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update the examples in the crate documentation
This commit is contained in:
Jorge Aparicio
parent
d2008e783d
commit
3713959b3d
1 changed files with 38 additions and 35 deletions
73
src/lib.rs
73
src/lib.rs
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@ -56,13 +56,13 @@
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//! ``` ignore
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//! #![no_std]
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//!
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//! #[macro_use] // for the `hprintln!` macro
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//! #[macro_use] // for the `hprintln!` macro
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//! extern crate cortex_m;
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//!
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//! // before main initialization + `start` lang item
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//! extern crate cortex_m_rt;
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//!
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//! #[macro_use] // for the `tasks!` macro
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//! #[macro_use] // for the `tasks!` macro
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//! extern crate cortex_m_rtfm as rtfm;
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//!
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//! // device crate generated using svd2rust
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@ -96,10 +96,11 @@
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//! IDLE
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//! ```
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//!
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//! The `tasks!` macro forces the following structure into your program:
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//! The `tasks!` macro overrides the `main` function and imposes the following
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//! structure into your program:
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//!
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//! - `init`, the initialization phase, is run first. This function is executed
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//! in a *global* critical section and can't be preempted.
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//! inside a *global* critical section and can't be preempted.
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//!
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//! - `idle`, a never ending function that runs after `init`.
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//!
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@ -115,8 +116,6 @@
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//! extern crate cortex_m_rtfm as rtfm;
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//! extern crate stm32f100xx;
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//!
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//! use core::cell::Cell;
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//!
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//! use stm32f100xx::interrupt::Tim7Irq;
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//! use rtfm::{C16, Local, P0, P1};
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//!
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@ -134,20 +133,20 @@
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//!
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//! // TASKS
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//! tasks!(stm32f100xx, {
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//! periodic: (Tim7Irq, P1),
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//! periodic: (Tim7Irq, P1, true),
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//! });
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//!
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//! fn periodic(task: Tim7Irq, _priority: P1) {
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//! fn periodic(mut task: Tim7Irq, _priority: P1) {
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//! // Task local data
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//! static STATE: Local<Cell<bool>, Tim7Irq> = Local::new(Cell::new(false));
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//! static STATE: Local<bool, Tim7Irq> = Local::new(false);
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//!
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//! let state = STATE.borrow(&task);
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//! let state = STATE.borrow_mut(&mut task);
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//!
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//! // Toggle state
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//! state.set(!state.get());
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//! *state = !*state;
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//!
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//! // Blink an LED
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//! if state.get() {
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//! if *state {
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//! LED.on();
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//! } else {
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//! LED.off();
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@ -156,8 +155,8 @@
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//! ```
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//!
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//! Here we define a task named `periodic` and bind it to the `Tim7Irq`
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//! interrupt handler. Every time the `Tim7Irq` interrupt is triggered, the
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//! `periodic` runs. We assign to this task a priority of 1, `P1`; this is the
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//! interrupt. The `periodic` task will run every time the `Tim7Irq` interrupt
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//! is triggered. We assign to this task a priority of 1 (`P1`); this is the
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//! lowest priority that a task can have.
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//!
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//! We use the [`Local`](./struct.Local.html) abstraction to add state to the
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@ -184,8 +183,8 @@
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//! // omitted: `idle`, `init`
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//!
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//! tasks!(stm32f100xx, {
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//! t1: (Tim6DacIrq, P1),
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//! t2: (Tim7Irq, P1),
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//! t1: (Tim6DacIrq, P1, true),
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//! t2: (Tim7Irq, P1, true),
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//! });
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//!
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//! // Data shared between tasks `t1` and `t2`
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@ -194,7 +193,7 @@
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//! fn t1(_task: Tim6DacIrq, priority: P1) {
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//! let ceiling = priority.as_ceiling();
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//!
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//! let counter = COUNTER.borrow(&priority, &ceiling);
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//! let counter = COUNTER.access(&priority, &ceiling);
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//!
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//! counter.set(counter.get() + 1);
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//! }
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@ -202,7 +201,7 @@
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//! fn t2(_task: Tim7Irq, priority: P1) {
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//! let ceiling = priority.as_ceiling();
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//!
