Merge pull request #727 from stm32-rs/rtic2

RTICv2

Author: burrbull

.github/workflows/ci.yml

@@ -40,10 +40,13 @@ jobs:
           - stm32f479
         rust:
           - stable
+        features:
+          - usb_fs,sdio-host,can,i2s,fsmc_lcd,rtic1
         include:
           - rust: nightly
             mcu: stm32f479
             experimental: true
+            features: usb_fs,sdio-host,can,i2s,fsmc_lcd,rtic2
 
     steps:
       - uses: actions/checkout@v4
@@ -55,9 +58,9 @@ jobs:
       - name: Cache Dependencies
         uses: Swatinem/rust-cache@v2
         with:
-          key: v0.18.0-${{ matrix.mcu }}
+          key: v0.19.0-${{ matrix.mcu }}
 
       - uses: actions-rs/cargo@v1
         with:
           command: check
-          args: --features=${{ matrix.mcu }},usb_fs,sdio-host,can,i2s,fsmc_lcd,rtic --examples
+          args: --features=${{ matrix.mcu }},${{ matrix.features }} --examples

CHANGELOG.md

@@ -13,6 +13,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - bump embedded-hal to `1.0` (no more RC!)
 - make `embedded-hal` `1.0` main implementation
 - add `embedded-hal-nb::serial`
+- rename `rtic` feature to `rtic1`, add `rtic2`
 
 ## [v0.19.0] - 2023-12-11
 

Cargo.toml

@@ -23,7 +23,7 @@ repository = "https://github.com/stm32-rs/stm32f4xx-hal"
 version = "0.19.0"
 
 [package.metadata.docs.rs]
-features = ["stm32f429", "usb_fs", "can", "i2s", "fsmc_lcd", "rtic", "defmt"]
+features = ["stm32f429", "usb_fs", "can", "i2s", "fsmc_lcd", "rtic1", "defmt"]
 targets = ["thumbv7em-none-eabihf"]
 
 [dependencies]
@@ -42,8 +42,15 @@ void = { default-features = false, version = "1.0.2" }
 display-interface = { version = "0.4.1", optional = true }
 fugit = "0.3.7"
 fugit-timer = "0.1.3"
+# rtic1
 rtic-monotonic = { version = "1.0", optional = true }
 systick-monotonic = { version = "1.0", optional = true }
+cortex-m-rtic = { version = "1.1.4", features = ["test-critical-section"], optional = true }
+# rtic2
+rtic-time = { version = "1.3", optional = true }
+rtic-monotonics = { version = "1.5", features = ["cortex-m-systick"], optional = true }
+rtic = { version = "2.0.1", features = ["thumbv7-backend"], optional = true }
+
 enumflags2 = "0.7.8"
 embedded-storage = "0.3"
 vcell = "0.1.3"
@@ -81,7 +88,6 @@ embedded-graphics = "0.7.1"
 usb-device = "0.3.1"
 usbd-serial = "0.2.0"
 micromath = "2"
-cortex-m-rtic = { version = "1.1.4", features = ["test-critical-section"] }
 dwt-systick-monotonic = "1.1"
 st7789 = "0.7.0"
 rtt-target = { version = "0.4.0" }
@@ -259,8 +265,13 @@ gpio-f469 = [
     "usart3", "uart4", "uart5", "uart7", "uart8",
 ]
 
-## Support monotonic timers that can be used by [RTIC framework](https://crates.io/crates/cortex-m-rtic)
-rtic = ["dep:rtic-monotonic", "dep:systick-monotonic"]
+## Support monotonic timers and other stuff that can be used by [RTICv1 framework](https://crates.io/crates/cortex-m-rtic)
+rtic1 = ["dep:rtic-monotonic", "dep:systick-monotonic", "cortex-m-rtic"]
+
+## Support monotonic timers and other stuff that can be used by [RTICv2 framework](https://crates.io/crates/rtic)
+## 
+## Requires nightly rust compiler
+rtic2 = ["dep:rtic-time", "dep:rtic-monotonics", "dep:rtic"]
 
 ## Implementation of `defmt::Format` for public enums and structures. See [defmt](https://crates.io/crates/defmt)
 defmt = ["dep:defmt", "fugit/defmt", "nb/defmt-0-3"]
@@ -438,43 +449,47 @@ required-features = ["stm32f411"]
 
 [[example]]
 name = "rtic-adc-dma"
-required-features = ["rtic"] # stm32f401
+required-features = ["rtic1"] # stm32f401
 
 [[example]]
 name = "rtic-button"
-required-features = ["stm32f411", "rtic"] # stm32f411
+required-features = ["stm32f411", "rtic1"] # stm32f411
 
 [[example]]
 name = "rtic-i2s-audio-in-out"
-required-features = ["stm32f411", "i2s", "rtic"]
+required-features = ["stm32f411", "i2s", "rtic1"]
 
