Make xtask pass, clean up rtic Cargo.toml

5 files changed, 31 insertions, 19 deletions

diff --git a/rtic-monotonics/Cargo.toml b/rtic-monotonics/Cargo.toml
index 5e6586e..f94a78b 100644
--- a/rtic-monotonics/Cargo.toml
+++ b/rtic-monotonics/Cargo.toml
@@ -22,3 +22,10 @@ embedded-hal-async = "0.2.0-alpha.0"
 fugit = { version = "0.3.6", features = ["defmt"] }
 rtic-time = { version = "1.0.0-alpha.0", path = "../rtic-time" }
 atomic-polyfill = "1"
+
+[features]
+default = ["systick_1khz"]
+
+systick_100hz = []
+systick_1khz = []
+systick_10khz = []
diff --git a/rtic-monotonics/src/systick_monotonic.rs b/rtic-monotonics/src/systick_monotonic.rs
index fec97f2..24deb54 100644
--- a/rtic-monotonics/src/systick_monotonic.rs
+++ b/rtic-monotonics/src/systick_monotonic.rs
@@ -8,8 +8,15 @@ use cortex_m::peripheral::SYST;
 use embedded_hal_async::delay::DelayUs;
 pub use fugit::ExtU32;
 
+#[cfg(feature = "systick_100hz")]
+const TIMER_HZ: u32 = 100;
+
+#[cfg(feature = "systick_1khz")]
 const TIMER_HZ: u32 = 1_000;
 
+#[cfg(feature = "systick_10khz")]
+const TIMER_HZ: u32 = 10_000;
+
 /// Systick implementing `rtic_monotonic::Monotonic` which runs at 1 kHz.
 pub struct Systick;
 
diff --git a/rtic/Cargo.toml b/rtic/Cargo.toml
index 7bca4c1..d722e65 100644
--- a/rtic/Cargo.toml
+++ b/rtic/Cargo.toml
@@ -35,25 +35,23 @@ name = "rtic"
 
 [dependencies]
 cortex-m = "0.7.0"
-rtic-macros = { path = "macros", version = "2.0.0-alpha.0" }
-rtic-monotonic = "1.0.0"
-rtic-core = "1.0.0"
-heapless = "0.7.7"
 bare-metal = "1.0.0"
 #portable-atomic = { version = "0.3.19" }
 atomic-polyfill = "1"
+rtic-macros = { path = "./macros", version = "2.0.0-alpha.0" }
+rtic-core = "1"
 
 
 [build-dependencies]
 version_check = "0.9"
 
 [dev-dependencies]
+heapless = "0.7.7"
 lm3s6965 = "0.1.3"
 cortex-m-semihosting = "0.5.0"
-systick-monotonic = "1.0.0"
 rtic-time = { path = "../rtic-time" }
 rtic-channel = { path = "../rtic-channel" }
-rtic-monotonics = { path = "../rtic-monotonics" }
+rtic-monotonics = { path = "../rtic-monotonics", default-features = false }
 
 [dev-dependencies.futures]
 version = "0.3.26"
@@ -94,7 +92,7 @@ overflow-checks = false
 lm3s6965 = { git = "https://github.com/japaric/lm3s6965" }
 
 [features]
-test-critical-section = ["cortex-m/critical-section-single-core"]
+test-critical-section = ["cortex-m/critical-section-single-core", "rtic-monotonics/systick_100hz"]
 
 # [[example]]
 # name = "pool"
diff --git a/rtic/ci/expected/async-timeout.run b/rtic/ci/expected/async-timeout.run
index ca929c7..dea8e5d 100644
--- a/rtic/ci/expected/async-timeout.run
+++ b/rtic/ci/expected/async-timeout.run
@@ -1,16 +1,16 @@
 init
-the hal takes a duration of Duration { ticks: 450 }
+the hal takes a duration of Duration { ticks: 45 }
 timeout
-the hal takes a duration of Duration { ticks: 450 }
+the hal takes a duration of Duration { ticks: 45 }
 hal returned 5
-the hal takes a duration of Duration { ticks: 450 }
+the hal takes a duration of Duration { ticks: 45 }
 hal returned 5
-now is Instant { ticks: 2102 }, timeout at Instant { ticks: 2602 }
-the hal takes a duration of Duration { ticks: 350 }
-hal returned 5 at time Instant { ticks: 2452 }
-now is Instant { ticks: 3102 }, timeout at Instant { ticks: 3602 }
-the hal takes a duration of Duration { ticks: 450 }
-hal returned 5 at time Instant { ticks: 3552 }
-now is Instant { ticks: 4102 }, timeout at Instant { ticks: 4602 }
-the hal takes a duration of Duration { ticks: 550 }
+now is Instant { ticks: 210 }, timeout at Instant { ticks: 260 }
+the hal takes a duration of Duration { ticks: 35 }
+hal returned 5 at time Instant { ticks: 245 }
+now is Instant { ticks: 310 }, timeout at Instant { ticks: 360 }
+the hal takes a duration of Duration { ticks: 45 }
+hal returned 5 at time Instant { ticks: 355 }
+now is Instant { ticks: 410 }, timeout at Instant { ticks: 460 }
+the hal takes a duration of Duration { ticks: 55 }
 timeout
diff --git a/rtic/src/lib.rs b/rtic/src/lib.rs
index 860e743..a193e5c 100644
--- a/rtic/src/lib.rs
+++ b/rtic/src/lib.rs
@@ -36,7 +36,7 @@
 use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC};
 pub use rtic_core::{prelude as mutex_prelude, Exclusive, Mutex};
 pub use rtic_macros::app;
-pub use rtic_monotonic::{self, Monotonic};
+// pub use rtic_monotonic::{self, Monotonic};
 
 /// module `mutex::prelude` provides `Mutex` and multi-lock variants. Recommended over `mutex_prelude`
 pub mod mutex {