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Add Executor with timer queue, Timer, Instant, Duration, Alarm.

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This commit is contained in:
Dario Nieuwenhuis
2020-09-25 03:25:06 +02:00
parent 05ca563e7d
commit 4333105341
11 changed files with 416 additions and 86 deletions
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3
examples/Cargo.toml
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@ -27,5 +27,4 @@ nrf52840-hal = { version = "0.11.0" }
embassy = { version = "0.1.0", path = "../embassy" }
embassy-nrf = { version = "0.1.0", path = "../embassy-nrf", features = ["defmt-trace", "52840"] }
static-executor = { version = "0.1.0", features=["defmt"]}
futures = { version = "0.3.5", default-features = false }
futures-intrusive = { version = "0.3.1", default-features = false }
futures = { version = "0.3.5", default-features = false }

65
examples/src/bin/rtc_async.rs
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@ -8,39 +8,30 @@ use example_common::*;
use core::mem::MaybeUninit;
use cortex_m_rt::entry;
use embassy::clock::Monotonic;
use embassy::executor::{task, Executor, WfeModel};
use embassy::time::{Duration, Instant, Timer};
use embassy_nrf::pac;
use embassy_nrf::rtc;
use futures_intrusive::timer::{Clock, LocalTimer, LocalTimerService};
use nrf52840_hal::clocks;
use static_executor::{task, Executor};
struct RtcClock<T>(rtc::RTC<T>);
impl<T: rtc::Instance> Clock for RtcClock<T> {
fn now(&self) -> u64 {
self.0.now()
#[task]
async fn run1() {
loop {
info!("BIG INFREQUENT TICK");
Timer::after(Duration::from_ticks(64000)).await;
}
}
#[task]
async fn run1(rtc: &'static rtc::RTC<embassy_nrf::pac::RTC1>, timer: &'static LocalTimerService) {
async fn run2() {
loop {
info!("tick 1");
timer.deadline(rtc.now() + 64000).await;
info!("tick");
Timer::after(Duration::from_ticks(13000)).await;
}
}
#[task]
async fn run2(rtc: &'static rtc::RTC<embassy_nrf::pac::RTC1>, timer: &'static LocalTimerService) {
loop {
info!("tick 2");
timer.deadline(rtc.now() + 23000).await;
}
}
static EXECUTOR: Executor = Executor::new(cortex_m::asm::sev);
static mut RTC: MaybeUninit<RtcClock<embassy_nrf::pac::RTC1>> = MaybeUninit::uninit();
static mut TIMER: MaybeUninit<LocalTimerService> = MaybeUninit::uninit();
static mut RTC: MaybeUninit<rtc::RTC<pac::RTC1>> = MaybeUninit::uninit();
static mut EXECUTOR: MaybeUninit<Executor<WfeModel, rtc::Alarm<pac::RTC1>>> = MaybeUninit::uninit();
#[entry]
fn main() -> ! {
@ -55,35 +46,23 @@ fn main() -> ! {
let rtc: &'static _ = unsafe {
let ptr = RTC.as_mut_ptr();
ptr.write(RtcClock(rtc::RTC::new(p.RTC1)));
ptr.write(rtc::RTC::new(p.RTC1));
&*ptr
};
rtc.0.start();
rtc.start();
unsafe { embassy::time::set_clock(|| RTC.as_ptr().as_ref().unwrap().now()) };
let timer: &'static _ = unsafe {
let ptr = TIMER.as_mut_ptr();
ptr.write(LocalTimerService::new(rtc));
let executor: &'static _ = unsafe {
let ptr = EXECUTOR.as_mut_ptr();
ptr.write(Executor::new(rtc.alarm0()));
&*ptr
};
unsafe {
EXECUTOR.spawn(run1(&rtc.0, timer)).dewrap();
EXECUTOR.spawn(run2(&rtc.0, timer)).dewrap();
executor.spawn(run1()).dewrap();
executor.spawn(run2()).dewrap();
loop {
timer.check_expirations();
EXECUTOR.run();
match timer.next_expiration() {
// If this is in the past, set_alarm will immediately trigger the alarm,
// which will make the wfe immediately return so we do another loop iteration.
Some(at) => rtc.0.set_alarm(at, cortex_m::asm::sev),
None => rtc.0.clear_alarm(),
}
cortex_m::asm::wfe();
}
executor.run()
}
}

7
examples/src/bin/rtc_raw.rs
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@ -8,7 +8,7 @@ use example_common::*;
use core::mem::MaybeUninit;
use cortex_m_rt::entry;
use embassy::clock::Monotonic;
use embassy::time::Alarm;
use embassy_nrf::rtc;
use nrf52840_hal::clocks;
@ -31,8 +31,11 @@ fn main() -> ! {
&*ptr
};
let alarm = rtc.alarm0();
rtc.start();
rtc.set_alarm(53719, || info!("ALARM TRIGGERED"));
alarm.set(53719, || info!("ALARM TRIGGERED"));
info!("initialized!");