From 39e043b9e9301ea88f6b64f5d44bbed99a1cd65e Mon Sep 17 00:00:00 2001 From: Paul van Tilburg Date: Fri, 20 Dec 2019 12:40:38 +0100 Subject: [PATCH] Port example to RTFM version 0.5 See https://rtfm.rs/0.5/book/en/migration.html for the migration guide. Additional changes: * Turned all resources into snake case (as they are struct fields now) * Set up and enable the cycle counter (CYCCNT) for scheduling --- Cargo.toml | 3 +- src/main.rs | 161 ++++++++++++++++++++++++++++++---------------------- 2 files changed, 93 insertions(+), 71 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index 2cec2fb..6cbfb75 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -16,8 +16,7 @@ heapless = "0.4.2" panic-semihosting = "0.5.1" [dependencies.cortex-m-rtfm] -version = "0.4.2" -features = ["timer-queue"] +version = "0.5.0" [dependencies.hal] package = "stm32f4xx-hal" diff --git a/src/main.rs b/src/main.rs index a7f24f8..ae75b15 100644 --- a/src/main.rs +++ b/src/main.rs @@ -22,6 +22,7 @@ use heapless::{consts::U8, Vec}; #[cfg(not(test))] use panic_semihosting as _; use rtfm::app; +use rtfm::cyccnt::{Instant, U32Ext}; use stm32f4disc_demo::led_ring::LedRing; type Accelerometer = hal::spi::Spi; @@ -37,23 +38,29 @@ type UserButton = hal::gpio::gpioa::PA0>; /// The number of cycles between LED ring updates (used by tasks). const PERIOD: u32 = 8_000_000; -#[app(device = hal::stm32)] +#[app(device = hal::stm32, monotonic = rtfm::cyccnt::CYCCNT, peripherals = true)] const APP: () = { - static mut ACCEL: Accelerometer = (); - static mut ACCEL_CS: AccelerometerCs = (); - static mut BUFFER: Vec = (); - static mut BUTTON: UserButton = (); - static mut EXTI_CNTR: EXTI = (); - static mut LED_RING: LedRing = (); - static mut SERIAL_RX: SerialRx = (); - static mut SERIAL_TX: SerialTx = (); + struct Resources { + accel: Accelerometer, + accel_cs: AccelerometerCs, + buffer: Vec, + button: UserButton, + exit_cntr: EXTI, + led_ring: LedRing, + serial_rx: SerialRx, + serial_tx: SerialTx, + } /// Initializes the application by setting up the LED ring, user button, serial /// interface and accelerometer. #[init(spawn = [accel_leds, cycle_leds])] - fn init() -> init::LateResources { + fn init(mut cx: init::Context) -> init::LateResources { + // Set up and enable the monotonic timer. + cx.core.DCB.enable_trace(); + cx.core.DWT.enable_cycle_counter(); + // Set up the LED ring and spawn the task corresponding to the mode. - let gpiod = device.GPIOD.split(); + let gpiod = cx.device.GPIOD.split(); let leds = [ gpiod.pd12.into_push_pull_output().downgrade(), gpiod.pd13.into_push_pull_output().downgrade(), @@ -62,14 +69,14 @@ const APP: () = { ]; let led_ring = LedRing::from(leds); if led_ring.is_mode_cycle() { - spawn.cycle_leds().unwrap(); + cx.spawn.cycle_leds().unwrap(); } else if led_ring.is_mode_accel() { - spawn.accel_leds().unwrap(); + cx.spawn.accel_leds().unwrap(); } // Set up the EXTI0 interrupt for the user button. - let mut exti_cntr = device.EXTI; - let gpioa = device.GPIOA.split(); + let mut exti_cntr = cx.device.EXTI; + let gpioa = cx.device.GPIOA.split(); let mut button = gpioa.pa0.into_floating_input(); button.enable_interrupt(&mut exti_cntr); button.trigger_on_edge(&mut exti_cntr, Edge::RISING); @@ -78,9 +85,9 @@ const APP: () = { let tx = gpioa.pa2.into_alternate_af7(); let rx = gpioa.pa3.into_alternate_af7(); let config = SerialConfig::default().baudrate(115_200.bps()); - let rcc = device.RCC.constrain(); + let rcc = cx.device.RCC.constrain(); let clocks = rcc.cfgr.freeze(); - let mut serial = Serial::usart2(device.USART2, (tx, rx), config, clocks).unwrap(); + let mut serial = Serial::usart2(cx.device.USART2, (tx, rx), config, clocks).unwrap(); serial.listen(serial::Event::Rxne); let (mut serial_tx, serial_rx) = serial.split(); @@ -95,9 +102,9 @@ const APP: () = { polarity: Polarity::IdleHigh, phase: Phase::CaptureOnSecondTransition, }; - let mut accel = Spi::spi1(device.SPI1, (sck, miso, mosi), mode, 100.hz(), clocks); + let mut accel = Spi::spi1(cx.device.SPI1, (sck, miso, mosi), mode, 100.hz(), clocks); - let gpioe = device.GPIOE.split(); + let gpioe = cx.device.GPIOE.split(); let mut accel_cs = gpioe.pe3.into_push_pull_output(); // Initialize the accelerometer. @@ -109,125 +116,141 @@ const APP: () = { writeln!(serial_tx, "init\r").unwrap(); init::LateResources { - ACCEL: accel, - ACCEL_CS: accel_cs, - BUFFER: buffer, - BUTTON: button, - EXTI_CNTR: exti_cntr, - LED_RING: led_ring, - SERIAL_RX: serial_rx, - SERIAL_TX: serial_tx, + accel: accel, + accel_cs: accel_cs, + buffer: buffer, + button: button, + exit_cntr: exti_cntr, + led_ring: led_ring, + serial_rx: serial_rx, + serial_tx: serial_tx, } } /// Task that advances the LED ring one step and schedules the next trigger (if enabled). - #[task(schedule = [cycle_leds], resources = [LED_RING])] - fn cycle_leds() { - resources.LED_RING.lock(|led_ring| { + #[task(schedule = [cycle_leds], resources = [led_ring])] + fn cycle_leds(mut cx: cycle_leds::Context) { + let reschedule = cx.resources.led_ring.lock(|led_ring| { if led_ring.is_mode_cycle() { led_ring.advance(); - schedule.cycle_leds(scheduled + PERIOD.cycles()).unwrap(); + true + } else { + false } }); + + if reschedule { + cx.schedule + .cycle_leds(Instant::now() + PERIOD.cycles()) + .unwrap(); + } } /// Task that performs an accelerometers measurement and adjusts the LED ring accordingly /// and schedules the next trigger (if enabled). - #[task(schedule = [accel_leds], resources = [ACCEL, ACCEL_CS, LED_RING, SERIAL_TX])] - fn accel_leds() { - resources.ACCEL_CS.set_low(); + #[task(schedule = [accel_leds], resources = [accel, accel_cs, led_ring, serial_tx])] + fn accel_leds(mut cx: accel_leds::Context) { + cx.resources.accel_cs.set_low(); let read_command = (1 << 7) | (1 << 6) | 0x29; let mut commands = [read_command, 0x0, 0x0, 0x0]; - let result = resources.ACCEL.transfer(&mut commands[..]).unwrap(); + let result = cx.resources.accel.transfer(&mut commands[..]).unwrap(); let acc_x = result[1] as i8; let acc_y = result[3] as i8; - resources.ACCEL_CS.set_high(); + cx.resources.accel_cs.set_high(); if acc_x == 0 && acc_y == 0 { - resources - .SERIAL_TX + cx.resources + .serial_tx .lock(|serial_tx| writeln!