Merge #736

736: More `xtasks` and add examples to `rtic` repo r=korken89 a=datdenkikniet

This was in #732 before, but decluttering that PR seemed sensible

Co-authored-by: datdenkikniet <jcdra1@gmail.com>

16 files changed, 1692 insertions, 0 deletions

diff --git a/examples/.gitignore b/examples/.gitignore
new file mode 100644
index 0000000..1520f46
--- /dev/null
+++ b/examples/.gitignore
@@ -0,0 +1,2 @@
+/**/*/target
+!Cargo.lock
diff --git a/examples/README.md b/examples/README.md
new file mode 100644
index 0000000..929d3f2
--- /dev/null
+++ b/examples/README.md
@@ -0,0 +1,42 @@
+# `RTIC examples`
+
+> Here you can find examples on different aspects of the RTIC scheduler.
+
+## Structure
+
+This repo does have example applications based on RTIC framework for popular hardware platforms (for example nRF series and Bluepill).
+
+## Requirements
+
+To run these examples, you need to have working environment as described in [Installing the tools](https://rust-embedded.github.io/book/intro/install.html) chapter of **The Embedded Rust Book**.
+
+Short list:
+
+* Rust and cargo
+* Toolchain for your microcontroller
+* OpenOCD
+
+## Contributing
+New examples are always welcome!
+
+## External examples
+
+Some projects maintain RTIC examples in their own repository. Follow these links to find more RTIC examples.
+
+- The [`teensy4-rs` project](https://github.com/mciantyre/teensy4-rs) maintains `RTIC v1.0` examples that run on the Teensy 4.0 and 4.1.
+
+## License
+
+Licensed under either of
+
+* Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
+  [http://www.apache.org/licenses/LICENSE-2.0](http://www.apache.org/licenses/LICENSE-2.0))
+* MIT license ([LICENSE-MIT](LICENSE-MIT) or [http://opensource.org/licenses/MIT](http://opensource.org/licenses/MIT))
+
+at your option.
+
+### Contribution
+
+Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the
+work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any
+additional terms or conditions.
diff --git a/examples/rp2040_local_i2c_init/.cargo/config.toml b/examples/rp2040_local_i2c_init/.cargo/config.toml
new file mode 100644
index 0000000..c6e086a
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/.cargo/config.toml
@@ -0,0 +1,45 @@
+[target.thumbv6m-none-eabi]
+# uncomment this to make `cargo run` execute programs on QEMU
+# runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# uncomment ONE of these three option to make `cargo run` start a GDB session
+# which option to pick depends on your system
+# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
+# runner = "gdb-multiarch -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+
+rustflags = [
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+
+  # LLD (shipped with the Rust toolchain) is used as the default linker
+  "-C", "link-arg=-Tlink.x",
+
+  # if you run into problems with LLD switch to the GNU linker by commenting out
+  # this line
+  # "-C", "linker=arm-none-eabi-ld",
+
+  # if you need to link to pre-compiled C libraries provided by a C toolchain
+  # use GCC as the linker by commenting out both lines above and then
+  # uncommenting the three lines below
+  # "-C", "linker=arm-none-eabi-gcc",
+  # "-C", "link-arg=-Wl,-Tlink.x",
+  # "-C", "link-arg=-nostartfiles",
+]
+
+[build]
+# Pick ONE of these compilation targets
+target = "thumbv6m-none-eabi"        # Cortex-M0 and Cortex-M0+
+# target = "thumbv7m-none-eabi"        # Cortex-M3
+# target = "thumbv7em-none-eabi"       # Cortex-M4 and Cortex-M7 (no FPU)
+# target = "thumbv7em-none-eabihf"     # Cortex-M4F and Cortex-M7F (with FPU)
+# target = "thumbv8m.base-none-eabi"   # Cortex-M23
