Start implementing interrupt

rust/pico/Cargo.toml

@@ -6,6 +6,8 @@ version = "0.1.0"
 [dependencies]
 cortex-m = "0.7.6"
 cortex-m-rt = "0.7.2"
+cortex-m-rtic = "1.1.2"
+fugit = "0.3.6"
 embedded-hal = { version = "0.2.7", features = ["unproven"] }
 embedded-time = "0.12.1"
 

rust/pico/src/main.rs

@@ -1,125 +1,171 @@
-//! Blinks the LED on a Pico board
-//!
-//! This will blink an LED attached to GP25, which is the pin the Pico uses for the on-board LED.
 #![no_std]
 #![no_main]
 
 mod serial;
 
-use bsp::entry;
-use embedded_hal::digital::v2::OutputPin;
 use panic_probe as _;
 
-// Provide an alias for our BSP so we can switch targets quickly.
+#[rtic::app(device = rp_pico::hal::pac, peripherals = true)]
-// Uncomment the BSP you included in Cargo.toml, the rest of the code does not need to change.
+mod app {
-use rp_pico as bsp;
+    // Provide an alias for our BSP so we can switch targets quickly.
+    // Uncomment the BSP you included in Cargo.toml, the rest of the code does not need to change.
+    use rp_pico as bsp;
 
-use bsp::hal::{
+    use bsp::hal::{
         clocks::{init_clocks_and_plls, Clock},
-    pac,
+        gpio::{bank0::Gpio26, Floating, Input, Pin},
         rom_data::reset_to_usb_boot,
         sio::Sio,
+        timer::{Alarm, Alarm0},
         usb::UsbBus,
         watchdog::Watchdog,
-    Adc,
+        Adc, Timer,
-};
+    };
 
-use embedded_hal::adc::OneShot;
+    use fugit::MicrosDurationU32;
 
-use usb_device::{class_prelude::*, prelude::*};
+    use embedded_hal::{adc::OneShot, digital::v2::OutputPin};
+    use usb_device::{class_prelude::*, prelude::*};
 
-use crate::serial::{Commands, Serial};
+    use crate::serial::{Commands, Serial};
 
-#[entry]
+    const SCAN_TIME_US: MicrosDurationU32 = MicrosDurationU32::secs(1);
-fn main() -> ! {
+
-    let mut pac = pac::Peripherals::take().unwrap();
+    struct Data {
-    let core = pac::CorePeripherals::take().unwrap();
+        i: usize,
-    let mut watchdog = Watchdog::new(pac.WATCHDOG);
+        usb_bus: UsbBusAllocator<UsbBus>,
+        usb_dev: UsbDevice<'static, UsbBus>,
+
+        serial: Serial<'static>,
+
+        adc: Adc,
+        adc_pin_0: Pin<Gpio26, Input<Floating>>,
+    }
+
+    #[shared]
+    struct Shared {
+        timer: Timer,
+        alarm: Alarm0,
+
+        data: Data,
+    }
+
+    #[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 {
+            bsp::hal::sio::spinlock_reset();
+        }
+
+        let mut resets = c.device.RESETS;
+        let mut watchdog = Watchdog::new(c.device.WATCHDOG);
 
-    // External high-speed crystal on the pico board is 12Mhz
         let external_xtal_freq_hz = 12_000_000u32;
         let clocks = init_clocks_and_plls(
             external_xtal_freq_hz,
-        pac.XOSC,
+            c.device.XOSC,
-        pac.CLOCKS,
+            c.device.CLOCKS,
-        pac.PLL_SYS,
+            c.device.PLL_SYS,
-        pac.PLL_USB,
+            c.device.PLL_USB,
-        &mut pac.RESETS,
+            &mut resets,
             &mut watchdog,
         )
         .ok()
         .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
+        let sio = Sio::new(c.device.SIO);
-
+        let pins = rp_pico::Pins::new(
-    let sio = Sio::new(pac.SIO);
+            c.device.IO_BANK0,
-
+            c.device.PADS_BANK0,
-    let pins = bsp::Pins::new(
-        pac.IO_BANK0,
-        pac.PADS_BANK0,
             sio.gpio_bank0,
-        &mut pac.RESETS,
+            &mut resets,
         );
 
