Port the blinking w/RTT output code to RTIC framework

.gdbinit

@@ -1,6 +1,5 @@
 target remote :3333
 
-monitor arm semihosting enable
 
 load
 step

Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-name = "blue_pill_base"
+name = "blue_pill_rtic"
 version = "0.1.0"
 authors = ["Levi Pearson <levipearson@gmail.com>"]
 description = "Base binary crate for STM32F103 Blue Pill boards"
@@ -11,15 +11,17 @@ cortex-m = "0.6.2"
 cortex-m-rt = "0.6.12"
 #cortex-m-semihosting = "0.3.5"
 # alternate panic impls, choose only one!
-panic-halt = "0.2.0"
+#panic-halt = "0.2.0"
 #panic-semihosting = "0.5.3" # requires cortex-m-semihosting
 #panic-itm = "0.4.1"
 #panic-abort = "0.3.2"
 #panic-ramdump = "0.1.1"
 #panic-persist = "0.2.1"
+panic-rtt-target = { version = "0.1.0", features = ["cortex-m"] }
 embedded-hal = "0.2.3"
 nb = "0.1.2"
 rtt-target = { version = "0.2.0", features = ["cortex-m"] }
+cortex-m-rtic = "0.5.0"
 
 [dependencies.stm32f1]
 version = "0.10.0"
@@ -30,7 +32,7 @@ version = "0.5.3"
 features = ["rt", "stm32f103", "medium"]
 
 [[bin]]
-name = "blue_pill_base"
+name = "blue_pill_rtic"
 test = false
 bench = false
 

openocd.cfg

@@ -1,5 +1,8 @@
 # Sample OpenOCD configuration for the blue pill board
 
+# Some microcontrollers have a different CPU ID; uncomment this if yours is one
+set CPUTAPID 0x2ba01477
+
 # Depending on the hardware revision you got you'll have to pick ONE of these
 # interfaces. At any time only one interface should be commented out.
 

src/main.rs

@@ -9,66 +9,127 @@
 #![no_std]
 #![no_main]
 
-//use panic_halt as _;
-use core::panic::PanicInfo;
 use rtt_target::{rprintln, rtt_init_print};
-
+use panic_rtt_target as _;
-use nb::block;
 
 use stm32f1xx_hal::{
     prelude::*,
-    pac,
+    stm32,
-    timer::Timer,
+    timer::{Timer, Event},
 };
-use cortex_m_rt::entry;
+use core::sync::atomic::{self, Ordering};
-use embedded_hal::digital::v2::OutputPin;
 
-#[entry]
+use stm32f1xx_hal as hal;
-fn main() -> ! {
-    // Init buffers for debug printing
-    rtt_init_print!();
-    // Get access to the core peripherals from the cortex-m crate
-    let cp = cortex_m::Peripherals::take().unwrap();
-    // Get access to the device specific peripherals from the peripheral access crate
-    let dp = pac::Peripherals::take().unwrap();
 
-    // Take ownership over the raw flash and rcc devices and convert them into the corresponding
+#[rtic::app(device = stm32f1xx_hal::stm32, peripherals = true)]
-    // HAL structs
+const APP: () = {
-    let mut flash = dp.FLASH.constrain();
+    // Defining this struct makes shared resources available to tasks; if
-    let mut rcc = dp.RCC.constrain();
+    // they can't be statically initialized, they will be initialized by
+    // the values returned from `init`
+    struct Resources {
+        // resources -- these are statically initialized via `init` attributes
+        #[init(0)]
+        beat: u8,
 
-    // Freeze the configuration of all the clocks in the system and store the frozen frequencies in
+        // late resources -- these must be initialized in the `init` task and
-    // `clocks`
+        // returned in `init::LateResources`
-    let clocks = rcc.cfgr.freeze(&mut flash.acr);
+        led1: hal::gpio::gpioc::PC13<hal::gpio::Output<hal::gpio::PushPull>>,
+        tmr2: hal::timer::CountDownTimer<stm32::TIM2>,
+        tmr3: hal::timer::CountDownTimer<stm32::TIM3>,
+    }
 
-    // Acquire the GPIOC peripheral
+    // This task does startup config; the peripherals are passed in thanks to
-    let mut gpioc = dp.GPIOC.split(&mut rcc.apb2);
+    // `peripherals = true` in the app definition. They are the `device` and
+    // `core` fields of `init::Context`.
+    // Any dynamically-configured shared resources in `Resources` must be
+    // returned as part of `init::LateResources`.
+    #[init]
+    fn init(cx: init::Context) -> init::LateResources {
+        rtt_init_print!();
+        rprintln!("init begin");
 
