC, priority = 4, local = [times: u32 = 0], shared = [s4])]
+    fn t2(mut cx: t2::Context) {
+        // Safe access to local `static mut` variable
+        *cx.local.times += 1;
+
+        hprintln!(
+            "t2 p4 called {} time{}",
+            *cx.local.times,
+            if *cx.local.times > 1 { "s" } else { "" }
+        )
+        .unwrap();
+
+        cx.shared.s4.lock(|s| {
+            hprintln!("enter lock s4 {}", s).ok();
+            *s += 1;
+        });
+        hprintln!("t3 p4 exit").ok();
+    }
+}