+        let mut timer = Timer::new(c.device.TIMER, &mut resets);
+        let mut alarm = timer.alarm_0().unwrap();
+        let _ = alarm.schedule(SCAN_TIME_US);
+        alarm.enable_interrupt();
+
         let mut led_pin = pins.led.into_push_pull_output();
 
         led_pin.set_low().unwrap();
 
         // Set up the USB driver
         let usb_bus = UsbBusAllocator::new(UsbBus::new(
-        pac.USBCTRL_REGS,
+            c.device.USBCTRL_REGS,
-        pac.USBCTRL_DPRAM,
+            c.device.USBCTRL_DPRAM,
             clocks.usb_clock,
             true,
-        &mut pac.RESETS,
+            &mut resets,
         ));
 
-    let mut serial = Serial::new(&usb_bus);
+        let serial = Serial::new(&usb_bus);
 
         // Create a USB device with a fake VID and PID
-    let mut usb_dev = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(0x16c0, 0x27dd))
+        let usb_dev = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(0x16c0, 0x27dd))
             .manufacturer("Fake company")
             .product("Serial port")
             .serial_number("TEST")
             .device_class(2) // from: https://www.usb.org/defined-class-codes
             .build();
 
-    let mut adc = Adc::new(pac.ADC, &mut pac.RESETS);
+        let adc = Adc::new(c.device.ADC, &mut resets);
 
-    let mut adc_pin_0 = pins.gpio26.into_floating_input();
+        let adc_pin_0 = pins.gpio26.into_floating_input();
         // let mut adc_pin_1 = pins.gpio27.into_floating_input();
         // let mut adc_pin_2 = pins.gpio28.into_floating_input();
 
-    let mut i = 0;
+        let data = Data {
+            i: 0,
+            usb_bus,
+            usb_dev,
 
-    loop {
+            serial,
-        // serial.write("test".as_bytes());
 
-        // serial_send(&mut serial, "test");
+            adc,
-        // delay.delay_ms(1000);
+            adc_pin_0,
+        };
 
-        i += 1;
+        (Shared { timer, alarm, data }, Local {}, init::Monotonics())
+    }
 
-        if i == 100 {
+    #[task(
-            i = 0;
+        binds = TIMER_IRQ_0,
+        priority = 1,
+        shared = [timer, alarm, data],
+        local = [tog: bool = true],
+    )]
+    fn timer_irq(mut c: timer_irq::Context) {
+        c.shared.data.lock(|data| {
+            data.i += 1;
 
-            let adc_0_value: u16 = adc.read(&mut adc_pin_0).unwrap();
+            if data.i == 100 {
+                data.i = 0;
+
+                let adc_0_value: u16 = data.adc.read(&mut data.adc_pin_0).unwrap();
                 // let adc_1_value: u16 = adc.read(&mut adc_pin_1).unwrap();
                 // let adc_2_value: u16 = adc.read(&mut adc_pin_2).unwrap();
 
-            serial.send(adc_0_value);
+                data.serial.send(adc_0_value);
             }
 
-        delay.delay_ms(8);
+            if data.usb_dev.poll(&mut [&mut data.serial]) {
-
+                if let Some(command) = data.serial.read() {
-        if usb_dev.poll(&mut [&mut serial]) {
-            if let Some(command) = serial.read() {
                     match command {
                         Commands::Reset => reset_to_usb_boot(0, 0),
                     }
                 }
             }
+        });
+
+        let mut alarm = c.shared.alarm;
+        (alarm).lock(|a| {
+            a.clear_interrupt();
+            let _ = a.schedule(SCAN_TIME_US);
+        });
     }
 }
-
-// End of file