rp-hal-boards/boards/rp-pico/examples/pico_rtic_monotonic.rs

#![no_std]
#![no_main]

use panic_halt as _;

#[rtic::app(device = rp_pico::hal::pac, peripherals = true, dispatchers = [I2C0_IRQ])]
mod app {

    use embedded_hal::digital::v2::OutputPin;
    use fugit::ExtU64;
    use fugit::MicrosDurationU32;
    use rp_pico::{
        hal::{
            self,
            clocks::init_clocks_and_plls,
            timer::{monotonic::Monotonic, Alarm0},
            watchdog::Watchdog,
            Sio,
        },
        XOSC_CRYSTAL_FREQ,
    };

    const SCAN_TIME_US: MicrosDurationU32 = MicrosDurationU32::secs(1);

    #[shared]
    struct Shared {
        led: hal::gpio::Pin<hal::gpio::pin::bank0::Gpio25, hal::gpio::PushPullOutput>,
    }

    #[monotonic(binds = TIMER_IRQ_0, default = true)]
    type MyMono = Monotonic<Alarm0>;

    #[local]
    struct Local {}

    #[init]
    fn init(c: init::Context) -> (Shared, Local, init::Monotonics) {
        // Soft-reset does not release the hardware spinlocks
        // Release them now to avoid a deadlock after debug or watchdog reset
        unsafe {
            hal::sio::spinlock_reset();
        }
        let mut resets = c.device.RESETS;
        let mut watchdog = Watchdog::new(c.device.WATCHDOG);
        let _clocks = init_clocks_and_plls(
            XOSC_CRYSTAL_FREQ,
            c.device.XOSC,
            c.device.CLOCKS,
            c.device.PLL_SYS,
            c.device.PLL_USB,
            &mut resets,
            &mut watchdog,
        )
        .ok()
        .unwrap();

        let sio = Sio::new(c.device.SIO);
        let pins = rp_pico::Pins::new(
            c.device.IO_BANK0,
            c.device.PADS_BANK0,
            sio.gpio_bank0,
            &mut resets,
        );
        let mut led = pins.led.into_push_pull_output();
        led.set_low().unwrap();

        let mut timer = hal::Timer::new(c.device.TIMER, &mut resets);
        let alarm = timer.alarm_0().unwrap();
        blink_led::spawn_after(500.millis()).unwrap();

        (
            Shared { led },
            Local {},
            init::Monotonics(Monotonic::new(timer, alarm)),
        )
    }

    #[task(
        shared = [led],
        local = [tog: bool = true],
    )]
    fn blink_led(mut c: blink_led::Context) {
        if *c.local.tog {
            c.shared.led.lock(|l| l.set_high().unwrap());
        } else {
            c.shared.led.lock(|l| l.set_low().unwrap());
        }
        *c.local.tog = !*c.local.tog;

        blink_led::spawn_after(500.millis()).unwrap();
    }
}