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//! let counter = COUNTER.borrow(&priority, &ceiling);
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//! let counter = COUNTER.access(&priority, &ceiling);
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//!
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//! counter.set(counter.get() + 2);
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//! }
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@ -216,7 +215,7 @@
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//! To share data between these two tasks, we use the
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//! [`Resource`](./struct.Resource.html) abstraction. As the tasks can't preempt
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//! each other, they can access the `COUNTER` resource using the zero cost
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//! [`borrow`](./struct.Resource.html#method.borrow) method -- no
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//! [`access`](./struct.Resource.html#method.access) method -- no
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//! synchronization needed.
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//!
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//! `COUNTER` has an extra type parameter: `C1`. This is the *ceiling* of the
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@ -243,8 +242,8 @@
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//! // omitted: `idle`, `init`
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//!
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//! tasks!(stm32f100xx, {
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//! t1: (Tim6DacIrq, P1),
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//! t2: (Tim7Irq, P2),
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//! t1: (Tim6DacIrq, P1, true),
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//! t2: (Tim7Irq, P2, true),
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//! });
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//!
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//! static COUNTER: Resource<Cell<u32>, C2> = Resource::new(Cell::new(0));
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@ -252,9 +251,13 @@
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//! fn t1(_task: Tim6DacIrq, priority: P1) {
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//! // ..
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//!
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//! COUNTER.lock(&priority, |r1, _| {
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//! r1.set(r1.get() + 1);
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//! });
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//! let ceiling: &C1 = priority.as_ceiling();
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//!
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//! ceiling.raise(&COUNTER, |ceiling: &C2| {
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//! let counter = COUNTER.access(&priority, &ceiling);
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//!
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//! counter.set(counter.get() + 1);
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//! });
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//!
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//! // ..
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//! }
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@ -262,7 +265,7 @@
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//! fn t2(_task: Tim7Irq, priority: P2) {
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//! let ceiling = priority.as_ceiling();
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//!
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//! let counter = COUNTER.borrow(&priority, &ceiling);
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//! let counter = COUNTER.access(&priority, &ceiling);
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//!
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//! counter.set(counter.get() + 2);
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//! }
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@ -275,20 +278,20 @@
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//!
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//! To avoid data races, `t1` must modify `COUNTER` in an atomic way; i.e. `t2`
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//! most not preempt `t1` while `COUNTER` is being modified. This is
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//! accomplished using the [`lock`](./struct.Resource.html#method.lock) method.
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//! This method creates a critical section, denoted by a closure, for whose span
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//! accomplished by [`raise`](./struct.C.html#method.raise)-ing the `ceiling`.
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//! This creates a critical section, denoted by a closure, for whose span
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//! `COUNTER` is accessible but `t2` is blocked from preempting `t1`.
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//!
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//! How `t2` accesses `COUNTER` remains unchanged. Since `t1` can't preempt `t2`
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//! due to the differences in priority, no critical section is needed in `t2`.
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//! due to the differences in priority; no critical section is needed in `t2`.
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//!
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//! Note that the ceiling of `COUNTER` also changed to `C2`. This is required
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//! Note that the ceiling of `COUNTER` had to change to `C2`. This is required
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//! because the ceiling must be the maximum between `P1` and `P2`.
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//!
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//! Finally, it should be noted that `COUNTER.lock` will only block tasks with a
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//! priority of 2 or lower. This is exactly what the ceiling represents: it's
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//! the "bar" that a task priority must pass in order to be able to preempt the
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//! current task / critical section.
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//! Finally, it should be noted that the critical section in `t1` will only
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//! block tasks with a priority of 2 or lower. This is exactly what the ceiling
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//! represents: it's the "bar" that a task priority must pass in order to be
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//! able to preempt the current task / critical section.
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//!
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//! # Peripherals as resources
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//!
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@ -311,8 +314,8 @@
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//! tasks!(stm32f100xx, {});
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//!
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//! fn init(priority: P0, ceiling: &C16) {
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//! let gpioa = GPIOA.borrow(&priority, &ceiling);
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//! let rcc = RCC.borrow(&priority, &ceiling);
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//! let gpioa = GPIOA.access(&priority, &ceiling);
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//! let rcc = RCC.access(&priority, &ceiling);
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//!
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//! // ..
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//! }
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