(serial_tx, "level\r").unwrap()); } - resources.LED_RING.lock(|led_ring| { + let reschedule = cx.resources.led_ring.lock(|led_ring| { if led_ring.is_mode_accel() { let directions = [acc_y < 0, acc_x < 0, acc_y > 0, acc_x > 0]; led_ring.specific_on(directions); - schedule.accel_leds(scheduled + PERIOD.cycles()).unwrap(); + true + } else { + false } - }) + }); + + if reschedule { + cx.schedule + .accel_leds(Instant::now() + PERIOD.cycles()) + .unwrap(); + } } /// Interrupt handler that writes that the button is pressed to the serial interface /// and reverses the LED ring cycle direction. - #[interrupt(binds = EXTI0, resources = [BUTTON, EXTI_CNTR, LED_RING, SERIAL_TX])] - fn button_pressed() { - resources.LED_RING.lock(|led_ring| led_ring.reverse()); + #[task(binds = EXTI0, resources = [button, exit_cntr, led_ring, serial_tx])] + fn button_pressed(mut cx: button_pressed::Context) { + cx.resources.led_ring.lock(|led_ring| led_ring.reverse()); // Write the fact that the button has been pressed to the serial port. - resources - .SERIAL_TX + cx.resources + .serial_tx .lock(|serial_tx| writeln!(serial_tx, "button\r").unwrap()); - resources - .BUTTON - .clear_interrupt_pending_bit(resources.EXTI_CNTR); + cx.resources + .button + .clear_interrupt_pending_bit(cx.resources.exit_cntr); } /// Interrupt handler that reads data from the serial connection and handles commands /// once an appropriate command is in the buffer. - #[interrupt( + #[task( binds = USART2, priority = 2, - resources = [BUFFER, LED_RING, SERIAL_RX, SERIAL_TX], + resources = [buffer, led_ring, serial_rx, serial_tx], spawn = [accel_leds, cycle_leds] )] - fn handle_serial() { - let buffer = resources.BUFFER; + fn handle_serial(cx: handle_serial::Context) { + let buffer = cx.resources.buffer; // Read a byte from the serial port and write it back. - let byte = resources.SERIAL_RX.read().unwrap(); - block!(resources.SERIAL_TX.write(byte)).unwrap(); + let byte = cx.resources.serial_rx.read().unwrap(); + block!(cx.resources.serial_tx.write(byte)).unwrap(); //hprintln!("serial: {}", byte).unwrap(); // Handle the command in the buffer for newline or backspace, otherwise append to the // buffer. if byte == b'\r' { - block!(resources.SERIAL_TX.write(b'\n')).unwrap(); + block!(cx.resources.serial_tx.write(b'\n')).unwrap(); match &buffer[..] { b"flip" => { - resources.LED_RING.reverse(); + cx.resources.led_ring.reverse(); } b"stop" => { - resources.LED_RING.disable(); + cx.resources.led_ring.disable(); } b"cycle" => { - resources.LED_RING.enable_cycle(); - spawn.cycle_leds().unwrap(); + cx.resources.led_ring.enable_cycle(); + cx.spawn.cycle_leds().unwrap(); } b"accel" => { - resources.LED_RING.enable_accel(); - spawn.accel_leds().unwrap(); + cx.resources.led_ring.enable_accel(); + cx.spawn.accel_leds().unwrap(); } b"off" => { - resources.LED_RING.disable(); - resources.LED_RING.all_off(); + cx.resources.led_ring.disable(); + cx.resources.led_ring.all_off(); } b"on" => { - resources.LED_RING.disable(); - resources.LED_RING.all_on(); + cx.resources.led_ring.disable(); + cx.resources.led_ring.all_on(); } _ => { - writeln!(resources.SERIAL_TX, "?\r").unwrap(); + writeln!(cx.resources.serial_tx, "?\r").unwrap(); } } buffer.clear(); } else if byte == 0x7F { buffer.pop(); - block!(resources.SERIAL_TX.write(b'\r')).unwrap(); + block!(cx.resources.serial_tx.write(b'\r')).unwrap(); for byte in buffer { - block!(resources.SERIAL_TX.write(*byte)).unwrap(); + block!(cx.resources.serial_tx.write(*byte)).unwrap(); } } else { if buffer.push(byte).is_err() {