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//! Sharing memory using `Resource`
//!
//! This builds on top of the `concurrent` example. The `loopback` task now
//! additionally parses the received data as a command. Two commands are
//! available:
//!
//! - `reverse` - reverses the spin direction of the LED roulette
//! - `reset` - moves the roulette back to its start position (North)
//!
//! ```
//!
//! #![feature(const_fn)]
//! #![feature(used)]
//! #![no_std]
//!
//! // version = "0.2.0", default-features = false
//! extern crate cast;
//!
//! // version = "0.2.0"
//! extern crate cortex_m_rt;
//!
//! // version = "0.1.0"
//! #[macro_use]
//! extern crate cortex_m_rtfm as rtfm;
//!
//! extern crate f3;
//!
//! // version = "0.1.0"
//! extern crate heapless;
//!
//! use core::cell::Cell;
//!
//! use cast::{u8, usize};
//! use f3::led::{self, LEDS};
//! use f3::serial::Serial;
//! use f3::stm32f30x::interrupt::{Tim7, Usart1Exti25};
//! use f3::stm32f30x;
//! use f3::timer::Timer;
//! use heapless::Vec;
//! use rtfm::{C0, C1, C16, Local, P0, P1, Resource};
//!
//! #[derive(Clone, Copy)]
//! enum Direction {
//! Clockwise,
//! Counterclockwise,
//! }
//!
//! struct Command {
//! direction: Cell<Direction>,
//! reset: Cell<bool>,
//! }
//!
//! impl Command {
//! const fn new() -> Command {
//! Command {
//! direction: Cell::new(Direction::Clockwise),
//! reset: Cell::new(false),
//! }
//! }
//! }
//!
//! // CONFIGURATION
//! pub const BAUD_RATE: u32 = 115_200; // bits per second
//! const FREQUENCY: u32 = 4; // Hz
//!
//! // RESOURCES
//! peripherals!(stm32f30x, {
//! GPIOA: Peripheral {
//! register_block: Gpioa,
//! ceiling: C0,
//! },
//! GPIOE: Peripheral {
//! register_block: Gpioe,
//! ceiling: C0,
//! },
//! RCC: Peripheral {
//! register_block: Rcc,
//! ceiling: C0,
//! },
//! TIM7: Peripheral {
//! register_block: Tim7,
//! ceiling: C1,
//! },
//! USART1: Peripheral {
//! register_block: Usart1,
//! ceiling: C1,
//! },
//! });
//!
//! static COMMAND: Resource<Command, C1> = Resource::new(Command::new());
//!
//! // INITIALIZATION PHASE
//! fn init(ref prio: P0, ceil: &C16) {
//! let gpioa = GPIOA.access(prio, ceil);
//! let gpioe = GPIOE.access(prio, ceil);
//! let rcc = RCC.access(prio, ceil);
//! let tim7 = TIM7.access(prio, ceil);
//! let timer = Timer(&tim7);
//! let usart1 = USART1.access(prio, ceil);
//!
//! led::init(&gpioe, &rcc);
//! timer.init(&rcc, FREQUENCY);
//! Serial(&usart1).init(&gpioa, &rcc, BAUD_RATE);
//!
//! timer.resume();
//! }
//!
//! // IDLE LOOP
//! fn idle(_prio: P0, _ceil: C0) -> ! {
//! // Sleep
//! loop {
//! rtfm::wfi();
//! }
//! }
//!
//! // TASKS
//! tasks!(stm32f30x, {
//! roulette: Task {
//! interrupt: Tim7,
//! priority: P1,
//! enabled: true,
//! },
//! receive: Task {
//! interrupt: Usart1Exti25,
//! priority: P1,
//! enabled: true,
//! },
//! });
//!
//! fn receive(mut task: Usart1Exti25, ref prio: P1, ref ceil: C1) {
//! static BUFFER: Local<Vec<u8, [u8; 16]>, Usart1Exti25> = {
//! Local::new(Vec::new([0; 16]))
//! };
//!
//! let usart1 = USART1.access(prio, ceil);
//! let serial = Serial(&usart1);
//!
//! if let Ok(byte) = serial.read() {
//! if serial.write(byte).is_err() {
//! // As we are echoing the bytes as soon as they arrive, it should
//! // be impossible to have a TX buffer overrun
//! #[cfg(debug_assertions)]
//! unreachable!()
//! }
//!
//! let buffer = BUFFER.borrow_mut(&mut task);
//!
//! if byte == b'r' {
//! // end of command
//!
//! let command = COMMAND.access(prio, ceil);
//! match &**buffer {
//! b"reverse" => {
//! let Command { ref direction, .. } = *command;
//!
//! match direction.get() {
//! Direction::Clockwise => {
//! direction.set(Direction::Counterclockwise)
//! }
//! Direction::Counterclockwise => {
//! direction.set(Direction::Clockwise)
//! }
//! }
//! }
//! b"reset" => {
//! command.reset.set(true);
//! }
//! _ => {}
//! }
//!
//! buffer.clear();
//! } else {
//! if buffer.push(byte).is_err() {
//! // TODO proper error handling
//! // for now we just clear the buffer when full
//! buffer.clear();
//! }
//! }
//! } else {
//! // Only reachable through `rtfm::request(receive)`
//! #[cfg(debug_assertions)]
//! unreachable!()
//! }
//! }
//!
//! fn roulette(mut task: Tim7, ref prio: P1, ref ceil: C1) {
//! static STATE: Local<u8, Tim7> = Local::new(0);
//!
//! let tim7 = TIM7.access(prio, ceil);
//! let timer = Timer(&tim7);
//!
//! if timer.clear_update_flag().is_ok() {
//! let state = STATE.borrow_mut(&mut task);
//! let curr = *state;
//!
//! let command = COMMAND.access(prio, ceil);
//! let direction = command.direction.get();
//! let Command { ref reset, .. } = *command;
//!
//! let n = u8(LEDS.len()).unwrap();
//! let next = if reset.get() {
//! reset.set(false);
//! 0
//! } else {
//! match direction {
//! Direction::Clockwise => (curr + 1) % n,
//! Direction::Counterclockwise => {
//! curr.checked_sub(1).unwrap_or(n - 1)
//! }
//! }
//! };
//!
//! LEDS[usize(curr)].off();
//! LEDS[usize(next)].on();
//!
//! *state = next;
//! } else {
//! // Only reachable through `rtfm::request(roulette)`
//! #[cfg(debug_assertion)]
//! unreachable!()
//! }
//! }
//! ```
// Auto-generated. Do not modify.