Merge pull request #427 from Kyrne/master

RTIC Monotonic for RTC and TIMER

CHANGELOG.md

@@ -2,13 +2,19 @@
 
 ## Unreleased
 
-- add support for nRF52805
+### New features
+
+- Added support for nRF52805 ([#422]).
+- Added implementation of RTIC `Monotonic` for RTC and TIMER, behind new `monotonic` feature ([#427]).
+
+[#422]: https://github.com/nrf-rs/nrf-hal/pull/422
+[#427]: https://github.com/nrf-rs/nrf-hal/pull/427
 
 ## [0.17.1]
 
 ### New features
 
-- Implemented `embedded-hal` 1.0 `I2c` trait for `Twi` and `Twim` [#440].
+- Implemented `embedded-hal` 1.0 `I2c` trait for `Twi` and `Twim` ([#440]).
 
 [#440]: https://github.com/nrf-rs/nrf-hal/pull/440
 

examples/monotonic-blinky/.cargo/config.toml

@@ -0,0 +1,10 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-run --chip nRF52840_xxAA"
+
+rustflags = [
+  "-C", "link-arg=--nmagic",
+]
+
+[build]
+target = "thumbv7em-none-eabi" 
+

examples/monotonic-blinky/.gitignore

@@ -0,0 +1 @@
+target

examples/monotonic-blinky/Cargo.toml

@@ -0,0 +1,22 @@
+[package]
+name = "monotonic-blinky"
+version = "0.1.0"
+edition = "2021"
+authors = ["Ivar Jönsson  <ivajns-9@student.ltu.se>"]
+
+[dependencies]
+embedded-hal = "1.0.0"
+rtt-target = "0.5.0"
+panic-halt = "0.2.0"
+nrf52840-hal = { path = "../../nrf52840-hal/", features = ["rtic-monotonic"] }
+cortex-m-rtic = "1.1.4"
+fugit = "0.3.7"
+cortex-m = { version = "0.7.7", features = ["critical-section-single-core"] }
+
+[[bin]]
+name = "rtc"
+path = "src/rtc.rs"
+
+[[bin]]
+name = "timer"
+path = "src/timer.rs"

examples/monotonic-blinky/Embed.toml

@@ -0,0 +1,31 @@
+[default.probe]
+protocol = "Swd"
+
+[default.flashing]
+enabled = true
+halt_afterwards = false
+restore_unwritten_bytes = false
+do_chip_erase = false
+
+[default.reset]
+enabled = true
+halt_afterwards = false
+
+[default.general]
+chip = "nRF52840_xxAA"
+chip_descriptions = []
+log_level = "WARN"
+connect_under_reset = false
+
+[default.rtt]
+enabled = true
+channels = [
+]
+timeout = 3000
+show_timestamps = true
+log_enabled = false
+log_path = "./logs"
+
+[default.gdb]
+enabled = false
+gdb_connection_string = "127.0.0.1:1337"

examples/monotonic-blinky/README.md

@@ -0,0 +1,16 @@
+# Monotonic demo
+
+This crate defines a minimal [`corex-m-rtic`](https://docs.rs/cortex-m-rtic/latest/rtic/)-app using the [`rtc`](../../nrf-hal-common/src/rtc.rs) or [`timer`](../../nrf-hal-common/src/timer.rs)
+for software task scheduling. This example shows how to use the different clocks and how to switch inbetween them.
+
+## How to run
+
+To run the example using the `rtc`
+```bash
+cargo embed --release --bin rtc
+```
+To run the example using the `timer`
+```bash
+cargo embed --release --bin timer
+```
+

examples/monotonic-blinky/src/rtc.rs

@@ -0,0 +1,70 @@
+//! A minimal blinky example using `MonotonicRtc`.
+#![no_main]
+#![no_std]
+
+use hal::pac;
+use nrf52840_hal as hal;
+use panic_halt as _;
+#[rtic::app(device = pac, dispatchers = [UARTE1])]
+mod app {
+    use super::*;
+    use cortex_m::asm;
+    use embedded_hal::digital::{OutputPin, StatefulOutputPin};
+    use hal::{
+        gpio::{p0::Parts, Level, Output, Pin, PushPull},
+        monotonic::MonotonicRtc,
+    };
+    use pac::RTC0;
+    use rtt_target::{rprintln, rtt_init_print};
+
+    #[monotonic(binds = RTC0, default = true)]
+    type MyMono = MonotonicRtc<RTC0, 32_768>;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        led: Pin<Output<PushPull>>,
+    }
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        rtt_init_print!();
+        rprintln!("init");
+
+        let p0 = Parts::new(cx.device.P0);
+        let led = p0.p0_13.into_push_pull_output(Level::High).degrade();
+
+        let clocks = hal::clocks::Clocks::new(cx.device.CLOCK);
+        let clocks = clocks.start_lfclk();
+        // Will throw error if freq is invalid
+        let mono = MyMono::new(cx.device.RTC0, &clocks).unwrap();
+
+        blink::spawn().ok();
+        (Shared {}, Local { led }, init::Monotonics(mono))
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        loop {
+            rprintln!("idle");
+            // Put core to sleep until next interrupt
+            asm::wfe();
+        }
+    }
+
+    #[task(local = [led])]
+    fn blink(ctx: blink::Context) {
+        rprintln!("Blink!");
+        let led = ctx.local.led;
+        // Note this unwrap is safe since is_set_low is allways Ok
+        if led.is_set_low().unwrap() {
+            led.set_high().ok();
+        } else {
+            led.set_low().ok();
+        }
+        // spawn after current time + 1 second
+        blink::spawn_after(fugit::ExtU32::millis(1000)).ok();
+    }
+}

