eq implemented and tested

.vscode/.cortex-debug.peripherals.state.json

-[{"node":"UART9","expanded":true,"format":0},{"node":"USART2.SR","expanded":true,"format":0}]
\ No newline at end of file
+[]
\ No newline at end of file

.vscode/launch.json

@@ -733,5 +733,37 @@
             "svdFile": "STM32F413.svd",
             "cwd": "${workspaceRoot}"
         },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "servertype": "openocd",
+            "name": "equivalence (release)",
+            "preLaunchTask": "cargo build --example equivalence --release",
+            "executable": "./target/thumbv7em-none-eabihf/release/examples/equivalence",
+            "configFiles": [
+                "interface/stlink.cfg",
+                "target/stm32f4x.cfg"
+            ],
+            "swoConfig": {
+                "enabled": true,
+                "cpuFrequency": 16000000,
+                "swoFrequency": 2000000,
+                "source": "probe",
+                "decoders": [
+                    {
+                        "type": "console",
+                        "label": "ITM0",
+                        "port": 0
+                    },
+                    {
+                        "type": "console",
+                        "label": "ITM1",
+                        "port": 1
+                    }
+                ]
+            },
+            "svdFile": "STM32F413.svd",
+            "cwd": "${workspaceRoot}"
+        },
     ]
 }
\ No newline at end of file

examples/bare8.rs

@@ -11,7 +11,7 @@
 
 extern crate panic_halt;
 
-use cortex_m::iprintln;
+use cortex_m::{asm, iprintln};
 use nb::block;
 
 extern crate stm32f4xx_hal as hal;
@@ -44,6 +44,8 @@ const APP: () = {
         let tx = gpioa.pa2.into_alternate_af7();
         let rx = gpioa.pa3.into_alternate_af7(); // try comment out
 
+        asm::bkpt();
+
         let serial = Serial::usart2(
             device.USART2,
             (tx, rx),
@@ -72,6 +74,7 @@ const APP: () = {
             match block!(rx.read()) {
                 Ok(byte) => {
                     iprintln!(stim, "Ok {:?}", byte);
+                    test(byte);
                     let _ = tx.write(byte);
                 }
                 Err(err) => {
@@ -82,6 +85,13 @@ const APP: () = {
     }
 };
 
+#[inline(never)]
+fn test(byte: u8) {
+    unsafe {
+        core::ptr::read_volatile(&byte);
+    }
+}
+
 // 1. Compile and run the example.
 //    Verify that it has the same behavior as bare7.
 //

examples/equivalence.rs

@@ -12,17 +12,16 @@ extern crate panic_halt;
 use cortex_m::{asm, iprintln};
 
 extern crate stm32f4xx_hal as hal;
-// use stm32f4::stm32f413::GPIOA;
 use crate::hal::prelude::*;
 use crate::hal::serial::{self, config::Config, Rx, Serial, Tx};
-use hal::{gpio::Alternate, gpio::AF0, stm32::ITM};
-
-// use heapless::consts::*;
-// use heapless::spsc::{Consumer, Producer, Queue};
+use hal::{
+    gpio::{gpioa, Output, PushPull},
+    stm32::ITM,
+};
 
 use nb::block;
 
-use rtfm::{app, Instant};
+use rtfm::app;
 
 // Our error type
 #[derive(Debug)]
@@ -32,22 +31,30 @@ pub enum Error {
     UsartReceiveOverflow,
 }
 
-#[derive(Debug)]
-pub enum Event {
-    Timout,
-    ChannelA,
-    ChannelB,
-}
-
 #[derive(Debug, Copy, Clone)]
 pub struct Data {
     a: bool,
     b: bool,
-    event_counter: u32,
-    out: bool,
 }
 
-const TIMEOUT: u32 = 16_000_000;
+#[derive(Debug, Copy, Clone, PartialEq)]
+pub enum State {
+    S8000,
+    S8001,
+    S8004,
+    S8014,
+    S8005,
+    C001,
+    C002,
+    C003,
+}
+
+use State::*;
+
+const PERIOD: u32 = 16_000_000;
+const DISCREPENCY: u32 = 10;
+const T: bool = true;
+const F: bool = false;
 
