add timer with systick

src/main.rs

@@ -25,6 +25,9 @@ mod adc_input;
 mod net;
 mod server;
 use server::Server;
+mod timer;
+
+const OUTPUT_INTERVAL: u32 = 1000;
 
 #[entry]
 fn main() -> ! {
@@ -37,7 +40,7 @@ fn main() -> ! {
 
     let dp = Peripherals::take().unwrap();
     stm32_eth::setup(&dp.RCC, &dp.SYSCFG);
-    let _clocks = dp.RCC.constrain()
+    let clocks = dp.RCC.constrain()
         .cfgr
         .sysclk(84.mhz())
         .hclk(84.mhz())
@@ -62,20 +65,27 @@ fn main() -> ! {
         gpioa.pa1, gpioa.pa2, gpioa.pa7, gpiob.pb13, gpioc.pc1,
         gpioc.pc4, gpioc.pc5, gpiog.pg11, gpiog.pg13
     );
+
+    writeln!(stdout, "Timer setup").unwrap();
+    timer::setup(cp.SYST, clocks);
+
     writeln!(stdout, "Net startup").unwrap();
     net::run(&mut cp.NVIC, dp.ETHERNET_MAC, dp.ETHERNET_DMA, |net| {
         let mut server = Server::new(net);
 
-        let mut t = 0;
+        let mut last_output = 0_u32;
         loop {
-            t += 100;
+            let now = timer::now().0;
-            let now = Instant::from_millis(t);
+            let instant = Instant::from_millis(now as i64);
-            server.poll(now);
+            server.poll(instant);
 
+            if now - last_output >= OUTPUT_INTERVAL {
                 let adc_value = adc_input::read();
                 adc_value.map(|adc_value| {
-                writeln!(server, "t={},pa3={}", t, adc_value).unwrap();
+                    write!(server, "t={},pa3={}\r\n", now, adc_value).unwrap();
                 });
+                last_output = now;
+            }
 
             // Update watchdog
             wd.feed();

src/timer.rs

@@ -0,0 +1,37 @@
+use core::cell::RefCell;
+use cortex_m::interrupt::Mutex;
+use cortex_m_rt::exception;
+use stm32f4xx_hal::{
+    rcc::Clocks,
+    time::{U32Ext, MilliSeconds},
+    timer::{Timer, Event as TimerEvent},
+    stm32::SYST,
+};
+
+/// rate in Hz
+const TIMER_RATE: u32 = 100;
+/// interval duration in milliseconds
+const TIMER_DELTA: u32 = 1000 / TIMER_RATE;
+/// Elapsed time in milliseconds
+static TIMER_MS: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
+
+pub fn setup(syst: SYST, clocks: Clocks) {
+    let mut timer = Timer::syst(syst, TIMER_RATE.hz(), clocks);
+    timer.listen(TimerEvent::TimeOut);
+}
+
+#[exception]
+fn SysTick() {
+    cortex_m::interrupt::free(|cs| {
+        *TIMER_MS.borrow(cs)
+            .borrow_mut() += TIMER_DELTA;
+    });
+}
+
+pub fn now() -> MilliSeconds {
+    let ms = cortex_m::interrupt::free(|cs| {
+        *TIMER_MS.borrow(cs)
+            .borrow()
+    });
+    ms.ms()
+}