Merge pull request #235 from camrbuss/rtic-timer-hal

Update Pico RTIC example to use timer alarm HAL

boards/pico/Cargo.toml

@@ -36,7 +36,7 @@ optional = true
 [dev-dependencies]
 panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
-cortex-m-rtic = "0.6.0-alpha.5"
+cortex-m-rtic = "0.6.0-rc.4"
 nb = "1.0"
 i2c-pio = { git = "https://github.com/ithinuel/i2c-pio-rs", rev = "afc2dad0e955da2b712d7f7cd78c7af88ddc6a45" }
 

boards/pico/examples/pico_rtic.rs

@@ -2,14 +2,14 @@
 #![no_main]
 
 use panic_halt as _;
-use rp2040_hal as hal;
 
-#[rtic::app(device = crate::hal::pac, peripherals = true)]
+#[rtic::app(device = pico::hal::pac, peripherals = true)]
 mod app {
 
     use embedded_hal::digital::v2::OutputPin;
+    use embedded_time::duration::Extensions;
     use pico::{
-        hal::{self, clocks::init_clocks_and_plls, pac, watchdog::Watchdog, Sio},
+        hal::{self, clocks::init_clocks_and_plls, watchdog::Watchdog, Sio},
         XOSC_CRYSTAL_FREQ,
     };
 
@@ -17,7 +17,8 @@ mod app {
 
     #[shared]
     struct Shared {
-        scan_timer: pac::TIMER,
+        timer: hal::Timer,
+        alarm: hal::timer::Alarm0,
         led: hal::gpio::Pin<hal::gpio::pin::bank0::Gpio25, hal::gpio::PushPullOutput>,
     }
 
@@ -41,40 +42,30 @@ mod app {
         .unwrap();
 
         let sio = Sio::new(c.device.SIO);
-        let pins = hal::gpio::Pins::new(
+        let pins = pico::Pins::new(
             c.device.IO_BANK0,
             c.device.PADS_BANK0,
             sio.gpio_bank0,
             &mut resets,
         );
-        let mut led = pins.gpio25.into_push_pull_output();
+        let mut led = pins.led.into_push_pull_output();
         led.set_low().unwrap();
 
-        let timer = c.device.TIMER;
+        let mut timer = hal::Timer::new(c.device.TIMER, &mut resets);
-        timer.dbgpause.write(|w| w.dbg0().set_bit());
+        let mut alarm = timer.alarm_0().unwrap();
-        let current_time = timer.timelr.read().bits();
+        let _ = alarm.schedule(SCAN_TIME_US.microseconds());
-        timer
+        alarm.enable_interrupt(&mut timer);
-            .alarm0
-            .write(|w| unsafe { w.bits(current_time + SCAN_TIME_US) });
-        timer.inte.write(|w| w.alarm_0().set_bit());
 
-        (
+        (Shared { timer, alarm, led }, Local {}, init::Monotonics())
-            Shared {
-                scan_timer: timer,
-                led,
-            },
-            Local {},
-            init::Monotonics(),
-        )
     }
 
     #[task(
         binds = TIMER_IRQ_0,
         priority = 1,
-        shared = [scan_timer, led],
+        shared = [timer, alarm, led],
-        local = [tog: bool = false],
+        local = [tog: bool = true],
     )]
-    fn scan_timer_irq(mut c: scan_timer_irq::Context) {
+    fn timer_irq(mut c: timer_irq::Context) {
         if *c.local.tog {
             c.shared.led.lock(|l| l.set_high().unwrap());
         } else {
@@ -82,13 +73,11 @@ mod app {
         }
         *c.local.tog = !*c.local.tog;
 
-        let current_time = c.shared.scan_timer.lock(|t| t.timelr.read().bits());
+        let timer = c.shared.timer;
-        c.shared.scan_timer.lock(|t| {
+        let alarm = c.shared.alarm;
-            t.alarm0
+        (timer, alarm).lock(|t, a| {
-                .write(|w| unsafe { w.bits(current_time + SCAN_TIME_US) })
+            a.clear_interrupt(t);
+            let _ = a.schedule(SCAN_TIME_US.microseconds());
         });
-        c.shared
-            .scan_timer
-            .lock(|t| t.intr.write(|w| w.alarm_0().set_bit()));
     }
 }