mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-11-23 20:22:51 +01:00
85 lines
1.6 KiB
Rust
85 lines
1.6 KiB
Rust
#![deny(warnings)]
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#![feature(proc_macro)]
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#![feature(proc_macro_gen)]
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#![no_main]
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#![no_std]
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#[macro_use]
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extern crate cortex_m;
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#[macro_use]
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extern crate cortex_m_rt as rt;
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extern crate cortex_m_rtfm as rtfm;
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extern crate panic_abort;
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extern crate stm32f103xx;
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use cortex_m::peripheral::{DWT, ITM};
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use rt::ExceptionFrame;
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use rtfm::app;
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app! {
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device: stm32f103xx,
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resources: {
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static ITM: ITM;
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},
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free_interrupts: [EXTI1],
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tasks: {
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exti0: {
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interrupt: EXTI0,
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schedule_after: [a],
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resources: [ITM],
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},
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a: {
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resources: [ITM],
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},
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},
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}
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const S: u32 = 8_000_000;
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#[inline(always)]
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fn init(ctxt: init::Context) -> init::LateResources {
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rtfm::_impl::trigger(stm32f103xx::Interrupt::EXTI0);
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init::LateResources { ITM: ctxt.core.ITM }
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}
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fn exti0(mut ctxt: exti0::Context) {
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let now = DWT::get_cycle_count();
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iprintln!(
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&mut ctxt.resources.ITM.stim[0],
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"exti0(st={}, now={})",
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ctxt.start_time,
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now
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);
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let t = &mut ctxt.priority;
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ctxt.tasks.a.schedule_after(t, 1 * S).ok();
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}
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fn a(ctxt: a::Context) {
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let now = DWT::get_cycle_count();
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iprintln!(
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&mut ctxt.resources.ITM.stim[0],
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"a(st={}, now={})",
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ctxt.scheduled_time,
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now
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);
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}
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exception!(HardFault, hard_fault);
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#[inline(always)]
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fn hard_fault(ef: &ExceptionFrame) -> ! {
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panic!("HardFault at {:#?}", ef);
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}
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exception!(*, default_handler);
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#[inline(always)]
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fn default_handler(irqn: i16) {
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panic!("Unhandled exception (IRQn = {})", irqn);
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}
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