 [[example]]
 name = "rtic-dual-i2s-audio-in-out"
-required-features = ["stm32f411", "i2s", "rtic"]
+required-features = ["stm32f411", "i2s", "rtic1"]
 
 [[example]]
 name = "rtic-serial-dma-rx-idle"
-required-features = ["stm32f411", "rtic"]
+required-features = ["stm32f411", "rtic1"]
 
 [[example]]
 name = "rtic-spi-slave-dma"
-required-features = ["stm32f411", "rtic"]
+required-features = ["stm32f411", "rtic1"]
 
 [[example]]
 name = "rtic-tick"
-required-features = ["tim2", "rtic"]
+required-features = ["tim2", "rtic1"]
 
 [[example]]
 name = "rtic-usart-shell"
-required-features = ["stm32f411", "rtic"] # stm32f411
+required-features = ["stm32f411", "rtic1"] # stm32f411
 
 [[example]]
 name = "rtic-usart-shell-ssd1306"
-required-features = ["stm32f411", "rtic"] # stm32f411
+required-features = ["stm32f411", "rtic1"] # stm32f411
 
 [[example]]
 name = "rtic-usb-cdc-echo"
-required-features = ["stm32f411", "rtic", "otg-fs", "usb_fs"] # stm32f411
+required-features = ["stm32f411", "rtic1", "otg-fs", "usb_fs"] # stm32f411
+
+[[example]]
+name = "rtic2-systick"
+required-features = ["rtic2"]
 
 [[example]]
 name = "sd"

examples/rtic2-systick.rs

@@ -0,0 +1,54 @@
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+
+use defmt_rtt as _;
+use panic_probe as _;
+use rtic::app;
+use rtic_monotonics::systick::*;
+use stm32f4xx_hal::{
+    gpio::{Output, PC13},
+    pac,
+    prelude::*,
+};
+
+#[app(device = pac, dispatchers = [USART1], peripherals = true)]
+mod app {
+    use super::*;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        led: PC13<Output>,
+    }
+
+    #[init]
+    fn init(ctx: init::Context) -> (Shared, Local) {
+        let rcc = ctx.device.RCC.constrain();
+        let freq = 48.MHz();
+        let _clocks = rcc.cfgr.sysclk(freq).freeze();
+
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(ctx.core.SYST, freq.to_Hz(), systick_mono_token);
+
+        let gpioc = ctx.device.GPIOC.split();
+        let led = gpioc.pc13.into_push_pull_output();
+        defmt::info!("Start");
+
+        tick::spawn().ok();
+        (Shared {}, Local { led })
+    }
+
+    #[task(local = [led, count: u32 = 0])]
+    async fn tick(ctx: tick::Context) {
+        loop {
+            ctx.local.led.toggle();
+            *ctx.local.count += 1;
+            defmt::info!("Tick {}", *ctx.local.count);
+            Systick::delay(500.millis()).await;
+        }
+    }
+}

src/prelude.rs

@@ -76,12 +76,12 @@ pub use crate::serial::TxListen as _stm32f4xx_hal_serial_TxListen;
 pub use crate::spi::SpiExt as _stm32f4xx_hal_spi_SpiExt;
 pub use crate::syscfg::SysCfgExt as _stm32f4xx_hal_syscfg_SysCfgExt;
 pub use crate::time::U32Ext as _stm32f4xx_hal_time_U32Ext;
-#[cfg(feature = "rtic")]
+#[cfg(feature = "rtic1")]
 pub use crate::timer::MonoTimer64Ext as _;
-#[cfg(feature = "rtic")]
+#[cfg(feature = "rtic1")]
 pub use crate::timer::MonoTimerExt as _;
 pub use crate::timer::PwmExt as _stm32f4xx_hal_timer_PwmExt;
-#[cfg(feature = "rtic")]
+#[cfg(feature = "rtic1")]
 pub use crate::timer::SysMonoTimerExt as _stm32f4xx_hal_timer_SysMonoTimerExt;
 pub use crate::timer::SysTimerExt as _stm32f4xx_hal_timer_SysCounterExt;
 pub use crate::timer::TimerExt as _stm32f4xx_hal_timer_TimerExt;

src/timer.rs

@@ -26,9 +26,9 @@ pub use pwm::*;
 pub mod pwm_input;
 #[cfg(not(feature = "gpio-f410"))]
 pub use pwm_input::PwmInput;
-#[cfg(feature = "rtic")]
+#[cfg(feature = "rtic1")]
 pub mod monotonic;
-#[cfg(feature = "rtic")]
+#[cfg(feature = "rtic1")]
 pub use monotonic::*;
 
 mod hal_02;

tools/check.py

@@ -28,7 +28,7 @@ def main():
 
     crate_info = cargo_meta["packages"][0]
 
-    features = ["{},usb_fs,can,i2s,fsmc_lcd,rtic,defmt".format(x)
+    features = ["{},usb_fs,can,i2s,fsmc_lcd,rtic1,defmt".format(x)
             for x in crate_info["features"].keys()
             if x.startswith("stm32f4")]