rtic/examples/async_systick3.rs

//! examples/async_task2
#![no_main]
#![no_std]
#![feature(const_fn)]
#![feature(type_alias_impl_trait)]

// use core::cell::Cell;
// use core::cell::UnsafeCell;
use core::future::Future;
use core::mem;
// use core::mem::MaybeUninit;
use core::pin::Pin;
// use core::ptr;
// use core::ptr::NonNull;
// use core::sync::atomic::{AtomicPtr, AtomicU32, Ordering};
use core::task::{Context, Poll, Waker};
use rtic::async_util::Task;

use cortex_m_semihosting::{debug, hprintln};

use panic_semihosting as _;
use rtic::Mutex;

#[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
mod app {
    use crate::*;

    #[resources]
    struct Resources {
        systick: Systick,
    }

    #[init]
    fn init(cx: init::Context) -> init::LateResources {
        hprintln!("init").ok();
        foo::spawn().unwrap();
        init::LateResources {
            systick: Systick {
                syst: cx.core.SYST,
                state: State::Done,
                queue: BinaryHeap::new(),
                // waker: None,
            },
        }
    }

    #[idle]
    fn idle(_: idle::Context) -> ! {
        let mut i = 0;
        loop {
            i += 1;
            hprintln!("idle {}", i).ok();
            if i == 3 {
                debug::exit(debug::EXIT_SUCCESS);
            }
            cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
        }
    }

    #[task(resources = [systick])]
    async fn foo(cx: foo::Context) {
        hprintln!("foo task").ok();
        let mut systick = cx.resources.systick;

        hprintln!("delay long time").ok();
        timer_delay(&mut systick, 5000000).await;

        hprintln!("delay short time").ok();
        timer_delay(&mut systick, 1000000).await;
        hprintln!("foo task resumed").ok();
    }

    // RTIC task bound to the HW SysTick interrupt
    #[task(binds = SysTick, resources = [systick], priority = 2)]
    fn systic(mut cx: systic::Context) {
        hprintln!("systic interrupt").ok();
        cx.resources.systick.lock(|s| {
            s.syst.disable_interrupt();
            s.state = State::Done;
            s.queue.pop().map(|w| w.waker.wake());
            if let Some(w) = s.queue.peek() {
                s.syst.set_reload(w.time);
            } else {
                s.syst.disable_interrupt();
            }
        });
    }
}

//=============
// Timer
// Later we want a proper queue

//use core::cmp::{Ord, Ordering, PartialOrd};
use core::cmp::Ordering;
use heapless::binary_heap::{BinaryHeap, Max};
use heapless::consts::U8;
// use heapless::Vec;

pub enum State {
    Started,
    Done,
}

struct Timeout {
    time: u32,
    waker: Waker,
}

impl Ord for Timeout {
    fn cmp(&self, other: &Self) -> Ordering {
        self.time.cmp(&other.time)
    }
}

impl PartialOrd for Timeout {
    fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
        Some(self.cmp(&other))
    }
}

impl PartialEq for Timeout {
    fn eq(&self, other: &Self) -> bool {
        self.time == other.time
    }
}

impl Eq for Timeout {}

pub struct Systick {
    syst: cortex_m::peripheral::SYST,
    state: State,
    queue: BinaryHeap<Timeout, U8, Max>,
}

//=============
// Timer
// Later we want a proper queue

pub struct Timer<'a, T: Mutex<T = Systick>> {
    request: Option<u32>,
    systick: &'a mut T,
}

impl<'a, T: Mutex<T = Systick>> Future for Timer<'a, T> {
    type Output = ();
    fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
        let Self { request, systick } = &mut *self;
        systick.lock(|s| {
            // enqueue a new request
            request.take().map(|t| {
                s.syst.set_reload(t);
                s.syst.enable_counter();
                s.syst.enable_interrupt();
                s.state = State::Started;
                s.queue
                    .push(Timeout {
                        time: t,
                        waker: cx.waker().clone(),
                    })
                    .ok();
            });

            match s.state {
                State::Done => Poll::Ready(()),
                State::Started => Poll::Pending,
            }
        })
    }
}

fn timer_delay<'a, T: Mutex<T = Systick>>(systick: &'a mut T, t: u32) -> Timer<'a, T> {
    hprintln!("timer_delay {}", t).ok();
    Timer {
        request: Some(t),
        systick,
    }
}