diff --git a/.vscode/launch.json b/.vscode/launch.json
index f6d7a6f0ec37caf6f926ac5b5f1fbb77402482de..a62f4159db5499f3a14fb05e10ad9adbc1bf8208 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -160,6 +160,36 @@
],
"cwd": "${workspaceRoot}"
},
+ {
+ "type": "cortex-debug",
+ "request": "launch",
+ "servertype": "openocd",
+ "name": "app6 (debug)",
+ "preLaunchTask": "cargo build --example app6",
+ "executable": "./target/thumbv7em-none-eabihf/debug/examples/app6",
+ "configFiles": [
+ "./openocd_jlink.cfg",
+ ],
+ "postLaunchCommands": [
+ "monitor arm semihosting enable"
+ ],
+ "cwd": "${workspaceRoot}"
+ },
+ {
+ "type": "cortex-debug",
+ "request": "launch",
+ "servertype": "openocd",
+ "name": "app7 (debug)",
+ "preLaunchTask": "cargo build --example app7",
+ "executable": "./target/thumbv7em-none-eabihf/debug/examples/app7",
+ "configFiles": [
+ "./openocd_jlink.cfg",
+ ],
+ "postLaunchCommands": [
+ "monitor arm semihosting enable"
+ ],
+ "cwd": "${workspaceRoot}"
+ },
{
"type": "cortex-debug",
"request": "launch",
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index fd89034a8a515faca68392e77a4e8fd9df45e841..aafbd056b2c024aeec2bf0d6b196e5d0f87f6fd4 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -123,6 +123,54 @@
"isDefault": true
}
},
+ {
+ "type": "shell",
+ "label": "cargo build --example app6",
+ "command": "cargo build --example app6 --features timer-queue",
+ "problemMatcher": [
+ "$rustc"
+ ],
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ }
+ },
+ {
+ "type": "shell",
+ "label": "cargo build --example app7",
+ "command": "cargo build --example app7 --features timer-queue",
+ "problemMatcher": [
+ "$rustc"
+ ],
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ }
+ },
+ {
+ "type": "shell",
+ "label": "cargo build --example app8",
+ "command": "cargo build --example app8 --features timer-queue",
+ "problemMatcher": [
+ "$rustc"
+ ],
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ }
+ },
+ {
+ "type": "shell",
+ "label": "cargo build --example app9",
+ "command": "cargo build --example app9 --features timer-queue",
+ "problemMatcher": [
+ "$rustc"
+ ],
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ }
+ },
{
"type": "shell",
"label": "cargo build --example panic",
diff --git a/Cargo.toml b/Cargo.toml
index 77c34e60231e497ea563c6389f5147e196655253..2eaeae29e6b729e6cf07dd46dd2e8bc889c262ed 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -5,10 +5,6 @@ readme = "README.md"
name = "app"
version = "0.1.0"
-# [patch.crates-io]
-# # stm32f4xx-hal = { path = "../stm32f4xx-hal" }
-# stm32fxx-hal = {git = "https://github.com/stm32-rs/stm32f4xx-hal.git" }
-
[dependencies]
cortex-m-rt = "0.6.8"
cortex-m-semihosting = "0.3.2"
@@ -27,11 +23,8 @@ embedded-hal = "0.2.2"
[dependencies.nrf52832-hal]
version = "0.7.0"
-
-
[dependencies.cortex-m-rtfm]
-version = "0.4.1"
-# optional = true
+version = "0.4.2"
[dependencies.cortex-m]
version = "0.6.0"
@@ -53,17 +46,17 @@ version = "0.6.0"
# features = ["stm32f413", "rt"]
# optional = true
-# [features]
+[features]
# pac = ["stm32f4"]
# hal = ["stm32f4xx-hal"]
# rtfm = ["cortex-m-rtfm"]
-# rtfm-tq = ["cortex-m-rtfm/timer-queue"]
+timer-queue = ["cortex-m-rtfm/timer-queue"]
-# this lets you use `cargo fix`!
-[[bin]]
-name = "app"
-test = false
-bench = false
+# # this lets you use `cargo fix`!
