working hard real time interrupt

test_LED5_hard_interrupt/src/bin/main.rs

@@ -17,6 +17,8 @@ use esp_hal::{
     timer::timg::TimerGroup,
     time::Duration,
 };
+use core::cell::RefCell;
+use critical_section::Mutex;
 use esp_hal::handler;
 use log::info;
 
@@ -27,6 +29,7 @@ extern crate alloc;
 esp_bootloader_esp_idf::esp_app_desc!();
 
 static mut INTERRUPT_FIRED: bool = false;
+static TIMER0: Mutex<RefCell<Option<esp_hal::timer::timg::Timer<'static>>>> = Mutex::new(RefCell::new(None));
 
 #[esp_hal_embassy::main]
 async fn main(spawner: Spawner) {
@@ -37,23 +40,27 @@ async fn main(spawner: Spawner) {
     
     esp_alloc::heap_allocator!(size: 64 * 1024);
     
-    let mut timer_group1 = TimerGroup::new(peripherals.TIMG1);
-    let mut timer0 = timer_group1.timer0;
+    let timer_group1 = TimerGroup::new(peripherals.TIMG1);
+    let timer0 = timer_group1.timer0;
 
-    // make it periodic, 1 s per tick, enable interrupt
+    timer0.set_interrupt_handler(TG1_T0_LEVEL);
+    timer0.clear_interrupt();
+    timer0.load_value(Duration::from_secs(1)).unwrap();
     timer0.enable_interrupt(true);
     timer0.enable_auto_reload(true);
-    timer0.load_value(Duration::from_secs(1)).unwrap();
     timer0.start();
 
+    // Store timer in the static safely
+    critical_section::with(|cs| {
+        TIMER0.borrow_ref_mut(cs).replace(timer0);
+    });
+
     // enable NVIC entry for this timer
-    unsafe {
-        interrupt::enable(
-            peripherals::Interrupt::TG1_T0_LEVEL,
-            interrupt::Priority::Priority2, // medium priority for now
-        )
-        .unwrap();
-    }
+    interrupt::enable(
+        peripherals::Interrupt::TG1_T0_LEVEL,
+        interrupt::Priority::Priority2, // medium priority
+    )
+    .unwrap();
 
     // Initialize GPIO4 as output (starts LOW)
     let mut gpio4 = Output::new(peripherals.GPIO4, Level::Low, OutputConfig::default());
@@ -61,29 +68,27 @@ async fn main(spawner: Spawner) {
     info!("Embassy initialized!");
     loop {
 
-        let mut counter = 0;
-        while counter < 10000000 {
-            counter += 1;
-        }
-
-        unsafe {
-            if INTERRUPT_FIRED {
-                info!("Timer interrupt fired!");
-                INTERRUPT_FIRED = false;
-            }
+        info!("info!");
+        // let mut counter = 0;
+        // while counter < 10000000 {
+        //     counter += 1;
+        // }
+        if unsafe { INTERRUPT_FIRED } {
+            gpio4.toggle();
+            info!("tick");
+            unsafe { INTERRUPT_FIRED = false; }
         }
+        esp_hal::delay::Delay::new().delay_millis(100);
     }
 }
 
 #[handler]
 fn TG1_T0_LEVEL() {
-    // Clear the interrupt
-    critical_section::with(|_cs| {
-        unsafe {
-            let mut tg1 = TimerGroup::new(peripherals::TIMG1::steal());
-            tg1.timer0.clear_interrupt();
+    critical_section::with(|cs| {
+        if let Some(timer) = TIMER0.borrow_ref_mut(cs).as_mut() {
 
-            INTERRUPT_FIRED = true;
+            timer.clear_interrupt();
+            unsafe { INTERRUPT_FIRED = true; }
         }
     });
 }