GHA update

Fmt fixes

Spawn_after did not work with parameters

Examples working again

Revert "GHA update"

This reverts commit e0a71d4859966a6c5cf2629d3cb27e88acada9c0.

Readd flags

Only add DWT based dep with __v7 flag

Cargo.toml

@@ -18,6 +18,38 @@ version = "0.6.0-alpha.0"
 [lib]
 name = "rtic"
 
+[[example]]
+name = "periodic"
+required-features = ["__v7"]
+
+[[example]]
+name = "pool"
+required-features = ["__v7"]
+
+[[example]]
+name = "schedule"
+required-features = ["__v7"]
+
+[[example]]
+name = "t-cfg"
+required-features = ["__v7"]
+
+[[example]]
+name = "t-cfg-resources"
+required-features = ["__min_r1_43"]
+
+[[example]]
+name = "t-schedule"
+required-features = ["__v7"]
+
+[[example]]
+name = "types"
+required-features = ["__v7"]
+
+[[example]]
+name = "double_schedule"
+required-features = ["__v7"]
+
 [dependencies]
 cortex-m = "0.7.0"
 cortex-m-rtic-macros = { path = "macros", version = "0.6.0-alpha.0" }
@@ -27,6 +59,11 @@ rtic-monotonic = { git = "https://github.com/rtic-rs/rtic-monotonic", branch = "
 heapless = "0.5.0"
 bare-metal = "1.0.0"
 
+[dependencies.dwt-systick-monotonic]
+git = "https://github.com/rtic-rs/dwt-systick-monotonic"
+branch = "master"
+optional = true
+
 [build-dependencies]
 version_check = "0.9"
 
@@ -42,6 +79,11 @@ version = "0.5.2"
 [target.x86_64-unknown-linux-gnu.dev-dependencies]
 trybuild = "1"
 
+[features]
+# used for testing this crate; do not use in applications
+__v7 = ["dwt-systick-monotonic"]
+__min_r1_43 = []
+
 [profile.release]
 codegen-units = 1
 lto = true

examples/double_schedule.rs

@@ -9,20 +9,35 @@ use panic_semihosting as _;
 
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
+
     #[init]
-    fn init(_: init::Context) -> (init::LateResources, init::Monotonics) {
+    fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
         task1::spawn().ok();
 
-        (init::LateResources {}, init::Monotonics())
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
+
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
+
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[task]
     fn task1(_cx: task1::Context) {
-        task2::schedule(_cx.scheduled + 100.cycles()).ok();
+        task2::spawn_after(Seconds(1_u32)).ok();
     }
 
     #[task]
     fn task2(_cx: task2::Context) {
-        task1::schedule(_cx.scheduled + 100.cycles()).ok();
+        task1::spawn_after(Seconds(1_u32)).ok();
     }
 }

examples/periodic.rs

@@ -10,25 +10,31 @@ use panic_semihosting as _;
 // NOTE: does NOT work on QEMU!
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
-    use cortex_m_semihosting::hprintln;
+    use dwt_systick_monotonic::{
-    use rtic::cyccnt::{Instant, U32Ext};
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
 
-    const PERIOD: u32 = 8_000_000;
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
 
     #[init]
     fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
-        // omitted: initialization of `CYCCNT`
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
 
-        foo::schedule(cx.start + PERIOD.cycles()).unwrap();
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
 
-        (init::LateResources {}, init::Monotonics())
+        foo::spawn_after(Seconds(1_u32)).unwrap();
+
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[task]
-    fn foo(cx: foo::Context) {
+    fn foo(_cx: foo::Context) {
-        let now = Instant::now();
+        // Periodic
-        hprintln!("foo(scheduled = {:?}, now = {:?})", cx.scheduled, now).unwrap();
+        foo::spawn_after(Seconds(1_u32)).unwrap();
-
-        foo::schedule(cx.scheduled + PERIOD.cycles()).unwrap();
     }
 }

examples/schedule.rs

@@ -10,40 +10,42 @@ use panic_halt as _;
 // NOTE: does NOT work on QEMU!
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
-    use cortex_m::peripheral::DWT;
     use cortex_m_semihosting::hprintln;
-    use rtic::cyccnt::{Instant, U32Ext as _};
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
 
     #[init()]
-    fn init(mut cx: init::Context) -> (init::LateResources, init::Monotonics) {
+    fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
-        // Initialize (enable) the monotonic timer (CYCCNT)
+        let mut dcb = cx.core.DCB;
-        cx.core.DCB.enable_trace();
+        let dwt = cx.core.DWT;
-        // required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7)
+        let systick = cx.core.SYST;
-        DWT::unlock();
-        cx.core.DWT.enable_cycle_counter();
 
-        // semantically, the monotonic timer is frozen at time "zero" during `init`
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
-        // NOTE do *not* call `Instant::now` in this context; it will return a nonsense value
-        let now = cx.start; // the start time of the system
 
-        hprintln!("init @ {:?}", now).unwrap();
+        hprintln!("init").unwrap();
 
-        // Schedule `foo` to run 8e6 cycles (clock cycles) in the future
+        // Schedule `foo` to run 1 second in the future
-        foo::schedule(now + 8_000_000.cycles()).unwrap();
+        foo::spawn_after(Seconds(1_u32)).unwrap();
 
-        // Schedule `bar` to run 4e6 cycles in the future
+        // Schedule `bar` to run 2 seconds in the future
-        bar::schedule(now + 4_000_000.cycles()).unwrap();
+        bar::spawn_after(Seconds(2_u32)).unwrap();
 
