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<ol class="chapter"><li class="chapter-item expanded affix "><a href="../preface.html">Preface</a></li><li class="chapter-item expanded "><a href="../by-example.html"><strong aria-hidden="true">1.</strong> RTIC by example</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../by-example/app.html"><strong aria-hidden="true">1.1.</strong> The app</a></li><li class="chapter-item expanded "><a href="../by-example/resources.html"><strong aria-hidden="true">1.2.</strong> Resources</a></li><li class="chapter-item expanded "><a href="../by-example/app_init.html"><strong aria-hidden="true">1.3.</strong> The init task</a></li><li class="chapter-item expanded "><a href="../by-example/app_idle.html"><strong aria-hidden="true">1.4.</strong> The idle task</a></li><li class="chapter-item expanded "><a href="../by-example/app_task.html"><strong aria-hidden="true">1.5.</strong> Defining tasks</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../by-example/hardware_tasks.html"><strong aria-hidden="true">1.5.1.</strong> Hardware tasks</a></li><li class="chapter-item expanded "><a href="../by-example/software_tasks.html"><strong aria-hidden="true">1.5.2.</strong> Software tasks & spawn</a></li><li class="chapter-item expanded "><a href="../by-example/message_passing.html"><strong aria-hidden="true">1.5.3.</strong> Message passing & capacity</a></li><li class="chapter-item expanded "><a href="../by-example/app_priorities.html"><strong aria-hidden="true">1.5.4.</strong> Task priorities</a></li><li class="chapter-item expanded "><a href="../by-example/monotonic.html"><strong aria-hidden="true">1.5.5.</strong> Monotonic & spawn_{at/after}</a></li></ol></li><li class="chapter-item expanded "><a href="../by-example/starting_a_project.html"><strong aria-hidden="true">1.6.</strong> Starting a new project</a></li><li class="chapter-item expanded "><a href="../by-example/app_minimal.html"><strong aria-hidden="true">1.7.</strong> The minimal app</a></li><li class="chapter-item expanded "><a href="../by-example/tips.html"><strong aria-hidden="true">1.8.</strong> Tips & Tricks</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../by-example/tips_monotonic_impl.html"><strong aria-hidden="true">1.8.1.</strong> Implementing Monotonic</a></li><li class="chapter-item expanded "><a href="../by-example/tips_destructureing.html"><strong aria-hidden="true">1.8.2.</strong> Resource de-structure-ing</a></li><li class="chapter-item expanded "><a href="../by-example/tips_indirection.html"><strong aria-hidden="true">1.8.3.</strong> Avoid copies when message passing</a></li><li class="chapter-item expanded "><a href="../by-example/tips_static_lifetimes.html" class="active"><strong aria-hidden="true">1.8.4.</strong> 'static super-powers</a></li><li class="chapter-item expanded "><a href="../by-example/tips_view_code.html"><strong aria-hidden="true">1.8.5.</strong> Inspecting generated code</a></li><li class="chapter-item expanded "><a href="../by-example/tips_from_ram.html"><strong aria-hidden="true">1.8.6.</strong> Running tasks from RAM</a></li></ol></li></ol></li><li class="chapter-item expanded "><a href="../awesome_rtic.html"><strong aria-hidden="true">2.</strong> Awesome RTIC examples</a></li><li class="chapter-item expanded "><a href="../migration.html"><strong aria-hidden="true">3.</strong> Migration Guides</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../migration/migration_v5.html"><strong aria-hidden="true">3.1.</strong> v0.5.x to v1.0.x</a></li><li class="chapter-item expanded "><a href="../migration/migration_v4.html"><strong aria-hidden="true">3.2.</strong> v0.4.x to v0.5.x</a></li><li class="chapter-item expanded "><a href="../migration/migration_rtic.html"><strong aria-hidden="true">3.3.</strong> RTFM to RTIC</a></li></ol></li><li class="chapter-item expanded "><a href="../internals.html"><strong aria-hidden="true">4.</strong> Under the hood</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../internals/targ
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<h1 class="menu-title">Real-Time Interrupt-driven Concurrency</h1>
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<main>
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<h1 id="static-super-powers"><a class="header" href="#static-super-powers">'static super-powers</a></h1>
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<p>In <code>#[init]</code> and <code>#[idle]</code> <code>local</code> resources have <code>'static</code> lifetime.</p>
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<p>Useful when pre-allocating and/or splitting resources between tasks, drivers
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or some other object.
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This comes in handy when drivers, such as USB drivers, need to allocate memory and
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when using splittable data structures such as <a href="https://docs.rs/heapless/0.7.5/heapless/spsc/struct.Queue.html"><code>heapless::spsc::Queue</code></a>.</p>
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<p>In the following example two different tasks share a <a href="https://docs.rs/heapless/0.7.5/heapless/spsc/struct.Queue.html"><code>heapless::spsc::Queue</code></a>
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for lock-free access to the shared queue.</p>
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<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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</span><span class="boring">fn main() {
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</span>//! examples/static.rs
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![deny(missing_docs)]
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#![no_main]
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#![no_std]
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use panic_semihosting as _;
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#[rtic::app(device = lm3s6965, dispatchers = [UART0])]
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mod app {
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use cortex_m_semihosting::{debug, hprintln};
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use heapless::spsc::{Consumer, Producer, Queue};
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#[shared]
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struct Shared {}
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#[local]
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struct Local {
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p: Producer<'static, u32, 5>,
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c: Consumer<'static, u32, 5>,
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}
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#[init(local = [q: Queue<u32, 5> = Queue::new()])]
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fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
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// q has 'static life-time so after the split and return of `init`
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// it will continue to exist and be allocated
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let (p, c) = cx.local.q.split();
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foo::spawn().unwrap();
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(Shared {}, Local { p, c }, init::Monotonics())
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}
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#[idle(local = [c])]
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fn idle(c: idle::Context) -> ! {
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loop {
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// Lock-free access to the same underlying queue!
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if let Some(data) = c.local.c.dequeue() {
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hprintln!("received message: {}", data);
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// Run foo until data
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if data == 3 {
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debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
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} else {
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foo::spawn().unwrap();
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}
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}
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}
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}
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#[task(local = [p, state: u32 = 0])]
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fn foo(c: foo::Context) {
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*c.local.state += 1;
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// Lock-free access to the same underlying queue!
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c.local.p.enqueue(*c.local.state).unwrap();
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}
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}
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<span class="boring">}</span></code></pre></pre>
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<p>Running this program produces the expected output.</p>
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<pre><code class="language-console">$ cargo run --target thumbv7m-none-eabi --example static
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received message: 1
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received message: 2
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received message: 3
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</code></pre>
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