+# [[bin]]
+# name = "app"
+# test = false
+# bench = false
[profile.release]
incremental = false # disable incremental build to allow lto on nightly
diff --git a/examples/app2.rs b/examples/app2.rs
index 44f18c6a3159ab535b0ea5d7729d3b7f71bfb64f..150fafdcf6ff5871b6fbdb826c3c87474d5be87e 100644
--- a/examples/app2.rs
+++ b/examples/app2.rs
@@ -39,8 +39,7 @@ const APP: () = {
hprintln!("SWI0_EGU0 end").unwrap();
}
- #[interrupt(priority = 2,
- resources = [SHARED])]
+ #[interrupt(priority = 2, resources = [SHARED])]
fn SWI1_EGU1() {
hprintln!("SWI1_EGU1").unwrap();
*resources.SHARED += 1;
diff --git a/examples/app4.rs b/examples/app4.rs
index 398d1627c5b7764e4c15fc72bc8f05e56a6f7031..32c062aea39e432065e61d83e05f258153bbd425 100644
--- a/examples/app4.rs
+++ b/examples/app4.rs
@@ -37,8 +37,6 @@ const APP: () = {
loop {
if let Some(data) = resources.C.dequeue() {
hprintln!("received message: {}", data).unwrap();
-
-
} else {
rtfm::pend(interrupt::SWI0_EGU0);
}
@@ -47,7 +45,7 @@ const APP: () = {
#[interrupt(resources = [P])]
fn SWI0_EGU0() {
- static mut NUMBER : u32 = 0;
+ static mut NUMBER: u32 = 0;
hprintln!("SWI0_EGU0: {}", NUMBER).unwrap();
resources.P.enqueue(*NUMBER).unwrap();
*NUMBER += 1;
diff --git a/examples/app5.rs b/examples/app5.rs
index 0a5ba5a177ff4d427c016b600c43c30fed1537af..3b2b10e041d333d20c21d833a5f5ef70785c1c03 100644
--- a/examples/app5.rs
+++ b/examples/app5.rs
@@ -19,18 +19,17 @@ use hal::prelude::GpioExt;
const APP: () = {
// Late resources
static mut LED: P0_14<gpio::Output<PushPull>> = ();
-
+
#[init]
fn init() -> init::LateResources {
- hprintln!("init").unwrap();
+ hprintln!("init").unwrap();
let port0 = device.P0.split();
let led = port0.p0_14.into_push_pull_output(Level::High);
- init::LateResources { LED : led }
+ init::LateResources { LED: led }
}
#[idle(resources = [LED])]
fn idle() -> ! {
-
let led = resources.LED;
loop {
hprintln!("low").unwrap();
diff --git a/examples/app6.rs b/examples/app6.rs
index 8a4ab77f9da54b8bc01eb220f50959ef58133289..69263c93e481266c927b87c6a4a9d5a6a411c20f 100644
--- a/examples/app6.rs
+++ b/examples/app6.rs
@@ -13,37 +13,33 @@ use hal::gpio::Level;
use hal::gpio::*;
use hal::prelude::GpioExt;
-const PERIOD : u32 = 64_000_000;
+const PERIOD: u32 = 64_000_000;
#[app(device = crate::hal::target)]
const APP: () = {
// Late resources
static mut LED: P0_14<gpio::Output<PushPull>> = ();
-
+
#[init(spawn = [low])]
fn init() -> init::LateResources {
- hprintln!("init").unwrap();
+ hprintln!("init").unwrap();
let port0 = device.P0.split();
let led = port0.p0_14.into_push_pull_output(Level::High);
spawn.low().unwrap();
- init::LateResources { LED : led }
+ init::LateResources { LED: led }
}
#[task(schedule = [high], resources = [LED])]
fn low() {
- resources.LED.set_low();
+ resources.LED.set_low();
- schedule.high(
- scheduled + PERIOD.cycles()
- ).unwrap();
+ schedule.high(scheduled + PERIOD.cycles()).unwrap();
}
#[task(schedule = [low], resources = [LED])]
fn high() {
- resources.LED.set_high();
- schedule.low(
- scheduled + PERIOD.cycles()
- ).unwrap();
+ resources.LED.set_high();
+ schedule.low(scheduled + PERIOD.cycles()).unwrap();
}
extern "C" {
diff --git a/examples/app7.rs b/examples/app7.rs
index 691656f27c8d88be2a770d7879f1716b7f10c76b..061258b3afcddee0a1992979bf2a0bf9cf25f2eb 100644