-        (init::LateResources {}, init::Monotonics())
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[task]
     fn foo(_: foo::Context) {
-        hprintln!("foo  @ {:?}", Instant::now()).unwrap();
+        hprintln!("foo").unwrap();
     }
 
     #[task]
     fn bar(_: bar::Context) {
-        hprintln!("bar  @ {:?}", Instant::now()).unwrap();
+        hprintln!("bar").unwrap();
     }
 }

examples/t-schedule.rs

@@ -9,48 +9,43 @@ use panic_halt as _;
 
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
-    use rtic::cyccnt::{Instant, U32Ext as _};
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
 
     #[init]
-    fn init(c: init::Context) -> (init::LateResources, init::Monotonics) {
+    fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
-        let _: Result<(), ()> = foo::schedule(c.start + 10.cycles());
+        let mut dcb = cx.core.DCB;
-        let _: Result<(), u32> = bar::schedule(c.start + 20.cycles(), 0);
+        let dwt = cx.core.DWT;
-        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 30.cycles(), 0, 1);
+        let systick = cx.core.SYST;
 
-        (init::LateResources {}, init::Monotonics())
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
+
+        let _: Result<(), ()> = foo::spawn_after(Seconds(1_u32));
+        let _: Result<(), u32> = bar::spawn_after(Seconds(2_u32), 0);
+        let _: Result<(), (u32, u32)> = baz::spawn_after(Seconds(3_u32), 0, 1);
+
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[idle]
     fn idle(_: idle::Context) -> ! {
-        let _: Result<(), ()> = foo::schedule(Instant::now() + 40.cycles());
+        let _: Result<(), ()> = foo::spawn_at(MyMono::now() + Seconds(3_u32));
-        let _: Result<(), u32> = bar::schedule(Instant::now() + 50.cycles(), 0);
+        let _: Result<(), u32> = bar::spawn_at(MyMono::now() + Seconds(4_u32), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(Instant::now() + 60.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = baz::spawn_at(MyMono::now() + Seconds(5_u32), 0, 1);
 
         loop {
             cortex_m::asm::nop();
         }
     }
 
-    #[task(binds = SVCall)]
-    fn svcall(c: svcall::Context) {
-        let _: Result<(), ()> = foo::schedule(c.start + 70.cycles());
-        let _: Result<(), u32> = bar::schedule(c.start + 80.cycles(), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 90.cycles(), 0, 1);
-    }
-
-    #[task(binds = UART0)]
-    fn uart0(c: uart0::Context) {
-        let _: Result<(), ()> = foo::schedule(c.start + 100.cycles());
-        let _: Result<(), u32> = bar::schedule(c.start + 110.cycles(), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 120.cycles(), 0, 1);
-    }
-
     #[task]
-    fn foo(c: foo::Context) {
+    fn foo(_: foo::Context) {}
-        let _: Result<(), ()> = foo::schedule(c.scheduled + 130.cycles());
-        let _: Result<(), u32> = bar::schedule(c.scheduled + 140.cycles(), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(c.scheduled + 150.cycles(), 0, 1);
-    }
 
     #[task]
     fn bar(_: bar::Context, _x: u32) {}

examples/types.rs

@@ -10,6 +10,13 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, peripherals = true, dispatchers = [SSI0])]
 mod app {
     use cortex_m_semihosting::debug;
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
 
     #[resources]
     struct Resources {
@@ -19,13 +26,18 @@ mod app {
 
     #[init]
     fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
-        let _: cyccnt::Instant = cx.start;
+        let _: cortex_m::Peripherals = cx.core;
-        let _: rtic::Peripherals = cx.core;
         let _: lm3s6965::Peripherals = cx.device;
 
         debug::exit(debug::EXIT_SUCCESS);
 
-        (init::LateResources {}, init::Monotonics())
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
+
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
+
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[idle]
@@ -37,13 +49,11 @@ mod app {
 
     #[task(binds = UART0, resources = [shared])]
     fn uart0(cx: uart0::Context) {
-        let _: cyccnt::Instant = cx.start;
         let _: resources::shared = cx.resources.shared;
     }
 
     #[task(priority = 2, resources = [shared])]
     fn foo(cx: foo::Context) {
-        let _: cyccnt::Instant = cx.scheduled;
         let _: resources::shared = cx.resources.shared;
         let _: foo::Resources = cx.resources;
     }

macros/src/codegen.rs

@@ -116,7 +116,10 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
             let ty = &monotonic.ty;
             let mangled_name = util::mangle_monotonic_type(&name_str);
             let ident = util::monotonic_ident(&name_str);
-            let panic_str = &format!("Use of monotonic '{}' before it was passed to the runtime", name_str);
+            let panic_str = &format!(
+                "Use of monotonic '{}' before it was passed to the runtime",
+                name_str
+            );
 
             quote! {
                 pub use rtic::Monotonic as _;

macros/src/codegen/module.rs

@@ -263,7 +263,7 @@ pub fn codegen(
             pub mod #m {
                 #(#cfgs)*
                 pub fn spawn_after<D>(
-                    duration: D,
+                    duration: D
                     #(,#args)*
                 ) -> Result<(), #ty>
                     where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint,
@@ -276,7 +276,7 @@ pub fn codegen(
                         #app_path::#m::now()
                     };
 
-                    spawn_at(instant + duration, #(,#untupled)*)
+                    spawn_at(instant + duration #(,#untupled)*)
                 }
 
                 #(#cfgs)*