+# target = "thumbv8m.main-none-eabi"   # Cortex-M33 (no FPU)
+# target = "thumbv8m.main-none-eabihf" # Cortex-M33 (with FPU)
+
+# thumbv7m-none-eabi is not coming with core and alloc, compile myself
+[unstable]
+mtime-on-use = true
+build-std = ["core", "alloc"]
diff --git a/examples/rp2040_local_i2c_init/Cargo.lock b/examples/rp2040_local_i2c_init/Cargo.lock
new file mode 100644
index 0000000..db81916
--- /dev/null
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+ "quote",
+ "unicode-ident",
+]
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diff --git a/examples/rp2040_local_i2c_init/Cargo.toml b/examples/rp2040_local_i2c_init/Cargo.toml
new file mode 100644
index 0000000..c8e475a
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/Cargo.toml
@@ -0,0 +1,38 @@
+[package]
+name = "rp2040_local_i2c_init"
+categories = ["embedded", "no-std"]
+description = "Example task local initialized resources for Raspberry Pi Pico"
+license = "MIT OR Apache-2.0"
+version = "0.1.0"
+edition = "2021"
+
+[workspace]
+
+[dependencies.rtic]
+path = "../../rtic"
+version = "=2.0.0-alpha.1"
+features = ["thumbv6-backend"]
+
+[dependencies.rtic-monotonics]
+path = "../../rtic-monotonics"
+version = "=1.0.0-alpha.1"
+features = ["rp2040"]
+
+[dependencies]
+cortex-m = "0.7"
+embedded-hal = { version = "0.2.7", features = ["unproven"] }
+fugit = "0.3"
+rp-pico = "0.7.0"
+panic-probe = "0.3"
+
+[profile.dev]
+opt-level = 1
+codegen-units = 16
+debug = true
+lto = false
+
+[profile.release]
+opt-level = "s"   # optimize for size
+codegen-units = 1 # better optimizations
+debug = true      # symbols are nice and they don't increase the size on Flash
+lto = true        # better optimzations
diff --git a/examples/rp2040_local_i2c_init/Embed.toml b/examples/rp2040_local_i2c_init/Embed.toml
new file mode 100644
index 0000000..0e6edc0
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/Embed.toml
@@ -0,0 +1,39 @@
+[default.probe]
+protocol = "Swd"
+speed = 20000
+# If you only have one probe cargo embed will pick automatically
+# Otherwise: add your probe's VID/PID/serial to filter
+
+## rust-dap
+# usb_vid = "6666"
+# usb_pid = "4444"
+# serial = "test"
+
+
+[default.flashing]
+enabled = true
+
+[default.reset]
+enabled = true
+halt_afterwards = false
+
+[default.general]
+chip = "RP2040"
+log_level = "WARN"
+# RP2040 does not support connect_under_reset
+connect_under_reset = false
+
+[default.rtt]
+enabled = true
+up_mode = "NoBlockSkip"
+channels = [
+    { up = 0, down = 0, name = "name", up_mode = "NoBlockSkip", format = "Defmt" },
+]
+timeout = 3000
+show_timestamps = true
+log_enabled = false
+log_path = "./logs"
+
+[default.gdb]
+enabled = true
+gdb_connection_string = "127.0.0.1:2345"
diff --git a/examples/rp2040_local_i2c_init/build.rs b/examples/rp2040_local_i2c_init/build.rs
new file mode 100644
index 0000000..d534cc3
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/build.rs
@@ -0,0 +1,31 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+}
diff --git a/examples/rp2040_local_i2c_init/memory.x b/examples/rp2040_local_i2c_init/memory.x
new file mode 100644
index 0000000..4077aab
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/memory.x
@@ -0,0 +1,15 @@
+MEMORY {
+    BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
+    FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
+    RAM   : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+EXTERN(BOOT2_FIRMWARE)
+
+SECTIONS {
+    /* ### Boot loader */
+    .boot2 ORIGIN(BOOT2) :
+    {
+        KEEP(*(.boot2));
+    } > BOOT2
+} INSERT BEFORE .text;
diff --git a/examples/rp2040_local_i2c_init/src/main.rs b/examples/rp2040_local_i2c_init/src/main.rs