--- a/examples/app7.rs
+++ b/examples/app7.rs
@@ -13,37 +13,33 @@ use hal::gpio::Level;
use hal::gpio::*;
use hal::prelude::GpioExt;
-const PERIOD : u32 = 64_000_000;
+const PERIOD: u32 = 64_000_000;
#[app(device = crate::hal::target)]
const APP: () = {
// Late resources
static mut LED: P0_14<gpio::Output<PushPull>> = ();
-
+
#[init(spawn = [low])]
fn init() -> init::LateResources {
- hprintln!("init").unwrap();
+ hprintln!("init").unwrap();
let port0 = device.P0.split();
let led = port0.p0_14.into_push_pull_output(Level::High);
spawn.low().unwrap();
- init::LateResources { LED : led }
+ init::LateResources { LED: led }
}
#[task(schedule = [high], resources = [LED])]
fn low() {
- toggler(resources.LED, false);
+ toggler(resources.LED, false);
- schedule.high(
- scheduled + PERIOD.cycles()
- ).unwrap();
+ schedule.high(scheduled + PERIOD.cycles()).unwrap();
}
#[task(schedule = [low], resources = [LED])]
fn high() {
- toggler(resources.LED, true);
- schedule.low(
- scheduled + PERIOD.cycles()
- ).unwrap();
+ toggler(resources.LED, true);
+ schedule.low(scheduled + PERIOD.cycles()).unwrap();
}
extern "C" {
@@ -52,7 +48,7 @@ const APP: () = {
};
// Arument is Exclusive access to a specific pin
-fn toggler(mut led : Exclusive<P0_14<Output<PushPull>>>, state : bool ) {
+fn toggler(mut led: Exclusive<P0_14<Output<PushPull>>>, state: bool) {
if state {
led.set_high();
} else {
diff --git a/examples/app8.rs b/examples/app8.rs
index 60ccc1639cccecf1d69584aa80d52316c68829c9..4edfcd51bafcf6c19e24728906c87b7d50693dfa 100644
--- a/examples/app8.rs
+++ b/examples/app8.rs
@@ -4,7 +4,7 @@ use cortex_m_semihosting::hprintln;
use nrf52832_hal as hal;
#[allow(unused_imports)]
use panic_semihosting;
-use rtfm::{app};
+use rtfm::app;
use embedded_hal::digital::OutputPin;
use hal::gpio;
@@ -13,38 +13,34 @@ use hal::gpio::Level;
use hal::gpio::*;
use hal::prelude::GpioExt;
-const PERIOD : u32 = 64_000_000;
+const PERIOD: u32 = 64_000_000;
#[app(device = crate::hal::target)]
const APP: () = {
// Late resources
// static mut LED: OutputPin = (); <= size not known
static mut LED: P0_14<gpio::Output<PushPull>> = ();
-
+
#[init(spawn = [low])]
fn init() -> init::LateResources {
- hprintln!("init").unwrap();
+ hprintln!("init").unwrap();
let port0 = device.P0.split();
let led = port0.p0_14.into_push_pull_output(Level::High);
spawn.low().unwrap();
- init::LateResources { LED : led }
+ init::LateResources { LED: led }
}
#[task(schedule = [high], resources = [LED])]
fn low() {
- toggler(&mut *resources.LED, false);
+ toggler(&mut *resources.LED, false);
- schedule.high(
- scheduled + PERIOD.cycles()
- ).unwrap();
+ schedule.high(scheduled + PERIOD.cycles()).unwrap();
}
#[task(schedule = [low], resources = [LED])]
fn high() {
- toggler(&mut *resources.LED, true);
- schedule.low(
- scheduled + PERIOD.cycles()
- ).unwrap();
+ toggler(&mut *resources.LED, true);
+ schedule.low(scheduled + PERIOD.cycles()).unwrap();
}
extern "C" {
@@ -52,11 +48,14 @@ const APP: () = {
}
};
-// Arument is an Output pin
-fn toggler(led : &mut OutputPin, state : bool ) {
+// Argument is a borrowed trait object
+fn toggler(led: &mut OutputPin, state: bool) {
if state {
led.set_high();
} else {
led.set_low();
}
-}
\ No newline at end of file
+}
+
+// The full type is ...
