Updated the delays to make it fit in the schedueling

examples/timing_exam.rs

@@ -41,18 +41,18 @@ const APP: () = {
     #[task(schedule = [t1], priority = 1)]
     fn t1(cx: t1::Context) {
         //let start = Instant::now();
-        asm::bkpt();
+        asm::bkpt(); //=> 100171            t1,t2 running: 100_199
         cx.schedule.t1(cx.scheduled + 100_000.cycles()).unwrap();
-        asm::bkpt();
+        asm::bkpt(); //=> 100350
 
         // emulates timing behavior of t1
-        cortex_m::asm::delay(10_000);
+        cortex_m::asm::delay(9_631); // 10_000 - 171 (context switch) - 179 (re-schedule) - 19 (rest of task code)
 
-        asm::bkpt();
+        asm::bkpt(); //=> 110353
         // 2) your code here to update T1_MAX_RP and
         // break if deadline missed
         let resp: u32= cx.scheduled.elapsed().as_cycles();
-        asm::bkpt();
+        asm::bkpt(); //=> 110362
         if  resp > 100_000 {
             //panic!();
             asm::bkpt();
@@ -62,7 +62,7 @@ const APP: () = {
                 T1_MAX_RP = resp;
             }
         }
-        asm::bkpt();
+        asm::bkpt(); //=> 110369
     }
 
     // Deadline 200, Inter-arrival 200
@@ -71,22 +71,24 @@ const APP: () = {
     fn t2(mut cx: t2::Context) {
         //let start = Instant::now();
 
-        asm::bkpt();
+        asm::bkpt(); //=> 200_183           t1,t2 rinning: 200_219
         cx.schedule.t2(cx.scheduled + 200_000.cycles()).unwrap();
-        asm::bkpt();
+        asm::bkpt(); //=> 200_368
 
         // 1) your code here to emulate timing behavior of t2
 
         // == Begin trace ==
-        asm::delay(10_000);
+        asm::delay(9_550); // 10_000 - 183 (context switch) - 75 (preemtion time, calc from t3) - 185 (re-schedual) - 7 (other)
         //  R1 : claim
         asm::delay(2_000);
         // R2 : claim
+        asm::bkpt(); //=> 212_375
         cx.resources.R2.lock(|r2| {
             *r2 = 1338;
-            asm::delay(4_000);
+            asm::delay(3_972); //=> 4_000 critical section - 29 (lock semantics + )
             *r2 = 1668;
         });
+        asm::bkpt(); //=> 216_406
         // R2 : release
         asm::delay(4_000);
         // R1 : release
@@ -94,7 +96,7 @@ const APP: () = {
         // R1 : claim
         asm::delay(6_000);
         // R1 : release
-        asm::delay(2_000);
+        asm::delay(1_968); //=> last 2_000 - 32 (rest of the task code)
         // == End trace ==
 
         asm::bkpt();
@@ -110,7 +112,7 @@ const APP: () = {
                 T2_MAX_RP = resp;
             }
         }
-        asm::bkpt();
+        asm::bkpt(); //=> 230_438 ----> 230_001
     }
 
     // Deadline 50, Inter-arrival 50
@@ -118,9 +120,9 @@ const APP: () = {
     #[task(schedule = [t3], resources = [R2], priority = 3)]
     fn t3(cx: t3::Context) {
         //let start = Instant::now();
-        asm::bkpt();
+        asm::bkpt(); // 50_174       all running: 50249
         cx.schedule.t3(cx.scheduled + 50_000.cycles()).unwrap();
-        asm::bkpt();
+        asm::bkpt(); // 50_272
 
         // 1) your code here to emulate timing behavior of t3
 
@@ -130,10 +132,10 @@ const APP: () = {
         *cx.resources.R2 = 1337;
         asm::delay(10_000);
         // R2 : release
-        asm::delay(10_000);
+        asm::delay(9_617); // 10_000 - 98 (re-scheduling) - 174 (context switching, one task) - 75 (preemption check, all tasks) - 36 (rest of the task code)
         // == End trace ==
 
-        asm::bkpt();
+        asm::bkpt(); // => 80290
         // 2) your code here to update T3_MAX_RP and
         // break if deadline missed
         let resp: u32= cx.scheduled.elapsed().as_cycles();
@@ -146,7 +148,7 @@ const APP: () = {
                 T3_MAX_RP = resp;
             }
         }
-        asm::bkpt();
+        asm::bkpt(); // => 80_308 ----> 79_999
     }
 
     // RTIC requires that unused interrupts are declared in an extern block when