1 files changed, 94 insertions, 0 deletions
diff --git a/rtic/examples/async-task-multiple-prios.rs b/rtic/examples/async-task-multiple-prios.rs
new file mode 100644
index 0000000..88f4cf4
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+++ b/rtic/examples/async-task-multiple-prios.rs
@@ -0,0 +1,94 @@
+//! examples/async-task-multiple-prios.rs
+
+#![no_main]
+#![no_std]
+#![deny(warnings)]
+#![deny(unsafe_code)]
+#![deny(missing_docs)]
+#![feature(type_alias_impl_trait)]
+
+use panic_semihosting as _;
+
+// NOTES:
+//
+// - Async tasks cannot have `#[lock_free]` resources, as they can interleave and each async
+//   task can have a mutable reference stored.
+// - Spawning an async task equates to it being polled once.
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])]
+mod app {
+    use cortex_m_semihosting::{debug, hprintln};
+
+    #[shared]
+    struct Shared {
+        a: u32,
+        b: u32,
+    }
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local) {
+        hprintln!("init");
+
+        async_task1::spawn().ok();
+        async_task2::spawn().ok();
+        async_task3::spawn().ok();
+        async_task4::spawn().ok();
+
+        (Shared { a: 0, b: 0 }, Local {})
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        loop {
+            hprintln!("idle");
+            debug::exit(debug::EXIT_SUCCESS);
+        }
+    }
+
+    #[task(priority = 1, shared = [a, b])]
+    async fn async_task1(mut cx: async_task1::Context) {
+        hprintln!(
+            "hello from async 1 a {}",
+            cx.shared.a.lock(|a| {
+                *a += 1;
+                *a
+            })
+        );
+    }
+
+    #[task(priority = 1, shared = [a, b])]
+    async fn async_task2(mut cx: async_task2::Context) {
+        hprintln!(
+            "hello from async 2 a {}",
+            cx.shared.a.lock(|a| {
+                *a += 1;
+                *a
+            })
+        );
+    }
+
+    #[task(priority = 2, shared = [a, b])]
+    async fn async_task3(mut cx: async_task3::Context) {
+        hprintln!(
+            "hello from async 3 a {}",
+            cx.shared.a.lock(|a| {
+                *a += 1;
+                *a
+            })
+        );
+    }
+
+    #[task(priority = 2, shared = [a, b])]
+    async fn async_task4(mut cx: async_task4::Context) {
+        hprintln!(
+            "hello from async 4 a {}",
+            cx.shared.a.lock(|a| {
+                *a += 1;
+                *a
+            })
+        );
+    }
+}