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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 = "0.2.2", 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::{C2, Local, P0, P1, P2, Resource, T0, T1, T2, TMax}; //! //! // SUPPORT CODE //! #[derive(Clone, Copy)] //! enum Direction { //! Clockwise, //! Counterclockwise, //! } //! //! impl Direction { //! fn reverse(self) -> Self { //! match self { //! Direction::Clockwise => Direction::Counterclockwise, //! Direction::Counterclockwise => Direction::Clockwise, //! } //! } //! } //! //! #[derive(Clone, Copy, PartialEq)] //! enum Mode { //! Bounce, //! Continuous, //! } //! //! struct State { //! direction: Cell<Direction>, //! mode: Cell<Mode>, //! } //! //! impl State { //! const fn new() -> Self { //! State { //! direction: Cell::new(Direction::Clockwise), //! mode: Cell::new(Mode::Continuous), //! } //! } //! } //! //! // 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: C2, // was `C1` //! }, //! USART1: Peripheral { //! register_block: Usart1, //! ceiling: C1, //! }, //! }); //! //! // the ceiling was `C1` //! static SHARED: Resource<State, C2> = Resource::new(State::new()); //! //! // INITIALIZATION PHASE //! fn init(ref priority: P0, threshold: &TMax) { //! let gpioa = GPIOA.access(priority, threshold); //! let gpioe = GPIOE.access(priority, threshold); //! let rcc = RCC.access(priority, threshold); //! let tim7 = TIM7.access(priority, threshold); //! let timer = Timer(&tim7); //! let usart1 = USART1.access(priority, threshold); //! //! led::init(&gpioe, &rcc); //! timer.init(&rcc, FREQUENCY); //! Serial(&usart1).init(&gpioa, &rcc, BAUD_RATE); //! //! timer.resume(); //! } //! //! // IDLE LOOP //! fn idle(_priority: P0, _threshold: T0) -> ! { //! // Sleep //! loop { //! rtfm::wfi(); //! } //! } //! //! // TASKS //! tasks!(stm32f30x, { //! roulette: Task { //! interrupt: Tim7, //! priority: P2, // changed to `P2` //! enabled: true, //! }, //! receive: Task { //! interrupt: Usart1Exti25, //! priority: P1, //! enabled: true, //! }, //! }); //! //! fn receive(mut task: Usart1Exti25, ref priority: P1, ref threshold: T1) { //! static BUFFER: Local<Vec<u8, [u8; 16]>, Usart1Exti25> = { //! Local::new(Vec::new([0; 16])) //! }; //! //! let usart1 = USART1.access(priority, threshold); //! 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 //! //! match &**buffer { //! b"bounce" => { //! threshold.raise( //! &SHARED, |threshold| { //! let shared = SHARED.access(priority, threshold); //! shared.mode.set(Mode::Bounce) //! } //! ); //! } //! b"continuous" => { //! threshold.raise( //! &SHARED, |threshold| { //! let shared = SHARED.access(priority, threshold); //! shared.mode.set(Mode::Continuous) //! } //! ); //! } //! b"reverse" => { //! threshold.raise(&SHARED, |threshold| { //! let shared = SHARED.access(priority, threshold); //! shared.direction.set(shared.direction.get().reverse()); //! }); //! } //! _ => {} //! } //! //! buffer.clear(); //! } else { //! if buffer.push(byte).is_err() { //! // error: buffer full //! // KISS: we just clear the buffer when it gets full //! buffer.clear(); //! } //! } //! } else { //! // Only reachable through `rtfm::request(receive)` //! #[cfg(debug_assertions)] //! unreachable!() //! } //! } //! //! fn roulette(mut task: Tim7, ref priority: P2, ref threshold: T2) { //! static STATE: Local<u8, Tim7> = Local::new(0); //! //! let tim7 = TIM7.access(priority, threshold); //! let timer = Timer(&tim7); //! //! if timer.clear_update_flag().is_ok() { //! let state = STATE.borrow_mut(&mut task); //! let curr = *state; //! //! let shared = SHARED.access(priority, threshold); //! let mut direction = shared.direction.get(); //! //! if curr == 0 && shared.mode.get() == Mode::Bounce { //! direction = direction.reverse(); //! shared.direction.set(direction); //! } //! //! let n = u8(LEDS.len()).unwrap(); //! let next = 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.