mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-11-23 20:22:51 +01:00
115 lines
2 KiB
Rust
115 lines
2 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(st=8000000, now=8000180)
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// a(st=16000000, now=16000180)
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//
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// ## -O3
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//
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// a(st=8000000, now=8000168)
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// a(st=16000000, now=16000168)
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//
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// # Indices (new)
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//
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// 32 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(st=8000000, now=8000176)
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// a(st=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(st=0, now=68)
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// a(st=8000000, now=8000165)
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// a(st=16000000, now=16000165)
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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_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 panic_itm;
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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 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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init: {
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schedule_now: [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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schedule_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.tasks.a.schedule_now(&mut ctxt.priority).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 st = ctxt.scheduled_time;
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let itm = ctxt.resources.ITM;
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iprintln!(&mut itm.stim[0], "a(st={}, now={})", st, now);
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ctxt.tasks.a.schedule_after(&mut ctxt.priority, 1 * S).ok();
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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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