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https://github.com/rtic-rs/rtic.git
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97 lines
2.6 KiB
Rust
97 lines
2.6 KiB
Rust
//! An application with one task
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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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extern crate cortex_m;
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extern crate cortex_m_rtfm as rtfm;
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extern crate stm32f103xx;
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use cortex_m::peripheral::syst::SystClkSource;
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use rtfm::{app, Threshold};
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use stm32f103xx::GPIOC;
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app! {
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device: stm32f103xx,
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// Here data resources are declared
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//
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// Data resources are static variables that are safe to share across tasks
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resources: {
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// Declaration of resources looks exactly like declaration of static
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// variables
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static ON: bool = false;
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},
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// Here tasks are declared
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//
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// Each task corresponds to an interrupt or an exception. Every time the
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// interrupt or exception becomes *pending* the corresponding task handler
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// will be executed.
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tasks: {
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// Here we declare that we'll use the SYS_TICK exception as a task
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SYS_TICK: {
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// Path to the task handler
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path: sys_tick,
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// These are the resources this task has access to.
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//
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// The resources listed here must also appear in `app.resources`
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resources: [ON],
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},
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}
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}
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fn init(p: init::Peripherals, r: init::Resources) {
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// `init` can modify all the `resources` declared in `app!`
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r.ON;
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// power on GPIOC
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p.device.RCC.apb2enr.modify(|_, w| w.iopcen().enabled());
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// configure PC13 as output
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p.device.GPIOC.bsrr.write(|w| w.bs13().set());
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p.device
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.GPIOC
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.crh
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.modify(|_, w| w.mode13().output().cnf13().push());
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// configure the system timer to generate one interrupt every second
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p.core.SYST.set_clock_source(SystClkSource::Core);
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p.core.SYST.set_reload(8_000_000); // 1s
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p.core.SYST.enable_interrupt();
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p.core.SYST.enable_counter();
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}
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fn idle() -> ! {
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loop {
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rtfm::wfi();
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}
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}
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// This is the task handler of the SYS_TICK exception
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//
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// `_t` is the preemption threshold token. We won't use it in this program.
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//
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// `r` is the set of resources this task has access to. `SYS_TICK::Resources`
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// has one field per resource declared in `app!`.
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#[allow(unsafe_code)]
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fn sys_tick(_t: &mut Threshold, mut r: SYS_TICK::Resources) {
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// toggle state
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*r.ON = !*r.ON;
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if *r.ON {
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// set the pin PC13 high
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// NOTE(unsafe) atomic write to a stateless register
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unsafe {
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(*GPIOC::ptr()).bsrr.write(|w| w.bs13().set());
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}
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} else {
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// set the pin PC13 low
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// NOTE(unsafe) atomic write to a stateless register
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unsafe {
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(*GPIOC::ptr()).bsrr.write(|w| w.br13().reset());
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}
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}
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}
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