GHA update

Fmt fixes

Spawn_after did not work with parameters

Examples working again

Revert "GHA update"

This reverts commit e0a71d4859966a6c5cf2629d3cb27e88acada9c0.

Readd flags

Only add DWT based dep with __v7 flag

5 files changed, 95 insertions, 67 deletions

diff --git a/examples/double_schedule.rs b/examples/double_schedule.rs
index 77a8e38..403f358 100644
--- a/examples/double_schedule.rs
+++ b/examples/double_schedule.rs
@@ -9,20 +9,35 @@ use panic_semihosting as _;
 
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
+
     #[init]
-    fn init(_: init::Context) -> (init::LateResources, init::Monotonics) {
+    fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
         task1::spawn().ok();
 
-        (init::LateResources {}, init::Monotonics())
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
+
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
+
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[task]
     fn task1(_cx: task1::Context) {
-        task2::schedule(_cx.scheduled + 100.cycles()).ok();
+        task2::spawn_after(Seconds(1_u32)).ok();
     }
 
     #[task]
     fn task2(_cx: task2::Context) {
-        task1::schedule(_cx.scheduled + 100.cycles()).ok();
+        task1::spawn_after(Seconds(1_u32)).ok();
     }
 }
diff --git a/examples/periodic.rs b/examples/periodic.rs
index 29fa6bd..82c2128 100644
--- a/examples/periodic.rs
+++ b/examples/periodic.rs
@@ -10,25 +10,31 @@ use panic_semihosting as _;
 // NOTE: does NOT work on QEMU!
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
-    use cortex_m_semihosting::hprintln;
-    use rtic::cyccnt::{Instant, U32Ext};
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
 
-    const PERIOD: u32 = 8_000_000;
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
 
     #[init]
     fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
-        // omitted: initialization of `CYCCNT`
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
 
-        foo::schedule(cx.start + PERIOD.cycles()).unwrap();
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
 
-        (init::LateResources {}, init::Monotonics())
+        foo::spawn_after(Seconds(1_u32)).unwrap();
+
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[task]
-    fn foo(cx: foo::Context) {
-        let now = Instant::now();
-        hprintln!("foo(scheduled = {:?}, now = {:?})", cx.scheduled, now).unwrap();
-
-        foo::schedule(cx.scheduled + PERIOD.cycles()).unwrap();
+    fn foo(_cx: foo::Context) {
+        // Periodic
+        foo::spawn_after(Seconds(1_u32)).unwrap();
     }
 }
diff --git a/examples/schedule.rs b/examples/schedule.rs
index 6f6f8cb..cdbdc0d 100644
--- a/examples/schedule.rs
+++ b/examples/schedule.rs
@@ -10,40 +10,42 @@ use panic_halt as _;
 // NOTE: does NOT work on QEMU!
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
-    use cortex_m::peripheral::DWT;
     use cortex_m_semihosting::hprintln;
-    use rtic::cyccnt::{Instant, U32Ext as _};
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
 
     #[init()]
-    fn init(mut cx: init::Context) -> (init::LateResources, init::Monotonics) {
-        // Initialize (enable) the monotonic timer (CYCCNT)
-        cx.core.DCB.enable_trace();
-        // required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7)
-        DWT::unlock();
-        cx.core.DWT.enable_cycle_counter();
+    fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
 
-        // semantically, the monotonic timer is frozen at time "zero" during `init`
-        // NOTE do *not* call `Instant::now` in this context; it will return a nonsense value
-        let now = cx.start; // the start time of the system
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
 
-        hprintln!("init @ {:?}", now).unwrap();
+        hprintln!("init").unwrap();
 
-        // Schedule `foo` to run 8e6 cycles (clock cycles) in the future
-        foo::schedule(now + 8_000_000.cycles()).unwrap();
+        // Schedule `foo` to run 1 second in the future
+        foo::spawn_after(Seconds(1_u32)).unwrap();
 
-        // Schedule `bar` to run 4e6 cycles in the future
-        bar::schedule(now + 4_000_000.cycles()).unwrap();
+        // Schedule `bar` to run 2 seconds in the future
+        bar::spawn_after(Seconds(2_u32)).unwrap();
 
-        (init::LateResources {}, init::Monotonics())
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[task]
     fn foo(_: foo::Context) {
-        hprintln!("foo  @ {:?}", Instant::now()).unwrap();
+        hprintln!("foo").unwrap();
     }
 
