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https://github.com/rtic-rs/rtic.git
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0cc456ba80
by storing indices (u8) in the queues instead of pointers (*mut u8) in the binary heap we store the baseline inline along with the index and the task name. Before we stored a pointer to the message and had to lookup the baseline when comparing two nodes in the heap.
95 lines
1.6 KiB
Rust
95 lines
1.6 KiB
Rust
// # Pointers (old)
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//
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// ~52~ 40 bytes .bss
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//
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// ## -Os
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//
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// init
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// a(bl=8000000, now=8000180)
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// a(bl=16000000, now=16000180)
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//
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// ## -O3
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//
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// a(bl=8000000, now=8000168)
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// a(bl=16000000, now=16000168)
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//
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// # Indices (new)
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//
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// 28 bytes .bss
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//
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// ## -Os
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//
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// init
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// a(bl=8000000, now=8000176)
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// a(bl=16000000, now=16000176)
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//
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// ## -O3
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//
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// init
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// a(bl=8000000, now=8000167)
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// a(bl=16000000, now=16000167)
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![feature(proc_macro)]
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#![no_std]
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#[macro_use]
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extern crate cortex_m;
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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::asm;
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use cortex_m::peripheral::{DWT, ITM};
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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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init: {
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async_after: [a],
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},
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free_interrupts: [EXTI0],
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tasks: {
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a: {
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async_after: [a],
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resources: [ITM],
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},
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},
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}
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const MS: u32 = 8_000;
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const S: u32 = 1_000 * MS;
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#[inline(always)]
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fn init(mut ctxt: init::Context) -> init::LateResources {
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iprintln!(&mut ctxt.core.ITM.stim[0], "init");
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ctxt.async.a.post(&mut ctxt.threshold, 1 * S, ()).ok();
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init::LateResources { ITM: ctxt.core.ITM }
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}
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#[inline(always)]
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fn idle(_ctxt: idle::Context) -> ! {
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loop {
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asm::wfi();
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}
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}
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fn a(mut ctxt: a::Context) {
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let now = DWT::get_cycle_count();
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let bl = ctxt.baseline;
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let itm = ctxt.resources.ITM;
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iprintln!(&mut itm.stim[0], "a(bl={}, now={})", bl, now);
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ctxt.async.a.post(&mut ctxt.threshold, 1 * S, ()).ok();
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}
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