diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index db1e20156d78c951c233e3b80949689fa3b148f3..91ef4d541d9e9a738b6a348563d41ea7d3ded3a6 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -330,7 +330,7 @@
{
"type": "shell",
"label": "cargo build --example bare10 --release",
- "command": "cargo build --example bare10 --release --features \"hal rtfm\"",
+ "command": "cargo build --example bare10 --release --features \"hal rtfm rtfm-tq\"",
"problemMatcher": [
"$rustc"
],
diff --git a/examples/bare10.rs b/examples/bare10.rs
index 88532d5a72f100d8f7d4f0ef2ce46cbdd9a20bd2..fab8e4824eee8f578ad6d142dba76fdac592e06e 100644
--- a/examples/bare10.rs
+++ b/examples/bare10.rs
@@ -42,9 +42,9 @@ pub struct Cmd {
impl Cmd {
fn parse(&mut self, cmd_byte: [u8; 10], cmd_length: usize) {
- if cmd_byte.starts_with(&[b'o', b'n', b' ']) {
+ if cmd_byte.starts_with(&[b'o', b'n']) {
self.cmd_type = CmdType::On;
- self.half_period = freq_to_half_period(1);
+ self.half_period = Cmd::freq_to_half_period(1);
} else if cmd_byte.starts_with(&[b's', b'e', b't', b' ']) {
let mut tmp = 0;
for c in &cmd_byte[4..cmd_length] {
@@ -55,16 +55,16 @@ impl Cmd {
}
}
self.cmd_type = CmdType::Set;
- self.half_period = freq_to_half_period(tmp);
+ self.half_period = Cmd::freq_to_half_period(tmp);
} else {
self.cmd_type = CmdType::Off;
- self.half_period = freq_to_half_period(1);
+ self.half_period = Cmd::freq_to_half_period(1);
}
}
fn freq_to_half_period(freq: u32) -> u32 {
if freq == 0 {
- return 1;
+ return Cmd::freq_to_half_period(1);
} else {
return SYSTEM_CLOCK_FREQ / (2 * freq);
}
@@ -91,7 +91,7 @@ const APP: () = {
static mut CURRENT_CMD: Cmd = ();
// init runs in an interrupt free section>
- #[init]
+ #[init(spawn = [off])]
fn init() {
let stim = &mut core.ITM.stim[0];
iprintln!(stim, "bare10");
@@ -122,6 +122,7 @@ const APP: () = {
// Separate out the sender and receiver of the serial port
let (tx, rx) = serial.split();
+ let _ = spawn.off();
// Our split serial
TX = tx;
RX = rx;
@@ -131,7 +132,7 @@ const APP: () = {
IS_LED_ON = false;
CURRENT_CMD = Cmd {
cmd_type: CmdType::Off,
- frequency: 1,
+ half_period: Cmd::freq_to_half_period(1),
};
// CMD Interpretor
B = [0u8; 10];
@@ -149,7 +150,7 @@ const APP: () = {
}
}
- #[task(priority = 1, capacity = 10, resources = [IS_LED_ON, B, B_INDEX, CURRENT_CMD, ITM], spawn = [echo, on, off])]
+ #[task(priority = 1, capacity = 10, resources = [IS_LED_ON, B, B_INDEX, CURRENT_CMD, ITM], spawn = [on, off])]
fn cmd_interpretor(byte: u8) {
let is_led_on = *resources.IS_LED_ON;
let mut b = *resources.B;
@@ -185,29 +186,68 @@ const APP: () = {
iprintln!(stim, "IS_LED_ON: {:?}", is_led_on);
match cmd.cmd_type {
- CmdType::Off => iprintln!(stim, "CURRENT_CMD: off, {:?}", cmd.frequency),
- CmdType::On => iprintln!(stim, "CURRENT_CMD: on, {:?}", cmd.frequency),
- CmdType::Set => iprintln!(stim, "CURRENT_CMD: set, {:?}", cmd.frequency),
+ CmdType::Off => iprintln!(stim, "CURRENT_CMD: off, {:?}", cmd.half_period),
+ CmdType::On => iprintln!(stim, "CURRENT_CMD: on, {:?}", cmd.half_period),
+ CmdType::Set => iprintln!(stim, "CURRENT_CMD: set, {:?}", cmd.half_period),
}
-
- let _ = spawn.on();
*resources.B = b;
*resources.B_INDEX = b_i;
}
- #[task(priority = 1, schedule = [off], resources = [LED, IS_LED_ON])]
+ #[task(priority = 1, schedule = [off, on], resources = [CURRENT_CMD, LED, IS_LED_ON, ITM], spawn = [off])]
fn on() {
- if
- schedule.off(Instant::now + )
- resources.LED.set_high();
- *resources.IS_LED_ON = true;
+ let cmd = resources.CURRENT_CMD;
+ let stim = &mut resources.ITM.stim[0];
+ iprintln!(stim, "entered on: {:?}", scheduled);
+
+
+ match cmd.cmd_type {
+ CmdType::On => {
+ schedule.on(scheduled + (cmd.half_period).cycles());
+ if *resources.IS_LED_ON == false {
+ resources.LED.set_high();
+ *resources.IS_LED_ON = true;
+ }
+ },
+ CmdType::Off => {
+ let _ = spawn.off();
+ },
+ CmdType::Set => {
+ schedule.off(scheduled + (cmd.half_period).cycles());
+ if *resources.IS_LED_ON == false {
+ resources.LED.set_high();
+ *resources.IS_LED_ON = true;
+ }
+ },
+ }
}
- #[task(priority = 1, resources = [LED, IS_LED_ON])]
+ #[task(priority = 1, schedule = [off, on], resources = [CURRENT_CMD, LED, IS_LED_ON, ITM], spawn = [on])]
fn off() {
- resources.LED.set_low();
- *resources.IS_LED_ON = false;
+ let cmd = resources.CURRENT_CMD;
+ let stim = &mut resources.ITM.stim[0];
+ iprintln!(stim, "entered off: {:?}", scheduled);
+
+ match cmd.cmd_type {
+ CmdType::On => {
+ let _ = spawn.on();
+ },
+ CmdType::Off => {
+ schedule.off(scheduled + (cmd.half_period).cycles());
+ if *resources.IS_LED_ON == true {
+ resources.LED.set_low();
+ *resources.IS_LED_ON = false;
+ }
+ },
+ CmdType::Set => {
+ schedule.on(scheduled + (cmd.half_period).cycles());
+ if *resources.IS_LED_ON == true {
+ resources.LED.set_low();
+ *resources.IS_LED_ON = false;
+ }
+ },
+ }
}
#[task(priority = 1, resources = [ITM])]
@@ -216,15 +256,6 @@ const APP: () = {
iprintln!(stim, "{:?}", error);
}
- #[task(priority = 2, resources = [TX], spawn = [trace_error])]
- fn echo(byte: u8) {
- let tx = resources.TX;
-
- if block!(tx.write(byte)).is_err() {
- let _ = spawn.trace_error(Error::UsartSendOverflow);
- }
- }
-
#[interrupt(priority = 3, resources = [RX], spawn = [trace_error, cmd_interpretor])]
fn USART2() {
let rx = resources.RX;