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Port multiprio example to stm32f3 and stm32f4 platforms

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This commit is contained in:
Cristian Eigel 2022-02-10 19:22:07 +01:00
parent 9d682aa1fa
commit 898851ceeb
2 changed files with 288 additions and 0 deletions
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144
examples/stm32f3/src/bin/multiprio.rs Normal file
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//! This example showcases how to create multiple Executor instances to run tasks at
//! different priority levels.
//!
//! Low priority executor runs in thread mode (not interrupt), and uses `sev` for signaling
//! there's work in the queue, and `wfe` for waiting for work.
//!
//! Medium and high priority executors run in two interrupts with different priorities.
//! Signaling work is done by pending the interrupt. No "waiting" needs to be done explicitly, since
//! when there's work the interrupt will trigger and run the executor.
//!
//! Sample output below. Note that high priority ticks can interrupt everything else, and
//! medium priority computations can interrupt low priority computations, making them to appear
//! to take significantly longer time.
//!
//! ```not_rust
//! [med] Starting long computation
//! [med] done in 992 ms
//! [high] tick!
//! [low] Starting long computation
//! [med] Starting long computation
//! [high] tick!
//! [high] tick!
//! [med] done in 993 ms
//! [med] Starting long computation
//! [high] tick!
//! [high] tick!
//! [med] done in 993 ms
//! [low] done in 3972 ms
//! [med] Starting long computation
//! [high] tick!
//! [high] tick!
//! [med] done in 993 ms
//! ```
//!
//! For comparison, try changing the code so all 3 tasks get spawned on the low priority executor.
//! You will get an output like the following. Note that no computation is ever interrupted.
//!
//! ```not_rust
//! [high] tick!
//! [med] Starting long computation
//! [med] done in 496 ms
//! [low] Starting long computation
//! [low] done in 992 ms
//! [med] Starting long computation
//! [med] done in 496 ms
//! [high] tick!
//! [low] Starting long computation
//! [low] done in 992 ms
//! [high] tick!
//! [med] Starting long computation
//! [med] done in 496 ms
//! [high] tick!
//! ```
//!
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
#[path = "../example_common.rs"]
mod example_common;
use example_common::*;
use cortex_m_rt::entry;
use embassy::executor::{Executor, InterruptExecutor};
use embassy::interrupt::InterruptExt;
use embassy::time::{Duration, Instant, Timer};
use embassy::util::Forever;
use embassy_stm32::interrupt;
#[embassy::task]
async fn run_high() {
loop {
info!(" [high] tick!");
Timer::after(Duration::from_ticks(27374)).await;
}
}
#[embassy::task]
async fn run_med() {
loop {
let start = Instant::now();
info!(" [med] Starting long computation");
// Spin-wait to simulate a long CPU computation
cortex_m::asm::delay(8_000_000); // ~1 second
let end = Instant::now();
let ms = end.duration_since(start).as_ticks() / 33;
info!(" [med] done in {} ms", ms);
Timer::after(Duration::from_ticks(23421)).await;
}
}
#[embassy::task]
async fn run_low() {
loop {
let start = Instant::now();
info!("[low] Starting long computation");
// Spin-wait to simulate a long CPU computation
cortex_m::asm::delay(16_000_000); // ~2 seconds
let end = Instant::now();
let ms = end.duration_since(start).as_ticks() / 33;
info!("[low] done in {} ms", ms);
Timer::after(Duration::from_ticks(32983)).await;
}
}
static EXECUTOR_HIGH: Forever<InterruptExecutor<interrupt::UART4>> = Forever::new();
static EXECUTOR_MED: Forever<InterruptExecutor<interrupt::UART5>> = Forever::new();
static EXECUTOR_LOW: Forever<Executor> = Forever::new();
#[entry]
fn main() -> ! {
info!("Hello World!");
let _p = embassy_stm32::init(Default::default());
// High-priority executor: SWI1_EGU1, priority level 6
let irq = interrupt::take!(UART4);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_high()));
});
// Medium-priority executor: SWI0_EGU0, priority level 7
let irq = interrupt::take!(UART5);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_med()));
});
// Low priority executor: runs in thread mode, using WFE/SEV
let executor = EXECUTOR_LOW.put(Executor::new());
executor.run(|spawner| {
unwrap!(spawner.spawn(run_low()));
});
}

144
examples/stm32f4/src/bin/multiprio.rs Normal file
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//! This example showcases how to create multiple Executor instances to run tasks at
//! different priority levels.
