diff options
Diffstat (limited to 'rtic-monotonics/src/rp2040.rs')
| -rw-r--r-- | rtic-monotonics/src/rp2040.rs | 22 |
1 files changed, 17 insertions, 5 deletions
diff --git a/rtic-monotonics/src/rp2040.rs b/rtic-monotonics/src/rp2040.rs index e42c148..6aa66ce 100644 --- a/rtic-monotonics/src/rp2040.rs +++ b/rtic-monotonics/src/rp2040.rs @@ -4,19 +4,25 @@ use super::Monotonic; pub use super::{TimeoutError, TimerQueue}; use core::future::Future; pub use fugit::ExtU64; -use rp2040_pac::{timer, Interrupt, RESETS, TIMER}; +use rp2040_pac::{timer, Interrupt, NVIC, RESETS, TIMER}; /// Timer implementing `rtic_monotonic::Monotonic` which runs at 1 MHz. pub struct Timer; impl Timer { /// Start a `Monotonic` based on RP2040's Timer. - pub fn start(timer: TIMER, resets: &mut RESETS) { + pub fn start( + timer: TIMER, + resets: &mut RESETS, + _interrupt_token: impl crate::InterruptToken<Self>, + ) { resets.reset.modify(|_, w| w.timer().clear_bit()); while resets.reset_done.read().timer().bit_is_clear() {} timer.inte.modify(|_, w| w.alarm_0().set_bit()); TIMER_QUEUE.initialize(Self {}); + + unsafe { NVIC::unmask(Interrupt::TIMER_IRQ_0) }; } fn timer() -> &'static timer::RegisterBlock { @@ -133,11 +139,17 @@ impl embedded_hal_async::delay::DelayUs for Timer { /// Register the Timer interrupt for the monotonic. #[macro_export] macro_rules! make_rp2040_monotonic_handler { - () => { + () => {{ #[no_mangle] #[allow(non_snake_case)] unsafe extern "C" fn TIMER_IRQ_0() { - rtic_monotonics::rp2040::Timer::__tq().on_monotonic_interrupt(); + $crate::rp2040::Timer::__tq().on_monotonic_interrupt(); } - }; + + pub struct Rp2040Token; + + unsafe impl $crate::InterruptToken<$crate::rp2040::Timer> for Rp2040Token {} + + Rp2040Token + }}; } |