From 127ce6a217bc611dd382ef8ca02e03c4667bda0e Mon Sep 17 00:00:00 2001
From: Per Lindgren <per.lindgren@ltu.se>
Date: Sun, 2 Feb 2020 11:35:34 +0100
Subject: [PATCH] rtfm_schedule.rs
---
examples/rtfm_schedule.rs | 49 +++++++++++++++++++++++++++++++++++++++
1 file changed, 49 insertions(+)
create mode 100644 examples/rtfm_schedule.rs
diff --git a/examples/rtfm_schedule.rs b/examples/rtfm_schedule.rs
new file mode 100644
index 0000000..587b9c0
--- /dev/null
+++ b/examples/rtfm_schedule.rs
@@ -0,0 +1,49 @@
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use cortex_m::peripheral::DWT;
+use cortex_m_semihosting::hprintln;
+use panic_halt as _;
+use rtfm::cyccnt::{Instant, U32Ext as _};
+
+#[rtfm::app(device = stm32f4xx_hal::stm32, monotonic = rtfm::cyccnt::CYCCNT)]
+const APP: () = {
+ #[init(schedule = [foo, bar])]
+ fn init(cx: init::Context) {
+ let mut core = cx.core;
+
+ // Initialize (enable) the monotonic timer (CYCCNT)
+ core.DCB.enable_trace();
+ // required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7)
+ DWT::unlock();
+ core.DWT.enable_cycle_counter();
+
+ // semantically, the monotonic timer is frozen at time "zero" during `init`
+ // NOTE do *not* call `Instant::now` in this context; it will return a nonsense value
+ let now = cx.start; // the start time of the system
+
+ hprintln!("init @ {:?}", now).unwrap();
+
+ // Schedule `foo` to run 8e6 cycles (clock cycles) in the future
+ cx.schedule.foo(now + 8_000_000.cycles()).unwrap();
+
+ // Schedule `bar` to run 4e6 cycles in the future
+ cx.schedule.bar(now + 4_000_000.cycles()).unwrap();
+ }
+
+ #[task]
+ fn foo(_: foo::Context) {
+ hprintln!("foo @ {:?}", Instant::now()).unwrap();
+ }
+
+ #[task]
+ fn bar(_: bar::Context) {
+ hprintln!("bar @ {:?}", Instant::now()).unwrap();
+ }
+
+ extern "C" {
+ fn EXTI0();
+ }
+};
--
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