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55083fb3cc
736: More `xtasks` and add examples to `rtic` repo r=korken89 a=datdenkikniet This was in #732 before, but decluttering that PR seemed sensible Co-authored-by: datdenkikniet <jcdra1@gmail.com>
93 lines
2.9 KiB
Rust
93 lines
2.9 KiB
Rust
//! In-tree implementations of the [`rtic_time::Monotonic`] (reexported) trait for
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//! timers & clocks found on commonly used microcontrollers.
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//!
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//! To enable the implementations, you must enable a feature for the specific MCU you're targeting.
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//!
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//! # Cortex-M Systick
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//! The [`systick`] monotonic works on all cortex-M parts, and requires that the feature `cortex-m-systick` is enabled.
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//!
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//! # RP2040
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//! The RP2040 monotonics require that the `rp2040` feature is enabled.
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//!
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//! # nRF
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//! nRF monotonics require that one of the available `nrf52*` features is enabled.
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//!
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//! All implementations of timers for the nRF52 family are documented here. Monotonics that
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//! are not available on all parts in this family will have an `Available on crate features X only`
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//! tag, describing what parts _do_ support that monotonic. Monotonics without an
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//! `Available on crate features X only` tag are available on any `nrf52*` feature.
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//!
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// To build these docs correctly:
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// RUSTFLAGS="--cfg docsrs" cargo doc --featuers cortex-m-systick,rp2040,nrf52840
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#![no_std]
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#![deny(missing_docs)]
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#![allow(incomplete_features)]
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#![feature(async_fn_in_trait)]
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#![cfg_attr(docsrs, feature(doc_cfg))]
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pub use rtic_time::{Monotonic, TimeoutError, TimerQueue};
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#[cfg(feature = "cortex-m-systick")]
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pub mod systick;
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#[cfg(feature = "rp2040")]
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pub mod rp2040;
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#[cfg(any(
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feature = "nrf52810",
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feature = "nrf52811",
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feature = "nrf52832",
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feature = "nrf52833",
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feature = "nrf52840",
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feature = "nrf5340-app",
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feature = "nrf5340-net",
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feature = "nrf9160",
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))]
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pub mod nrf;
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#[allow(dead_code)]
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pub(crate) const fn cortex_logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
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((1 << nvic_prio_bits) - logical) << (8 - nvic_prio_bits)
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}
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#[cfg(any(
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feature = "rp2040",
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feature = "nrf52810",
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feature = "nrf52811",
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feature = "nrf52832",
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feature = "nrf52833",
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feature = "nrf52840",
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feature = "nrf5340-app",
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feature = "nrf5340-net",
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feature = "nrf9160",
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))]
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pub(crate) unsafe fn set_monotonic_prio(
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prio_bits: u8,
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interrupt: impl cortex_m::interrupt::InterruptNumber,
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) {
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extern "C" {
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static RTIC_ASYNC_MAX_LOGICAL_PRIO: u8;
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}
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let max_prio = RTIC_ASYNC_MAX_LOGICAL_PRIO.max(1).min(1 << prio_bits);
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let hw_prio = crate::cortex_logical2hw(max_prio, prio_bits);
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// We take ownership of the entire IRQ and all settings to it, we only change settings
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// for the IRQ we control.
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// This will also compile-error in case the NVIC changes in size.
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let mut nvic: cortex_m::peripheral::NVIC = core::mem::transmute(());
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nvic.set_priority(interrupt, hw_prio);
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}
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/// This marker is implemented on an interrupt token to enforce that the right tokens
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/// are given to the correct monotonic implementation.
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///
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/// This trait is implemented by this crate and not intended for user implementation.
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///
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/// # Safety
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///
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/// This is only safely implemented by this crate.
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pub unsafe trait InterruptToken<Periperhal> {}
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