 #[app(device = hal::stm32)]
 const APP: () = {
@@ -55,26 +62,15 @@ const APP: () = {
     static mut TX: Tx<hal::stm32::USART2> = ();
     static mut RX: Rx<hal::stm32::USART2> = ();
     static mut ITM: ITM = ();
-    static mut LED: hal::gpio::gpioa::PA5<Alternate<AF0>> = ();
-
-    // app resources
-    static mut DATA: Data = Data {
-        a: false,
-        b: false,
-        event_counter: 0,
-        out: false,
-    };
+    static mut LED: gpioa::PA5<Output<PushPull>> = ();
+
+    static mut DATA: Data = Data { a: F, b: F };
 
     // init runs in an interrupt free section>
-    #[init]
+    #[init(resources = [DATA], schedule = [periodic])]
     fn init() {
         let stim = &mut core.ITM.stim[0];
-        iprintln!(stim, "start");
-
-        // power on GPIOA, RM0368 6.3.11
-        device.RCC.ahb1enr.modify(|_, w| w.gpioaen().set_bit());
-        // configure PA5 as output, RM0368 8.4.1
-        device.GPIOA.moder.modify(|_, w| w.moder5().bits(1));
+        iprintln!(stim, "start: {:?}", resources.DATA);
 
         let rcc = device.RCC.constrain();
 
@@ -85,7 +81,7 @@ const APP: () = {
 
         let tx = gpioa.pa2.into_alternate_af7();
         let rx = gpioa.pa3.into_alternate_af7();
-        let led = gpioa.pa5.into_alternate_af0();
+        let led = gpioa.pa5.into_push_pull_output();
 
         let mut serial = Serial::usart2(
             device.USART2,
@@ -99,6 +95,8 @@ const APP: () = {
         serial.listen(serial::Event::Rxne);
         // Separate out the sender and receiver of the serial port
         let (tx, rx) = serial.split();
+        // Start periodic task
+        schedule.periodic(start).unwrap();
 
         // pass on late resources
         LED = led;
@@ -132,7 +130,7 @@ const APP: () = {
         iprintln!(stim, "{:?}", error);
     }
 
-    #[interrupt(priority = 3, resources = [RX], spawn = [trace_data, trace_error, echo])]
+    #[interrupt(priority = 2, resources = [RX], spawn = [trace_data, trace_error, echo])]
     fn USART2() {
         match resources.RX.read() {
             Ok(byte) => {
@@ -141,13 +139,11 @@ const APP: () = {
                     spawn.trace_error(Error::RingBufferOverflow).unwrap();
                 }
             }
-            Err(_err) => {
-                spawn.trace_error(Error::UsartReceiveOverflow).unwrap()
-            }
+            Err(_err) => spawn.trace_error(Error::UsartReceiveOverflow).unwrap(),
         }
     }
 
-    #[task(priority = 2, resources = [TX], spawn = [trace_error, event_a, event_b])]
+    #[task(priority = 1, resources = [TX, DATA], spawn = [trace_error])]
     fn echo(byte: u8) {
         let tx = resources.TX;
 
@@ -155,61 +151,101 @@ const APP: () = {
             spawn.trace_error(Error::UsartSendOverflow).unwrap();
         }
 
+        let mut data = resources.DATA;
+
         match byte {
-            b'a' => spawn.event_a(false).unwrap(),
-            b'b' => spawn.event_b(false).unwrap(),
-            b'A' => spawn.event_a(true).unwrap(),
-            b'B' => spawn.event_b(true).unwrap(),
+            b'a' => data.a = false,
+            b'b' => data.b = false,
+            b'A' => data.a = true,
+            b'B' => data.b = true,
             _ => (),
         }
     }
 
