martos 0.4.0

Martos is an elegant real-time operating system designed for creating complex multi-agent systems. Developers have the flexibility to write software for Martos using either Rust (preferred) or C languages.
Documentation 
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use crate::timer::TickType;
use esp_hal::timer::timg::{Timer, Timer0, TimerGroup};
use esp_hal::{
    clock::ClockControl, clock::Clocks, peripherals::*, prelude::*, system::SystemControl,
};

// TODO: initialize peripherals in separate mod
pub static mut TIMER00: Option<Timer<Timer0<TIMG0>, esp_hal::Blocking>> = None;
pub static mut CLOCKS: Option<Clocks> = None;
pub static mut PERIFERALS_RNG: Option<RNG> = None;
pub static mut PERIFERALS_RADIO_CLK: Option<RADIO_CLK> = None;
pub static mut PERIFERALS_WIFI: Option<WIFI> = None;

/// Esp32 hardware timer setup.
pub fn setup_hardware_timer() {
    let peripherals = Peripherals::take();
    let system = SystemControl::new(peripherals.SYSTEM);
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);

    let timer00 = timer_group0.timer0;
    let _ = timer00.load_value(500u64.millis());
    timer00.start();
    timer00.listen();

    unsafe {
        TIMER00 = Some(timer00);
        PERIFERALS_RNG = Some(peripherals.RNG);
        PERIFERALS_RADIO_CLK = Some(peripherals.RADIO_CLK);
        CLOCKS = Some(clocks);
        PERIFERALS_WIFI = Some(peripherals.WIFI);
    }
}

/// Esp32 getting hardware tick counter.
pub fn get_tick_counter() -> TickType {
    unsafe {
        let timer00 = TIMER00.take().expect("Timer error");
        let tick_counter = timer00.now();
        TIMER00 = Some(timer00);
        tick_counter.ticks()
    }
}