2023-01-28 21:57:43 +01:00
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<!-- Should probably be removed -->
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2021-09-22 13:22:45 +02:00
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# Defining tasks with `#[task]`
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2021-12-14 22:46:15 +01:00
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Tasks, defined with `#[task]`, are the main mechanism of getting work done in RTIC.
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2021-09-22 13:22:45 +02:00
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2021-12-14 22:46:15 +01:00
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Tasks can
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2023-02-01 01:15:56 +01:00
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* Be spawned (now or in the future, also by themselves)
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* Receive messages (passing messages between tasks)
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* Be prioritized, allowing preemptive multitasking
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2021-12-14 22:46:15 +01:00
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* Optionally bind to a hardware interrupt
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2023-02-01 01:15:56 +01:00
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RTIC makes a distinction between “software tasks” and “hardware tasks”.
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2022-02-20 19:21:25 +01:00
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2023-02-01 01:15:56 +01:00
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*Hardware tasks* are tasks that are bound to a specific interrupt vector in the MCU while software tasks are not.
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This means that if a hardware task is bound to, lets say, a UART RX interrupt, the task will be run every
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time that interrupt triggers, usually when a character is received.
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*Software tasks* are explicitly spawned in a task, either immediately or using the Monotonic timer mechanism.
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2021-09-22 13:22:45 +02:00
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In the coming pages we will explore both tasks and the different options available.
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