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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.