Merge pull request 'Start adding embassy example' (#24) from add-emba…

…ssy-example into main

Reviewed-on: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/pulls/24

.github/workflows/ci.yml

@@ -39,7 +39,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
-      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --features va41630
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-peb1
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx-hal --features va41630
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx
 
   clippy:
     name: Clippy

Cargo.toml

@@ -1,12 +1,14 @@
 [workspace]
 resolver = "2"
 members = [
+  "va416xx",
+  "va416xx-hal",
+  "vorago-peb1",
   "bootloader",
   "flashloader",
   "examples/simple",
-	"va416xx",
-	"va416xx-hal",
-	"vorago-peb1"
+  "examples/embassy",
+  "examples/rtic",
 ]
 exclude = [
   "flashloader/slot-a-blinky",

README.md

@@ -25,6 +25,9 @@ It also contains the following helper crates:
   crate contains a sample flashloader which is able to update the redundant images in the NVM which
   is compatible to the provided bootloader as well.
 - The `examples` folder contains various example applications crates for the HAL and the PAC.
+  This folder also contains dedicated example applications using the
+  [`RTIC`](https://rtic.rs/2/book/en/) and [`embassy`](https://github.com/embassy-rs/embassy)
+  native Rust RTOSes.
 
 ## Using the `.cargo/config.toml` file
 

automation/Jenkinsfile

@@ -25,7 +25,9 @@ pipeline {
         stage('Docs') {
           steps {
             sh """
-              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-peb1
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx-hal --features va41630
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx
             """
           }
         }

examples/README.md

@@ -0,0 +1,25 @@
+VA416xx Example Applications
+========
+
+This folder contains various examples
+Consult the main README first for setup of the repository.
+
+## Simple examples
+
+```rs
+cargo run --example blinky
+```
+
+You can have a look at the `simple/examples` folder to see all available simple examples
+
+## RTIC example
+
+```rs
+cargo run --bin rtic-example
+```
+
+## Embassy example
+
+```rs
+cargo run --bin embassy-example
+```

examples/embassy/Cargo.toml

@@ -0,0 +1,40 @@
+[package]
+name = "embassy-example"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+
+rtt-target = { version = "0.5" }
+panic-rtt-target = { version = "0.1" }
+critical-section = "1"
+
+embassy-sync = { version = "0.6.0" }
+embassy-time = { version = "0.3.2" }
+embassy-time-driver = { version = "0.1" }
+
+[dependencies.once_cell]
+version = "1"
+default-features = false
+features = ["critical-section"]
+
+[dependencies.embassy-executor]
+version = "0.6.0"
+features = [
+    "arch-cortex-m",
+    "executor-thread",
+    "executor-interrupt",
+    "integrated-timers",
+]
+
+[dependencies.va416xx-hal]
+path = "../../va416xx-hal"
+features = ["va41630"]
+
+[features]
+default = ["ticks-hz-1_000"]
+ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
+ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]

examples/embassy/src/lib.rs

@@ -0,0 +1,4 @@
+#![no_std]
+pub mod time_driver;
+
+pub use time_driver::init;

examples/embassy/src/main.rs

@@ -0,0 +1,46 @@
+#![no_std]
+#![no_main]
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Instant, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va416xx_hal::{gpio::PinsG, pac, prelude::*, time::Hertz};
+
+const EXTCLK_FREQ: u32 = 40_000_000;
+
+// main is itself an async function.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    rtt_init_print!();
+    rprintln!("VA416xx Embassy Demo");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Initialize the systick interrupt & obtain the token to prove that we did
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+    // Safety: Only called once here.
+    unsafe {
+        embassy_example::init(
+            &mut dp.sysconfig,
+            &dp.irq_router,
+            dp.tim15,
+            dp.tim14,
+            &clocks,
+        )
+    };
+    let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
+    let mut led = portg.pg5.into_readable_push_pull_output();
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    loop {
+        ticker.next().await;
+        rprintln!("Current time: {}", Instant::now().as_secs());
+        led.toggle().ok();
+    }
+}