new file mode 100644
index 0000000..6776892
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/src/main.rs
@@ -0,0 +1,115 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+#[rtic::app(
+    device = rp_pico::hal::pac,
+    dispatchers = [TIMER_IRQ_1]
+)]
+mod app {
+    use rp_pico::hal::{
+        clocks, gpio,
+        gpio::pin::bank0::{Gpio2, Gpio25, Gpio3},
+        gpio::pin::PushPullOutput,
+        pac,
+        sio::Sio,
+        watchdog::Watchdog,
+        I2C,
+    };
+    use rp_pico::XOSC_CRYSTAL_FREQ;
+
+    use core::mem::MaybeUninit;
+    use embedded_hal::digital::v2::{OutputPin, ToggleableOutputPin};
+    use fugit::RateExtU32;
+    use rtic_monotonics::rp2040::*;
+
+    use panic_probe as _;
+
+    type I2CBus = I2C<
+        pac::I2C1,
+        (
+            gpio::Pin<Gpio2, gpio::FunctionI2C>,
+            gpio::Pin<Gpio3, gpio::FunctionI2C>,
+        ),
+    >;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        led: gpio::Pin<Gpio25, PushPullOutput>,
+        i2c: &'static mut I2CBus,
+    }
+
+    #[init(local=[
+        // Task local initialized resources are static
+        // Here we use MaybeUninit to allow for initialization in init()
+        // This enables its usage in driver initialization
+        i2c_ctx: MaybeUninit<I2CBus> = MaybeUninit::uninit()
+    ])]
+    fn init(mut ctx: init::Context) -> (Shared, Local) {
+        // Initialize the interrupt for the RP2040 timer and obtain the token
+        // proving that we have.
+        let rp2040_timer_token = rtic_monotonics::create_rp2040_monotonic_token!();
+        // Configure the clocks, watchdog - The default is to generate a 125 MHz system clock
+        Timer::start(ctx.device.TIMER, &mut ctx.device.RESETS, rp2040_timer_token); // default rp2040 clock-rate is 125MHz
+        let mut watchdog = Watchdog::new(ctx.device.WATCHDOG);
+        let clocks = clocks::init_clocks_and_plls(
+            XOSC_CRYSTAL_FREQ,
+            ctx.device.XOSC,
+            ctx.device.CLOCKS,
+            ctx.device.PLL_SYS,
+            ctx.device.PLL_USB,
+            &mut ctx.device.RESETS,
+            &mut watchdog,
+        )
+        .ok()
+        .unwrap();
+
+        // Init LED pin
+        let sio = Sio::new(ctx.device.SIO);
+        let gpioa = rp_pico::Pins::new(
+            ctx.device.IO_BANK0,
+            ctx.device.PADS_BANK0,
+            sio.gpio_bank0,
+            &mut ctx.device.RESETS,
+        );
+        let mut led = gpioa.led.into_push_pull_output();
+        led.set_low().unwrap();
+
+        // Init I2C pins
+        let sda_pin = gpioa.gpio2.into_mode::<gpio::FunctionI2C>();
+        let scl_pin = gpioa.gpio3.into_mode::<gpio::FunctionI2C>();
+
+        // Init I2C itself, using MaybeUninit to overwrite the previously
+        // uninitialized i2c_ctx variable without dropping its value
+        // (i2c_ctx definined in init local resources above)
+        let i2c_tmp: &'static mut _ = ctx.local.i2c_ctx.write(I2C::i2c1(
+            ctx.device.I2C1,
+            sda_pin,
+            scl_pin,
+            100.kHz(),
+            &mut ctx.device.RESETS,
+            &clocks.system_clock,
+        ));
+
+        // Spawn heartbeat task
+        heartbeat::spawn().ok();
+
+        // Return resources and timer
+        (Shared {}, Local { led, i2c: i2c_tmp })
+    }
+
+    #[task(local = [i2c, led])]
+    async fn heartbeat(ctx: heartbeat::Context) {
+        // Flicker the built-in LED
+        _ = ctx.local.led.toggle();
+
+        // Congrats, you can use your i2c and have access to it here,
+        // now to do something with it!