     #[task]
     fn bar(_: bar::Context) {
-        hprintln!("bar  @ {:?}", Instant::now()).unwrap();
+        hprintln!("bar").unwrap();
     }
 }
diff --git a/examples/t-schedule.rs b/examples/t-schedule.rs
index 1771d41..259b226 100644
--- a/examples/t-schedule.rs
+++ b/examples/t-schedule.rs
@@ -9,48 +9,43 @@ use panic_halt as _;
 
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
-    use rtic::cyccnt::{Instant, U32Ext as _};
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
 
     #[init]
-    fn init(c: init::Context) -> (init::LateResources, init::Monotonics) {
-        let _: Result<(), ()> = foo::schedule(c.start + 10.cycles());
-        let _: Result<(), u32> = bar::schedule(c.start + 20.cycles(), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 30.cycles(), 0, 1);
+    fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
+
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
 
-        (init::LateResources {}, init::Monotonics())
+        let _: Result<(), ()> = foo::spawn_after(Seconds(1_u32));
+        let _: Result<(), u32> = bar::spawn_after(Seconds(2_u32), 0);
+        let _: Result<(), (u32, u32)> = baz::spawn_after(Seconds(3_u32), 0, 1);
+
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[idle]
     fn idle(_: idle::Context) -> ! {
-        let _: Result<(), ()> = foo::schedule(Instant::now() + 40.cycles());
-        let _: Result<(), u32> = bar::schedule(Instant::now() + 50.cycles(), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(Instant::now() + 60.cycles(), 0, 1);
+        let _: Result<(), ()> = foo::spawn_at(MyMono::now() + Seconds(3_u32));
+        let _: Result<(), u32> = bar::spawn_at(MyMono::now() + Seconds(4_u32), 0);
+        let _: Result<(), (u32, u32)> = baz::spawn_at(MyMono::now() + Seconds(5_u32), 0, 1);
 
         loop {
             cortex_m::asm::nop();
         }
     }
 
-    #[task(binds = SVCall)]
-    fn svcall(c: svcall::Context) {
-        let _: Result<(), ()> = foo::schedule(c.start + 70.cycles());
-        let _: Result<(), u32> = bar::schedule(c.start + 80.cycles(), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 90.cycles(), 0, 1);
-    }
-
-    #[task(binds = UART0)]
-    fn uart0(c: uart0::Context) {
-        let _: Result<(), ()> = foo::schedule(c.start + 100.cycles());
-        let _: Result<(), u32> = bar::schedule(c.start + 110.cycles(), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 120.cycles(), 0, 1);
-    }
-
     #[task]
-    fn foo(c: foo::Context) {
-        let _: Result<(), ()> = foo::schedule(c.scheduled + 130.cycles());
-        let _: Result<(), u32> = bar::schedule(c.scheduled + 140.cycles(), 0);
-        let _: Result<(), (u32, u32)> = baz::schedule(c.scheduled + 150.cycles(), 0, 1);
-    }
+    fn foo(_: foo::Context) {}
 
     #[task]
     fn bar(_: bar::Context, _x: u32) {}
diff --git a/examples/types.rs b/examples/types.rs
index 8411eec..ff7deb8 100644
--- a/examples/types.rs
+++ b/examples/types.rs
@@ -10,6 +10,13 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, peripherals = true, dispatchers = [SSI0])]
 mod app {
     use cortex_m_semihosting::debug;
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
 
     #[resources]
     struct Resources {
@@ -19,13 +26,18 @@ mod app {
 
     #[init]
     fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
-        let _: cyccnt::Instant = cx.start;
-        let _: rtic::Peripherals = cx.core;
+        let _: cortex_m::Peripherals = cx.core;
         let _: lm3s6965::Peripherals = cx.device;
 
         debug::exit(debug::EXIT_SUCCESS);
 
-        (init::LateResources {}, init::Monotonics())
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
+
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
+
+        (init::LateResources {}, init::Monotonics(mono))
     }
 
     #[idle]
@@ -37,13 +49,11 @@ mod app {
 
     #[task(binds = UART0, resources = [shared])]
     fn uart0(cx: uart0::Context) {
-        let _: cyccnt::Instant = cx.start;
         let _: resources::shared = cx.resources.shared;
     }
 
     #[task(priority = 2, resources = [shared])]
     fn foo(cx: foo::Context) {
-        let _: cyccnt::Instant = cx.scheduled;
         let _: resources::shared = cx.resources.shared;
         let _: foo::Resources = cx.resources;
     }