examples/monotonic-blinky/src/timer.rs

@@ -0,0 +1,67 @@
+//! A minimal blinky example using `MonotonicTimer`.
+#![no_main]
+#![no_std]
+
+use hal::pac;
+use nrf52840_hal as hal;
+use panic_halt as _;
+#[rtic::app(device = pac, dispatchers = [UARTE1])]
+mod app {
+    use super::*;
+    use cortex_m::asm;
+    use embedded_hal::digital::{OutputPin, StatefulOutputPin};
+    use hal::{
+        gpio::{p0::Parts, Level, Output, Pin, PushPull},
+        monotonic::MonotonicTimer,
+    };
+    use pac::TIMER0;
+    use rtt_target::{rprintln, rtt_init_print};
+
+    #[monotonic(binds = TIMER0, default = true)]
+    type MyMono = MonotonicTimer<TIMER0, 16_000_000>;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        led: Pin<Output<PushPull>>,
+    }
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        rtt_init_print!();
+        rprintln!("init");
+
+        let p0 = Parts::new(cx.device.P0);
+        let led = p0.p0_13.into_push_pull_output(Level::High).degrade();
+
+        // New does not exists for invalid frequencies
+        let mono = MyMono::new(cx.device.TIMER0);
+        blink::spawn().ok();
+        (Shared {}, Local { led }, init::Monotonics(mono))
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        loop {
+            rprintln!("idle");
+            // Put core to sleep until next interrupt
+            asm::wfe();
+        }
+    }
+
+    #[task(local = [led])]
+    fn blink(ctx: blink::Context) {
+        rprintln!("Blink!");
+        let led = ctx.local.led;
+        // Note this unwrap is safe since is_set_low is allways Ok
+        if led.is_set_low().unwrap() {
+            led.set_high().ok();
+        } else {
+            led.set_low().ok();
+        }
+        // spawn after current time + 1 second
+        blink::spawn_after(fugit::ExtU32::millis(1000)).ok();
+    }
+}

nrf-hal-common/Cargo.toml

@@ -20,13 +20,15 @@ license = "MIT OR Apache-2.0"
 edition = "2018"
 
 [dependencies]
-cortex-m = "0.7.7"
-nb = "1.1.0"
-fixed = "1.25.1"
-rand_core = "0.6.4"
 cfg-if = "1.0.0"
+cortex-m = "0.7.7"
 embedded-dma = "0.2.0"
+embedded-hal = "1.0.0"
+embedded-io = "0.6.1"
 embedded-storage = "0.3.1"
+fixed = "1.25.1"
+nb = "1.1.0"
+rand_core = "0.6.4"
 
 [dependencies.void]
 default-features = false
@@ -86,11 +88,13 @@ features = ["unproven"]
 version = "0.2.7"
 optional = true
 
-[dependencies.embedded-hal]
+[dependencies.rtic-monotonic]
 version = "1.0.0"
+optional = true
 
-[dependencies.embedded-io]
-version = "0.6.1"
+[dependencies.fugit]
+version = "0.3.7"
+optional = true
 
 [features]
 doc = []
@@ -104,3 +108,4 @@ doc = []
 5340-app = ["nrf5340-app-pac"]
 5340-net = ["nrf5340-net-pac"]
 9160 = ["nrf9160-pac"]
+rtic-monotonic = ["dep:rtic-monotonic", "dep:fugit"]

nrf-hal-common/src/lib.rs

@@ -4,6 +4,9 @@
 #![doc(html_root_url = "https://docs.rs/nrf-hal-common/0.17.1")]
 #![no_std]
 
+#[cfg(feature = "rtic-monotonic")]
+pub mod monotonic;
+
 #[cfg(feature = "51")]
 pub use nrf51_pac as pac;