+
+        // Re-spawn this task after 1 second
+        Timer::delay(1000.millis()).await;
+    }
+}
diff --git a/examples/stm32f3_blinky/.cargo/config.toml b/examples/stm32f3_blinky/.cargo/config.toml
new file mode 100644
index 0000000..05a5069
--- /dev/null
+++ b/examples/stm32f3_blinky/.cargo/config.toml
@@ -0,0 +1,45 @@
+[target.thumbv7m-none-eabi]
+# uncomment this to make `cargo run` execute programs on QEMU
+# runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# uncomment ONE of these three option to make `cargo run` start a GDB session
+# which option to pick depends on your system
+# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
+# runner = "gdb-multiarch -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+
+rustflags = [
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+
+  # LLD (shipped with the Rust toolchain) is used as the default linker
+  "-C", "link-arg=-Tlink.x",
+
+  # if you run into problems with LLD switch to the GNU linker by commenting out
+  # this line
+  # "-C", "linker=arm-none-eabi-ld",
+
+  # if you need to link to pre-compiled C libraries provided by a C toolchain
+  # use GCC as the linker by commenting out both lines above and then
+  # uncommenting the three lines below
+  # "-C", "linker=arm-none-eabi-gcc",
+  # "-C", "link-arg=-Wl,-Tlink.x",
+  # "-C", "link-arg=-nostartfiles",
+]
+
+[build]
+# Pick ONE of these compilation targets
+# target = "thumbv6m-none-eabi"        # Cortex-M0 and Cortex-M0+
+target = "thumbv7m-none-eabi"        # Cortex-M3
+# target = "thumbv7em-none-eabi"       # Cortex-M4 and Cortex-M7 (no FPU)
+# target = "thumbv7em-none-eabihf"     # Cortex-M4F and Cortex-M7F (with FPU)
+# target = "thumbv8m.base-none-eabi"   # Cortex-M23
+# target = "thumbv8m.main-none-eabi"   # Cortex-M33 (no FPU)
+# target = "thumbv8m.main-none-eabihf" # Cortex-M33 (with FPU)
+
+# thumbv7m-none-eabi is not coming with core and alloc, compile myself
+[unstable]
+mtime-on-use = true
+build-std = ["core", "alloc"]
diff --git a/examples/stm32f3_blinky/Cargo.lock b/examples/stm32f3_blinky/Cargo.lock
new file mode 100644
index 0000000..48b520b
--- /dev/null
+++ b/examples/stm32f3_blinky/Cargo.lock
@@ -0,0 +1,635 @@
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diff --git a/examples/stm32f3_blinky/Cargo.toml b/examples/stm32f3_blinky/Cargo.toml
new file mode 100644
index 0000000..02937e8
--- /dev/null
+++ b/examples/stm32f3_blinky/Cargo.toml
@@ -0,0 +1,45 @@
+[package]
+authors = ["Simsys <winfried.simon@gmail.com>"]
+edition = "2021"
+readme = "README.md"
+name = "stm32f3-blinky"
+version = "0.1.0"
+
+[workspace]
+
+[dependencies.rtic]
+path = "../../rtic"
+version = "=2.0.0-alpha.1"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+path = "../../rtic-monotonics"
+version = "=1.0.0-alpha.1"
+features = ["cortex-m-systick"]
+
+[dependencies]
+embedded-hal = "0.2.7"
+panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] }
+rtt-target = { version = "0.3.1", features = ["cortex-m"] }
+
+[dependencies.stm32f3xx-hal]
+features = ["stm32f303xc", "rt"]
+version = "0.9.2"
+
+# this lets you use `cargo fix`!