-    #[task(priority = 1, resources = [ITM, DATA], schedule = [discrepency])]
-    fn event_a(val: bool) {
+    #[task (priority = 1, resources = [LED, ITM, DATA], schedule = [periodic])]
+    fn periodic() {
+        // we start directly in the init state S80001
+        static mut STATE: State = State::S8001;
+        static mut TIMEOUT: u32 = 0;
+
         let stim = &mut resources.ITM.stim[0];
-        iprintln!(stim, "event a {}", val);
-
-        let data = &mut resources.DATA;
-        data.a = val;
-        // evaluate equivalenc.
-        data.event_counter += 1;
-        if data.a ^ data.b {
-            schedule
-                .discrepency(scheduled + TIMEOUT.cycles(), data.clone())
-                .unwrap();
-            data.out = false;
-            iprintln!(stim, "disc {:?}", data);
+        let data = resources.DATA;
+
+        iprintln!(stim, "Old State {:?}", STATE);
+        iprintln!(stim, "Timeout {:?}", TIMEOUT);
+        iprintln!(stim, "{:?}", data);
+
+        *STATE = match STATE {
+            S8000 => match (data.a, data.b) {
+                (F, F) => S8001,
+                (F, T) | (T, F) => {
+                    *TIMEOUT = DISCREPENCY;
+                    S8005
                 }
+                (T, T) => S8000,
+            },
+            S8001 => match (data.a, data.b) {
+                (F, F) => S8001,
+                (F, T) => {
+                    *TIMEOUT = DISCREPENCY;
+                    S8014
                 }
-
-    #[task(priority = 1, resources = [ITM, DATA], spawn = [discrepency])]
-    fn event_b(val: bool) {
-        let stim = &mut resources.ITM.stim[0];
-        iprintln!(stim, "event b {}", val);
-        //evaluate_equivalence(scheduled, &mut resources.DATA);
+                (T, F) => {
+                    *TIMEOUT = DISCREPENCY;
+                    S8004
                 }
-
-    #[task(priority = 1, resources = [ITM, DATA])]
-    fn discrepency(data: Data) {
-        let stim = &mut resources.ITM.stim[0];
-        iprintln!(stim, "a {} b {}", data.a, data.b);
-        if data.event_counter == resources.DATA.event_counter {
-            iprintln!(stim, "timeout");
-            // data.force_reinit =
+                (T, T) => S8000,
+            },
+            S8004 => {
+                *TIMEOUT -= 1;
+                match *TIMEOUT {
+                    0 => C001,
+                    _ => match (data.a, data.b) {
+                        (F, _) => S8001,
+                        (_, T) => S8000,
+                        _ => S8004,
+                    },
                 }
             }
+            S8014 => {
+                *TIMEOUT -= 1;
+                match *TIMEOUT {
+                    0 => C002,
+                    _ => match (data.a, data.b) {
+                        (_, F) => S8001,
+                        (T, _) => S8000,
+                        _ => S8014,
+                    },
+                }
+            }
+            S8005 => {
+                *TIMEOUT -= 1;
+                match *TIMEOUT {
+                    0 => C003,
+                    _ => match (data.a, data.b) {
+                        (F, F) => S8001,
+                        _ => S8005,
+                    },
+                }
+            }
+            C001 | C002 => match (data.a, data.b) {
+                (F, F) => S8001,
+                _ => C002,
+            },
+            C003 => match (data.a, data.b) {
+                (F, F) => S8001,
+                _ => C003,
+            },
+        };
+        iprintln!(stim, "New State {:?}\n", STATE);
 
-    #[task (priority = 1, resources = [LED])]
-    fn periodic() {
-        static mut TOGGLE: bool = false;
-
-        if *TOGGLE {
-            resources.LED.set_low();
-        } else {
+        if *STATE == S8000 {
             resources.LED.set_high();
+        } else {
+            resources.LED.set_low();
         }
 
-        *TOGGLE = !*TOGGLE;
+        schedule.periodic(scheduled + PERIOD.cycles()).unwrap();
     }
 
     extern "C" {

examples/marcus.rs

@@ -16,9 +16,6 @@ use crate::hal::prelude::*;
 use crate::hal::serial::{self, config::Config, Rx, Serial, Tx};
 use hal::stm32::ITM;
 
-// use heapless::consts::*;
-// use heapless::spsc::{Consumer, Producer, Queue};
-
 use nb::block;
 
 use rtfm::{app, Instant};
@@ -144,9 +141,7 @@ const APP: () = {
                     spawn.trace_error(Error::RingBufferOverflow).unwrap();
                 }
             }
-            Err(_err) => {
-                spawn.trace_error(Error::UsartReceiveOverflow).unwrap()
-            }
+            Err(_err) => spawn.trace_error(Error::UsartReceiveOverflow).unwrap(),
         }
     }
 
@@ -172,7 +167,6 @@ const APP: () = {
         let stim = &mut resources.ITM.stim[0];
         iprintln!(stim, "event a {}", val);
 
-
         let data = &mut resources.DATA;
         data.a = val;
         iprintln!(stim, "Start {:?}", data);