Refactor

Cargo.lock

@@ -70,7 +70,6 @@ checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
- "critical-section",
  "embedded-hal",
  "volatile-register",
 ]
@@ -138,16 +137,6 @@ version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
-[[package]]
-name = "embedded-alloc"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8931e47e33c5d3194fbcf9cc82df0919193bd2fa40008f388eb1d28fd9c9ea6b"
-dependencies = [
- "critical-section",
- "linked_list_allocator",
-]
-
 [[package]]
 name = "embedded-dma"
 version = "0.2.0"
@@ -225,11 +214,9 @@ name = "hello-can-stm32"
 version = "0.1.0"
 dependencies = [
  "bxcan",
- "cortex-m",
  "cortex-m-rt",
  "cortex-m-rtic",
  "cortex-m-semihosting",
- "embedded-alloc",
  "embedded-hal",
  "heapless",
  "nb 1.1.0",
@@ -248,12 +235,6 @@ dependencies = [
  "hashbrown",
 ]
 
-[[package]]
-name = "linked_list_allocator"
-version = "0.10.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9afa463f5405ee81cdb9cc2baf37e08ec7e4c8209442b5d72c04cfb2cd6e6286"
-
 [[package]]
 name = "lock_api"
 version = "0.4.10"

Cargo.toml

@@ -6,18 +6,16 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-embedded-hal = "0.2.7"
-cortex-m = { version = "0.7.7", features = ["critical-section-single-core"] }
-cortex-m-rtic = "1.1.3"
-panic-halt = "0.2.0"
-cortex-m-semihosting = { version = "0.5.0" }
-stm32f1xx-hal = { version = "0.10.0", features = ["rt", "stm32f103"] }
-shared-bus-rtic = "0.2.2"
-embedded-alloc = "0.5.0"
-nb = "1.1.0"
-cortex-m-rt = "0.7.3"
 bxcan = "0.7.0"
+cortex-m-rt = "0.7.3"
+cortex-m-rtic = "1.1.3"
+cortex-m-semihosting = { version = "0.5.0" }
+embedded-hal = "0.2.7"
 heapless = "0.7.16"
+nb = "1.1.0"
+panic-halt = "0.2.0"
+shared-bus-rtic = "0.2.2"
+stm32f1xx-hal = { version = "0.10.0", features = ["rt", "stm32f103"] }
 
 [features]
 default = []

src/main.rs

@@ -1,24 +1,16 @@
 #![no_std]
 #![no_main]
 
-use embedded_alloc::Heap;
+use core::cmp::Ordering;
-use panic_halt as _;
-
-#[global_allocator]
-static HEAP: Heap = Heap::empty();
 
 use bxcan::Frame;
-use core::cmp::Ordering;
 use heapless::binary_heap::{BinaryHeap, Max};
-
+use panic_halt as _;
 use stm32f1xx_hal::pac::Interrupt;
-extern crate alloc;
 
 #[derive(Debug)]
 pub struct PriorityFrame(Frame);
 
-/// Ordering is based on the Identifier and frame type (data vs. remote) and can be used to sort
-/// frames by priority.
 impl Ord for PriorityFrame {
     fn cmp(&self, other: &Self) -> Ordering {
         self.0.priority().cmp(&other.0.priority())
@@ -46,7 +38,6 @@ fn enqueue_frame(queue: &mut BinaryHeap<PriorityFrame, Max, 16>, frame: Frame) {
 
 #[rtic::app(device = stm32f1xx_hal::pac)]
 mod app {
-    use cortex_m_semihosting::hprintln;
     use heapless::binary_heap::{BinaryHeap, Max};
 
     use super::{enqueue_frame, PriorityFrame};
@@ -72,7 +63,6 @@ mod app {
         can_rx: Rx0<Can<CAN1>>,
         led: Pin<'C', 13, Output>,
         delay: Delay<TIM2, 1000000>,
-        counter: usize,
     }
 
     #[init]
@@ -80,8 +70,6 @@ mod app {
         let mut flash = ctx.device.FLASH.constrain();
         let rcc = ctx.device.RCC.constrain();
 
-        // let clocks = rcc.cfgr.freeze(&mut flash.acr);
-
         let clocks = rcc
             .cfgr
             .use_hse(8.MHz())
@@ -107,7 +95,6 @@ mod app {
         can.modify_filters()
             .enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
 