+[[bin]]
+name = "stm32f3-blinky"
+test = false
+bench = false
+
+[profile.dev]
+opt-level = 1
+codegen-units = 16
+debug = true
+lto = false
+
+[profile.release]
+opt-level = "s"   # optimize for size
+codegen-units = 1 # better optimizations
+debug = true      # symbols are nice and they don't increase the size on Flash
+lto = true        # better optimizations
diff --git a/examples/stm32f3_blinky/Embed.toml b/examples/stm32f3_blinky/Embed.toml
new file mode 100644
index 0000000..6dffe3f
--- /dev/null
+++ b/examples/stm32f3_blinky/Embed.toml
@@ -0,0 +1,9 @@
+[default.general]
+chip = "stm32f303re"
+
+
+[default.rtt]
+enabled = true
+
+[default.gdb]
+enabled = false
diff --git a/examples/stm32f3_blinky/README.md b/examples/stm32f3_blinky/README.md
new file mode 100644
index 0000000..5152661
--- /dev/null
+++ b/examples/stm32f3_blinky/README.md
@@ -0,0 +1,19 @@
+# STM32F3 RTIC Blink example
+
+Working example of simple LED blinking application for STM32 F303 Nucleo-64 board based on the STM32F303RE chip. Example uses schedule API and peripherials access. This example is based on blue-pill blinky example.
+
+## How-to
+
+### Build
+
+Run `cargo +nightly build` to compile the code. If you run it for the first time, it will take some time to download and compile dependencies.
+
+After that, you can use for example the cargo-embed tool to flash and run it
+
+```bash
+$ cargo +nightly embed
+```
+
+### Setup environment, flash and run program
+
+In the [Discovery Book](https://rust-embedded.github.io/discovery) you find all needed informations to setup the environment, flash the controler and run the program.
diff --git a/examples/stm32f3_blinky/memory.x b/examples/stm32f3_blinky/memory.x
new file mode 100644
index 0000000..d369345
--- /dev/null
+++ b/examples/stm32f3_blinky/memory.x
@@ -0,0 +1,5 @@
+MEMORY
+{
+    FLASH : ORIGIN = 0x08000000, LENGTH = 256K
+    RAM : ORIGIN = 0x20000000, LENGTH = 40K
+}
diff --git a/examples/stm32f3_blinky/src/main.rs b/examples/stm32f3_blinky/src/main.rs
new file mode 100644
index 0000000..b6da714
--- /dev/null
+++ b/examples/stm32f3_blinky/src/main.rs
@@ -0,0 +1,74 @@
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+
+use panic_rtt_target as _;
+use rtic::app;
+use rtic_monotonics::systick::*;
+use rtt_target::{rprintln, rtt_init_print};
+use stm32f3xx_hal::gpio::{Output, PushPull, PA5};
+use stm32f3xx_hal::prelude::*;
+
+#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])]
+mod app {
+    use super::*;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        led: PA5<Output<PushPull>>,
+        state: bool,
+    }
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        // Setup clocks
+        let mut flash = cx.device.FLASH.constrain();
+        let mut rcc = cx.device.RCC.constrain();
+
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(cx.core.SYST, 36_000_000, systick_mono_token); // default STM32F303 clock-rate is 36MHz
+
+        rtt_init_print!();
+        rprintln!("init");
+
+        let _clocks = rcc
+            .cfgr
+            .use_hse(8.MHz())
+            .sysclk(36.MHz())
+            .pclk1(36.MHz())
+            .freeze(&mut flash.acr);
+
+        // Setup LED
+        let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
+        let mut led = gpioa
+            .pa5
+            .into_push_pull_output(&mut gpioa.moder, &mut gpioa.otyper);
+        led.set_high().unwrap();
+
+        // Schedule the blinking task
+        blink::spawn().ok();
+
+        (Shared {}, Local { led, state: false })
+    }
+
+    #[task(local = [led, state])]
+    async fn blink(cx: blink::Context) {
+        loop {
+            rprintln!("blink");
+            if *cx.local.state {
+                cx.local.led.set_high().unwrap();
+                *cx.local.state = false;
+            } else {
+                cx.local.led.set_low().unwrap();
+                *cx.local.state = true;
+            }
+            Systick::delay(1000.millis()).await;
+        }
+    }
+}