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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"><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" class="active"><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="migrating-from-v04x-to-v050"><a class="header" href="#migrating-from-v04x-to-v050">Migrating from v0.4.x to v0.5.0</a></h1>
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<p>This section covers how to upgrade an application written against RTFM v0.4.x to
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the version v0.5.0 of the framework.</p>
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<h2 id="project-name-change-rtfm---rtic"><a class="header" href="#project-name-change-rtfm---rtic">Project name change RTFM -> RTIC</a></h2>
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<p>With release <a href="https://crates.io/crates/cortex-m-rtic/0.5.2">v0.5.2</a> the name was change to Real-Time Interrupt-driven Concurrency</p>
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<p>All occurrences of <code>RTFM</code> needs to change to <code>RTIC</code>.</p>
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<p>See <a href="./migration_rtic.html">migration guide RTFM to RTIC</a></p>
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<h2 id="cargotoml"><a class="header" href="#cargotoml"><code>Cargo.toml</code></a></h2>
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<p>Change the version of <code>cortex-m-rtfm</code> to
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<code>"0.5.0"</code>, change <code>rtfm</code> to <code>rtic</code>.
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Remove the <code>timer-queue</code> feature.</p>
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<pre><code class="language-toml">[dependencies.cortex-m-rtfm]
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# change this
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version = "0.4.3"
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# into this
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[dependencies.cortex-m-rtic]
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version = "0.5.0"
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# and remove this Cargo feature
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features = ["timer-queue"]
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# ^^^^^^^^^^^^^
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</code></pre>
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<h2 id="context-argument"><a class="header" href="#context-argument"><code>Context</code> argument</a></h2>
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<p>All functions inside the <code>#[rtfm::app]</code> item need to take as first argument a
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<code>Context</code> structure. This <code>Context</code> type will contain the variables that were
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magically injected into the scope of the function by version v0.4.x of the
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framework: <code>resources</code>, <code>spawn</code>, <code>schedule</code> -- these variables will become
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fields of the <code>Context</code> structure. Each function within the <code>#[rtfm::app]</code> item
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gets a different <code>Context</code> type.</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>#[rtfm::app(/* .. */)]
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const APP: () = {
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// change this
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#[task(resources = [x], spawn = [a], schedule = [b])]
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fn foo() {
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resources.x.lock(|x| /* .. */);
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spawn.a(message);
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schedule.b(baseline);
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}
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// into this
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#[task(resources = [x], spawn = [a], schedule = [b])]
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fn foo(mut cx: foo::Context) {
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// ^^^^^^^^^^^^^^^^^^^^
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cx.resources.x.lock(|x| /* .. */);
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// ^^^
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cx.spawn.a(message);
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// ^^^
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cx.schedule.b(message, baseline);
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// ^^^
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}
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// change this
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#[init]
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fn init() {
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// ..
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}
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// into this
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#[init]
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fn init(cx: init::Context) {
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// ^^^^^^^^^^^^^^^^^
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// ..
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}
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// ..
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};
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<span class="boring">}</span></code></pre></pre>
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<h2 id="resources"><a class="header" href="#resources">Resources</a></h2>
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<p>The syntax used to declare resources has changed from <code>static mut</code>
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variables to a <code>struct Resources</code>.</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>#[rtfm::app(/* .. */)]
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const APP: () = {
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// change this
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static mut X: u32 = 0;
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static mut Y: u32 = (); // late resource
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// into this
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struct Resources {
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#[init(0)] // <- initial value
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X: u32, // NOTE: we suggest changing the naming style to `snake_case`
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Y: u32, // late resource
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}
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// ..
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};
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<span class="boring">}</span></code></pre></pre>
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<h2 id="device-peripherals"><a class="header" href="#device-peripherals">Device peripherals</a></h2>
|
||
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|
<p>If your application was accessing the device peripherals in <code>#[init]</code> through
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the <code>device</code> variable then you'll need to add <code>peripherals = true</code> to the
|
||
|
|
<code>#[rtfm::app]</code> attribute to continue to access the device peripherals through
|
||
|
|
the <code>device</code> field of the <code>init::Context</code> structure.</p>
|
||
|
|
<p>Change this:</p>
|
||
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
||
|
|
</span><span class="boring">fn main() {
|
||
|
|
</span>#[rtfm::app(/* .. */)]
|
||
|
|
const APP: () = {
|
||
|
|
#[init]
|
||
|
|
fn init() {
|
||
|
|
device.SOME_PERIPHERAL.write(something);
|
||
|
|
}
|
||
|
|
|
||
|
|
// ..
|
||
|
|
};
|
||
|
|
<span class="boring">}</span></code></pre></pre>
|
||
|
|
<p>Into this:</p>
|
||
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
||
|
|
</span><span class="boring">fn main() {
|
||
|
|
</span>#[rtfm::app(/* .. */, peripherals = true)]
|
||
|
|
// ^^^^^^^^^^^^^^^^^^
|
||
|
|
const APP: () = {
|
||
|
|
#[init]
|
||
|
|
fn init(cx: init::Context) {
|
||
|
|
// ^^^^^^^^^^^^^^^^^
|
||
|
|
cx.device.SOME_PERIPHERAL.write(something);
|
||
|
|
// ^^^
|
||
|
|
}
|
||
|
|
|
||
|
|
// ..