-    // Configure gpio C pin 13 as a push-pull output. The `crh` register is passed to the function
+        // Set everything to 8MHz using the external clock
-    // in order to configure the port. For pins 0-7, crl should be passed instead.
+        let mut flash = cx.device.FLASH.constrain();
-    let mut led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);
+        let mut rcc = cx.device.RCC.constrain();
-    // Configure the syst timer to trigger an update every second
+        let clocks = rcc
-    let mut timer = Timer::syst(cp.SYST, &clocks).start_count_down(1.hz());
+            .cfgr
+            .use_hse(8.mhz())
+            .sysclk(8.mhz())
+            .hclk(8.mhz())
+            .pclk1(8.mhz())
+            .pclk2(8.mhz())
+            .adcclk(8.mhz())
+            .freeze(&mut flash.acr);
 
-    rprintln!("Hello, Rust!");
+        // LED is on pin C13, configure it for output
-    // Wait for the timer to trigger an update and change the state of the LED
+        let mut gpioc = cx.device.GPIOC.split(&mut rcc.apb2);
-    let mut i = 0;
+        let led1 = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);
-    loop {
+
-        block!(timer.wait()).unwrap();
+        // Use TIM2 for the beat counter task
-        led.set_high().unwrap();
+        let mut tmr2 = Timer::tim2(cx.device.TIM2, &clocks, &mut rcc.apb1)
-        block!(timer.wait()).unwrap();
+            .start_count_down(1.hz());
-        led.set_low().unwrap();
+        tmr2.listen(Event::Update);
-        i += 1;
+
-        rprintln!("Hello again; I have blinked {} times.", i);
+        // Use TIM3 for the LED blinker task
-        if i == 10 {
+        let mut tmr3 = Timer::tim3(cx.device.TIM3, &clocks, &mut rcc.apb1)
-            panic!("Yow, 10 times is enough!");
+            .start_count_down(2.hz());
+        tmr3.listen(Event::Update);
+
+        rprintln!("init end");
+
+        init::LateResources {
+            led1,
+            tmr2,
+            tmr3,
         }
     }
-}
 
-#[inline(never)]
+    #[idle]
-#[panic_handler]
+    fn idle(_: idle::Context) -> ! {
-fn panic(info: &PanicInfo) -> ! {
+        loop {
-    rprintln!("{}", info);
+            // The compiler may omit this loop without the following
-    loop {} // You might need a compiler fence in here.
+            atomic::compiler_fence(Ordering::SeqCst);
-}
+        }
+    }
+
+    // Update the beat counter and periodically display the current count
+    // on the RTT channel
+    #[task(resources = [beat])]
+    fn beat_update(cx: beat_update::Context) {
+        if *cx.resources.beat % 10 == 0 {
+            rprintln!("TIM2 beat = {}", *cx.resources.beat);
+        }
+
+        *cx.resources.beat += 1;
+    }
+
+    // Interrupt task for TIM2, the beat counter timer
+    #[task(binds = TIM2, priority = 2, resources = [tmr2], spawn = [beat_update])]
+    fn tim2(cx: tim2::Context) {
+        // Delegate the state update to a software task
+        cx.spawn.beat_update().unwrap();
+
+        // Restart the timer and clear the interrupt flag
+        cx.resources.tmr2.start(1.hz());
+        cx.resources.tmr2.clear_update_interrupt_flag();
+    }
+
+    // Interrupt task for TIM3, the LED blink timer
+    #[task(binds = TIM3, priority = 1, resources = [led1, tmr3])]
+    fn tim3(cx: tim3::Context) {
+        cx.resources.led1.toggle().unwrap();
+        cx.resources.tmr3.start(2.hz());
+        cx.resources.tmr3.clear_update_interrupt_flag();
+    }
+
+    // RTIC requires that unused interrupts are declared in an extern block when
+    // using software tasks; these free interrupts will be used to dispatch the
+    // software tasks.
+    //
+    // For a list, see:
+    //   https://docs.rs/stm32f1xx-hal/0.6.1/stm32f1xx_hal/stm32/enum.Interrupt.html
+    extern "C" {
+        fn TAMPER();
+    }
+};
+