//!
//! Low priority executor runs in thread mode (not interrupt), and uses `sev` for signaling
//! there's work in the queue, and `wfe` for waiting for work.
//!
//! Medium and high priority executors run in two interrupts with different priorities.
//! Signaling work is done by pending the interrupt. No "waiting" needs to be done explicitly, since
//! when there's work the interrupt will trigger and run the executor.
//!
//! Sample output below. Note that high priority ticks can interrupt everything else, and
//! medium priority computations can interrupt low priority computations, making them to appear
//! to take significantly longer time.
//!
//! ```not_rust
//! [med] Starting long computation
//! [med] done in 992 ms
//! [high] tick!
//! [low] Starting long computation
//! [med] Starting long computation
//! [high] tick!
//! [high] tick!
//! [med] done in 993 ms
//! [med] Starting long computation
//! [high] tick!
//! [high] tick!
//! [med] done in 993 ms
//! [low] done in 3972 ms
//! [med] Starting long computation
//! [high] tick!
//! [high] tick!
//! [med] done in 993 ms
//! ```
//!
//! For comparison, try changing the code so all 3 tasks get spawned on the low priority executor.
//! You will get an output like the following. Note that no computation is ever interrupted.
//!
//! ```not_rust
//! [high] tick!
//! [med] Starting long computation
//! [med] done in 496 ms
//! [low] Starting long computation
//! [low] done in 992 ms
//! [med] Starting long computation
//! [med] done in 496 ms
//! [high] tick!
//! [low] Starting long computation
//! [low] done in 992 ms
//! [high] tick!
//! [med] Starting long computation
//! [med] done in 496 ms
//! [high] tick!
//! ```
//!
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
#[path = "../example_common.rs"]
mod example_common;
use example_common::*;
use cortex_m_rt::entry;
use embassy::executor::{Executor, InterruptExecutor};
use embassy::interrupt::InterruptExt;
use embassy::time::{Duration, Instant, Timer};
use embassy::util::Forever;
use embassy_stm32::interrupt;
#[embassy::task]
async fn run_high() {
loop {
info!(" [high] tick!");
Timer::after(Duration::from_ticks(27374)).await;
}
}
#[embassy::task]
async fn run_med() {
loop {
let start = Instant::now();
info!(" [med] Starting long computation");
// Spin-wait to simulate a long CPU computation
cortex_m::asm::delay(8_000_000); // ~1 second
let end = Instant::now();
let ms = end.duration_since(start).as_ticks() / 33;
info!(" [med] done in {} ms", ms);
Timer::after(Duration::from_ticks(23421)).await;
}
}
#[embassy::task]
async fn run_low() {
loop {
let start = Instant::now();
info!("[low] Starting long computation");
// Spin-wait to simulate a long CPU computation
cortex_m::asm::delay(16_000_000); // ~2 seconds
let end = Instant::now();
let ms = end.duration_since(start).as_ticks() / 33;
info!("[low] done in {} ms", ms);
Timer::after(Duration::from_ticks(32983)).await;
}
}
static EXECUTOR_HIGH: Forever<InterruptExecutor<interrupt::UART4>> = Forever::new();
static EXECUTOR_MED: Forever<InterruptExecutor<interrupt::UART5>> = Forever::new();
static EXECUTOR_LOW: Forever<Executor> = Forever::new();
#[entry]
fn main() -> ! {
info!("Hello World!");
let _p = embassy_stm32::init(Default::default());
// High-priority executor: SWI1_EGU1, priority level 6
let irq = interrupt::take!(UART4);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_high()));
});
// Medium-priority executor: SWI0_EGU0, priority level 7
let irq = interrupt::take!(UART5);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_med()));
});
// Low priority executor: runs in thread mode, using WFE/SEV
let executor = EXECUTOR_LOW.put(Executor::new());
executor.run(|spawner| {
unwrap!(spawner.spawn(run_low()));
});
}