|
||
|
|
};
|
||
|
|
<span class="boring">}</span></code></pre></pre>
|
||
|
|
<h2 id="interrupt-and-exception"><a class="header" href="#interrupt-and-exception"><code>#[interrupt]</code> and <code>#[exception]</code></a></h2>
|
||
|
|
<p>Remove the attributes <code>#[interrupt]</code> and <code>#[exception]</code>.
|
||
|
|
To declare hardware tasks in v0.5.x use the <code>#[task]</code>
|
||
|
|
attribute with the <code>binds</code> argument instead.</p>
|
||
|
|
<p>Change this:</p>
|
||
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
||
|
|
</span><span class="boring">fn main() {
|
||
|
|
</span>#[rtfm::app(/* .. */)]
|
||
|
|
const APP: () = {
|
||
|
|
// hardware tasks
|
||
|
|
#[exception]
|
||
|
|
fn SVCall() { /* .. */ }
|
||
|
|
|
||
|
|
#[interrupt]
|
||
|
|
fn UART0() { /* .. */ }
|
||
|
|
|
||
|
|
// software task
|
||
|
|
#[task]
|
||
|
|
fn foo() { /* .. */ }
|
||
|
|
|
||
|
|
// ..
|
||
|
|
};
|
||
|
|
<span class="boring">}</span></code></pre></pre>
|
||
|
|
<p>Into this:</p>
|
||
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
||
|
|
</span><span class="boring">fn main() {
|
||
|
|
</span>#[rtfm::app(/* .. */)]
|
||
|
|
const APP: () = {
|
||
|
|
#[task(binds = SVCall)]
|
||
|
|
// ^^^^^^^^^^^^^^
|
||
|
|
fn svcall(cx: svcall::Context) { /* .. */ }
|
||
|
|
// ^^^^^^ we suggest you use a `snake_case` name here
|
||
|
|
|
||
|
|
#[task(binds = UART0)]
|
||
|
|
// ^^^^^^^^^^^^^
|
||
|
|
fn uart0(cx: uart0::Context) { /* .. */ }
|
||
|
|
|
||
|
|
#[task]
|
||
|
|
fn foo(cx: foo::Context) { /* .. */ }
|
||
|
|
|
||
|
|
// ..
|
||
|
|
};
|
||
|
|
<span class="boring">}</span></code></pre></pre>
|
||
|
|
<h2 id="schedule"><a class="header" href="#schedule"><code>schedule</code></a></h2>
|
||
|
|
<p>The <code>schedule</code> API no longer requires the <code>timer-queue</code> cargo feature.
|
||
|
|
To use the <code>schedule</code> API one must first define the monotonic timer the
|
||
|
|
runtime will use using the <code>monotonic</code> argument of the <code>#[rtfm::app]</code> attribute.
|
||
|
|
To continue using the cycle counter (CYCCNT) as the monotonic timer,
|
||
|
|
and match the behavior of version v0.4.x, add the <code>monotonic = rtfm::cyccnt::CYCCNT</code>
|
||
|
|
argument to the <code>#[rtfm::app]</code> attribute.</p>
|
||
|
|
<p>Also, the <code>Duration</code> and <code>Instant</code> types and the <code>U32Ext</code> trait moved
|
||
|
|
into the <code>rtfm::cyccnt</code> module.
|
||
|
|
This module is only available on ARMv7-M+ devices.
|
||
|
|
The removal of the <code>timer-queue</code> also brings back the <code>DWT</code> peripheral
|
||
|
|
inside the core peripherals struct, if <code>DWT</code> is required,
|
||
|
|
ensure it is enabled by the application inside <code>init</code>.</p>
|
||
|
|
<p>Change this:</p>
|
||
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
||
|
|
</span><span class="boring">fn main() {
|
||
|
|
</span>use rtfm::{Duration, Instant, U32Ext};
|
||
|
|
|
||
|
|
#[rtfm::app(/* .. */)]
|
||
|
|
const APP: () = {
|
||
|
|
#[task(schedule = [b])]
|
||
|
|
fn a() {
|
||
|
|
// ..
|
||
|
|
}
|
||
|
|
};
|
||
|
|
<span class="boring">}</span></code></pre></pre>
|
||
|
|
<p>Into this:</p>
|
||
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
||
|
|
</span><span class="boring">fn main() {
|
||
|
|
</span>use rtfm::cyccnt::{Duration, Instant, U32Ext};
|
||
|
|
// ^^^^^^^^
|
||
|
|
|
||
|
|
#[rtfm::app(/* .. */, monotonic = rtfm::cyccnt::CYCCNT)]
|
||
|
|
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||
|
|
const APP: () = {
|
||
|
|
#[init]
|
||
|
|
fn init(cx: init::Context) {
|
||
|
|
cx.core.DWT.enable_cycle_counter();
|
||
|
|
// optional, configure the DWT run without a debugger connected
|
||
|
|
cx.core.DCB.enable_trace();
|
||
|
|
}
|
||
|
|
#[task(schedule = [b])]
|
||
|
|
fn a(cx: a::Context) {
|
||
|
|
// ..
|
||
|
|
}
|
||
|
|
};
|
||
|
|
<span class="boring">}</span></code></pre></pre>
|
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