+// fn toggler(led : &mut dyn OutputPin, state : bool )
diff --git a/examples/app9.rs b/examples/app9.rs
index 51bfa2f5e5374f3cbda090379f376217db56c9ad..86822a614b87da8ef59349c7319a123e7f8d1628 100644
--- a/examples/app9.rs
+++ b/examples/app9.rs
@@ -4,7 +4,7 @@ use cortex_m_semihosting::hprintln;
use nrf52832_hal as hal;
#[allow(unused_imports)]
use panic_semihosting;
-use rtfm::{app};
+use rtfm::app;
use embedded_hal::digital::OutputPin;
use hal::gpio;
@@ -13,38 +13,42 @@ use hal::gpio::Level;
use hal::gpio::*;
use hal::prelude::GpioExt;
-const PERIOD : u32 = 64_000_000;
+const PERIOD: u32 = 64_000_000;
#[app(device = crate::hal::target)]
const APP: () = {
// Late resources
// static mut LED: OutputPin = (); <= size not known
- static mut LED: P0_14<gpio::Output<PushPull>> = ();
-
+ // So unfortunately we cannot use that
+ //
+ // static mut LED: impl OutputPin = (); <= impl not allowed here
+ // That may be possible in the future, hope so...
+ //
+ // In the meantime:
+ // We can use the type alias (defined in a library)
+ // to make it easier on the eye.
+ static mut LED: LED1 = ();
+
#[init(spawn = [low])]
fn init() -> init::LateResources {
- hprintln!("init").unwrap();
+ hprintln!("init").unwrap();
let port0 = device.P0.split();
let led = port0.p0_14.into_push_pull_output(Level::High);
spawn.low().unwrap();
- init::LateResources { LED : led }
+ init::LateResources { LED: led }
}
#[task(schedule = [high], resources = [LED])]
fn low() {
- toggler(&mut *resources.LED, false);
+ toggler(&mut *resources.LED, false);
- schedule.high(
- scheduled + PERIOD.cycles()
- ).unwrap();
+ schedule.high(scheduled + PERIOD.cycles()).unwrap();
}
#[task(schedule = [low], resources = [LED])]
fn high() {
- toggler(&mut *resources.LED, true);
- schedule.low(
- scheduled + PERIOD.cycles()
- ).unwrap();
+ toggler(&mut *resources.LED, true);
+ schedule.low(scheduled + PERIOD.cycles()).unwrap();
}
extern "C" {
@@ -52,11 +56,42 @@ const APP: () = {
}
};
-// Arument is an Output pin
-fn toggler(led : &mut impl OutputPin, state : bool ) {
+// toggler is generic over OutputPin implementers
+fn toggler(led: &mut impl OutputPin, state: bool) {
if state {
led.set_high();
} else {
led.set_low();
}
-}
\ No newline at end of file
+}
+
+// the full type is...
+// fn toggler<P>(led: &mut P, state: bool) where P: OutputPin
+//
+// Why is this important you may ask?
+// Well, the Rust compiler/LLVM is very good at momonorphing generics
+// while trait objects may be harder to optimize.
+// In certain cases, we need dynamic dispatch but in this case not.
+// So here (and similar cases) generics are preferrable.
+//
+// Thanks to Jorge Aparicio for pointing me in the right direction:)
+//
+// -----------------------------------------------------------------
+//
+// Define the type alias in the library
+type LED1 = P0_14<gpio::Output<PushPull>>;
+// Notice,
+// This is a poor mans solution, we cannot make resource
+// definitions type generic with concrete type inferred.
+//
+// This is not specific to RTFM but a rather a
+// shortcoming of the Rust type system, that requires
+// explicit types for statics. A possible workaround would
+// be to have a run once (at Init time) allocator.
+// Drawback is that LLVM would not be able to optimize out
+// the indirections, thus we stick with static allocation.
+//
+// Side note: The Timber language (a fore-runner to RTFM)
+// has a static heap collected after init (as above),
+// but Timber cannot compete with Rust-RTFM from a performance
+// perspektive.