-        // Sync to the bus and start normal operation.
         can.enable_interrupts(
             Interrupts::TRANSMIT_MAILBOX_EMPTY | Interrupts::FIFO0_MESSAGE_PENDING,
         );
@@ -133,7 +120,6 @@ mod app {
                 can_rx,
                 led,
                 delay,
-                counter: 0,
             },
             init::Monotonics(),
         )
@@ -145,85 +131,31 @@ mod app {
     }
 
     #[idle(shared = [can_tx_queue, tx_count], local = [delay])]
-    fn idle(mut cx: idle::Context) -> ! {
+    fn idle(cx: idle::Context) -> ! {
         let mut tx_queue = cx.shared.can_tx_queue;
 
         loop {
-            for speed in 0..=30 {
+            for sign in [1, -1] {
-                tx_queue.lock(|mut tx_queue| {
+                for speed in (0..=30)
-                    enqueue_frame(
+                    .chain((0..10).map(|_| 30))
-                        &mut tx_queue,
+                    .chain((0..=30).map(|i| 30 - i))
-                        Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(speed * 1000)),
+                {
-                    );
+                    tx_queue.lock(|mut tx_queue| {
-                });
+                        enqueue_frame(
+                            &mut tx_queue,
+                            Frame::new_data(
+                                StandardId::new(0x1FF).unwrap(),
+                                speed2array(speed * 1000 * sign),
+                            ),
+                        );
+                    });
 
-                cx.local.delay.delay(100.millis());
+                    cx.local.delay.delay(100.millis());
-            }
+                }
-
-            for _ in 0..10 {
-                tx_queue.lock(|mut tx_queue| {
-                    enqueue_frame(
-                        &mut tx_queue,
-                        Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(30000)),
-                    );
-                });
-
-                cx.local.delay.delay(100.millis());
-            }
-
-            for speed in 0..=30 {
-                tx_queue.lock(|mut tx_queue| {
-                    enqueue_frame(
-                        &mut tx_queue,
-                        Frame::new_data(
-                            StandardId::new(0x1FF).unwrap(),
-                            speed2array(30000 - (speed * 1000)),
-                        ),
-                    );
-                });
-
-                cx.local.delay.delay(100.millis());
-            }
-
-            for speed in 0..=30 {
-                tx_queue.lock(|mut tx_queue| {
-                    enqueue_frame(
-                        &mut tx_queue,
-                        Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(speed * 1000 * -1)),
-                    );
-                });
-
-                cx.local.delay.delay(100.millis());
-            }
-
-            for _ in 0..10 {
-                tx_queue.lock(|mut tx_queue| {
-                    enqueue_frame(
-                        &mut tx_queue,
-                        Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(30000 * -1)),
-                    );
-                });
-
-                cx.local.delay.delay(100.millis());
-            }
-
-            for speed in 0..=30 {
-                tx_queue.lock(|mut tx_queue| {
-                    enqueue_frame(
-                        &mut tx_queue,
-                        Frame::new_data(
-                            StandardId::new(0x1FF).unwrap(),
-                            speed2array(( 30000 - (speed * 1000)  ) * -1),
-                        ),
-                    );
-                });
-
-                cx.local.delay.delay(100.millis());
             }
         }
     }
 
-    // This ISR is triggered by each finished frame transmission.
     #[task(binds = USB_HP_CAN_TX, local = [can_tx, led], shared = [can_tx_queue, tx_count])]
     fn can_tx(cx: can_tx::Context) {
         let tx = cx.local.can_tx;
@@ -232,8 +164,6 @@ mod app {
 
         tx.clear_interrupt_flags();
 
-        // There is now a free mailbox. Try to transmit pending frames until either
-        // the queue is empty or transmission would block the execution of this ISR.
         (&mut tx_queue, &mut tx_count).lock(|tx_queue, tx_count| {
             while let Some(frame) = tx_queue.peek() {
                 match tx.transmit(&frame.0) {
@@ -256,15 +186,14 @@ mod app {
     }
 
     #[task(binds = USB_LP_CAN_RX0, local = [can_rx], shared = [can_tx_queue])]
-    fn can_rx0(mut cx: can_rx0::Context) {
+    fn can_rx0(cx: can_rx0::Context) {
-        // Echo back received packages with correct priority ordering.
         loop {
             match cx.local.can_rx.receive() {
-                Ok(frame) => {
+                Ok(_frame) => {
-                    // let data = frame.data().unwrap();
+                    // ここがデータきたときのあれ。
                 }
                 Err(nb::Error::WouldBlock) => break,
-                Err(nb::Error::Other(_)) => {} // Ignore overrun errors.
+                Err(nb::Error::Other(_)) => {}
             }
         }
     }