mirror of
https://github.com/esp-rs/esp-hal.git
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db409ffe7b
* Unify the system peripheral Whilst the PCR, SYSTEM and DPORT peripherals are different, we currently use them all in the same way. This PR unifies the peripheral name in the hal to `SYSTEM`. The idea is that they all do the same sort of thing, so we can collect them under the same name, and later down the line we can being to expose differences under an extended API. The benifits to this are imo quite big, the examples now are all identical, which makes things easier for esp-wifi, and paves a path towards the multichip hal. Why not do this in the PAC? Imo the pac should be as close to the hardware as possible, and the HAL is where we should abstractions such as this. * changelog
106 lines
3.2 KiB
Rust
106 lines
3.2 KiB
Rust
//! This example shows how to use the interrupt executors to prioritize some
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//! tasks over others. The low priority task will not be able to run its async
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//! task while the blocking task is running, but the high priority task will be
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//! able to blink the LED regardless.
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#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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use embassy_time::{Duration, Instant, Ticker};
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use esp32_hal::{
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clock::ClockControl,
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embassy::{
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self,
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executor::{FromCpu1, FromCpu2, InterruptExecutor},
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},
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gpio::{GpioPin, Output, PushPull, IO},
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interrupt::Priority,
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peripherals::Peripherals,
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prelude::*,
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timer::TimerGroup,
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};
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use esp_backtrace as _;
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use esp_hal_common::get_core;
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use esp_println::println;
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use static_cell::make_static;
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static INT_EXECUTOR_0: InterruptExecutor<FromCpu1> = InterruptExecutor::new();
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static INT_EXECUTOR_1: InterruptExecutor<FromCpu2> = InterruptExecutor::new();
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#[interrupt]
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fn FROM_CPU_INTR1() {
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unsafe { INT_EXECUTOR_0.on_interrupt() }
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}
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#[interrupt]
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fn FROM_CPU_INTR2() {
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unsafe { INT_EXECUTOR_1.on_interrupt() }
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}
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/// Periodically turns the LED on and off.
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#[embassy_executor::task]
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async fn high_prio(led: &'static mut GpioPin<Output<PushPull>, 0>) {
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println!("Starting high_prio() on core {}", get_core() as usize);
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let mut ticker = Ticker::every(Duration::from_secs(1));
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loop {
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esp_println::println!("LED on");
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led.set_low().unwrap();
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ticker.next().await;
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esp_println::println!("LED off");
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led.set_high().unwrap();
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ticker.next().await;
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}
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}
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/// Simulates some blocking (badly behaving) task.
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#[embassy_executor::task]
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async fn low_prio_blocking() {
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println!(
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"Starting low_prio_blocking() on core {}",
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get_core() as usize
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);
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let start = Instant::now();
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while start.elapsed() < Duration::from_secs(10) {}
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esp_println::println!("Low prio task finished");
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}
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/// Simulates a well-behaved async task that prints to the serial output.
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#[embassy_executor::task]
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async fn low_prio_async() {
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println!("Starting low_prio_async() on core {}", get_core() as usize);
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let mut ticker = Ticker::every(Duration::from_secs(1));
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loop {
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// Note that when the blocking task finishes, the ticker will fire multiple
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// times.
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println!("Tick from low priority async task");
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ticker.next().await;
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}
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}
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#[entry]
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fn main() -> ! {
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let peripherals = Peripherals::take();
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let system = peripherals.SYSTEM.split();
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let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
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let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
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embassy::init(&clocks, timer_group0.timer0);
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// Set GPIO2 as an output, and set its state high initially.
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let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
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let led = make_static!(io.pins.gpio0.into_push_pull_output());
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let spawner = INT_EXECUTOR_0.start(Priority::Priority2);
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spawner.spawn(high_prio(led)).ok();
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let spawner = INT_EXECUTOR_1.start(Priority::Priority1);
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spawner.spawn(low_prio_async()).ok();
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spawner.spawn(low_prio_blocking()).ok();
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// Just loop to show that the main thread does not need to poll the executor.
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loop {}
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}
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