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update pico rtic example to use timer alarm hal

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This commit is contained in:
camrbuss 2021-12-07 19:24:35 -05:00
parent 539f6db0f7
commit f2f50d0fc3
2 changed files with 20 additions and 30 deletions
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2
boards/pico/Cargo.toml
View file

@ -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" }

48
boards/pico/examples/pico_rtic.rs
View file

@ -8,8 +8,9 @@ use rp2040_hal as hal;
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 +18,8 @@ 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 +43,30 @@ 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;
timer.dbgpause.write(|w| w.dbg0().set_bit());
let current_time = timer.timelr.read().bits();
timer
.alarm0
.write(|w| unsafe { w.bits(current_time + SCAN_TIME_US) });
timer.inte.write(|w| w.alarm_0().set_bit());
let mut timer = hal::Timer::new(c.device.TIMER, &mut resets);
let mut alarm = timer.alarm_0().unwrap();
let _ = alarm.schedule(SCAN_TIME_US.microseconds());
alarm.enable_interrupt(&mut timer);
(
Shared {
scan_timer: timer,
led,
},
Local {},
init::Monotonics(),
)
(Shared { timer, alarm, led }, Local {}, init::Monotonics())
}
#[task(
binds = TIMER_IRQ_0,
priority = 1,
shared = [scan_timer, led],
local = [tog: bool = false],
shared = [timer, alarm, led],
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 +74,11 @@ mod app {
}
*c.local.tog = !*c.local.tog;
let current_time = c.shared.scan_timer.lock(|t| t.timelr.read().bits());
c.shared.scan_timer.lock(|t| {
t.alarm0
.write(|w| unsafe { w.bits(current_time + SCAN_TIME_US) })
let timer = c.shared.timer;
let alarm = c.shared.alarm;
(timer, alarm).lock(|t, a| {
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()));
}
}