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timing_task.rs

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  • Forked from Per Lindgren / rtic_f4xx_nucleo
    Source project has a limited visibility.
    generics.rs 1.42 KiB
    //! Working with resources in a generic fashion
    #![deny(unsafe_code)]
    #![deny(warnings)]
    #![feature(proc_macro)]
    #![no_std]
    
    extern crate cortex_m_rtfm as rtfm;
    extern crate stm32f103xx;
    
    use rtfm::{app, Resource, Threshold};
    use stm32f103xx::{SPI1, GPIOA};
    
    app! {
        device: stm32f103xx,
    
        resources: {
            static GPIOA: GPIOA;
            static SPI1: SPI1;
        },
    
        tasks: {
            EXTI0: {
                path: exti0,
                priority: 1,
                resources: [GPIOA, SPI1],
            },
    
            EXTI1: {
                path: exti1,
                priority: 2,
                resources: [GPIOA, SPI1],
            },
        },
    }
    
    fn init(p: init::Peripherals) -> init::LateResources {
        init::LateResources {
            GPIOA: p.device.GPIOA,
            SPI1: p.device.SPI1,
        }
    }
    
    fn idle() -> ! {
        loop {
            rtfm::wfi();
        }
    }
    
    // A generic function that uses some resources
    fn work<G, S>(t: &mut Threshold, gpioa: &G, spi1: &S)
    where
        G: Resource<Data = GPIOA>,
        S: Resource<Data = SPI1>,
    {
        gpioa.claim(t, |_gpioa, t| {
            // drive NSS low
    
            spi1.claim(t, |_spi1, _| {
                // transfer data
            });
    
            // drive NSS high
        });
    }
    
    // This task needs critical sections to access the resources
    fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
        work(t, &r.GPIOA, &r.SPI1);
    }
    
    // This task has direct access to the resources
    fn exti1(t: &mut Threshold, r: EXTI1::Resources) {
        work(t, r.GPIOA, r.SPI1);
    }