Make Monotonic implementation more obvious

book/en/src/SUMMARY.md

@@ -16,11 +16,11 @@
   - [Delay and Timeout using Monotonics](./by-example/delay.md)
   - [The minimal app](./by-example/app_minimal.md)
   - [Tips & Tricks](./by-example/tips/index.md)
-    - [Implementing Monotonic](./by-example/tips/monotonic_impl.md)
     - [Resource de-structure-ing](./by-example/tips/destructureing.md)
     - [Avoid copies when message passing](./by-example/tips/indirection.md)
     - [`'static` super-powers](./by-example/tips/static_lifetimes.md)
     - [Inspecting generated code](./by-example/tips/view_code.md)
+- [Monotonics & the Timer Queue](./monotonic_impl.md)
 - [RTIC vs. the world](./rtic_vs.md)
 - [RTIC and Embassy](./rtic_and_embassy.md)
 - [Awesome RTIC examples](./awesome_rtic.md)

book/en/src/by-example/delay.md

@@ -6,6 +6,8 @@ This can be achieved by instantiating a monotonic timer (for implementations, se
 
 [`rtic-monotonics`]: https://github.com/rtic-rs/rtic/tree/master/rtic-monotonics
 [`rtic-time`]: https://github.com/rtic-rs/rtic/tree/master/rtic-time
+[`Monotonic`]: https://docs.rs/rtic-time/latest/rtic_time/trait.Monotonic.html
+[Implementing a `Monotonic`]: ../../monotonic_impl.md
 
 ``` rust,noplayground
 ...
@@ -25,12 +27,6 @@ async fn foo(_cx: foo::Context) {
 
 ```
 
-<!-- TODO: move technical explanation to internals -->
-
-Technically, the timer queue is implemented as a list based priority queue, where list-nodes are statically allocated as part of the underlying task `Future`. Thus, the timer queue is infallible at run-time (its size and allocation are determined at compile time).
-
-Similarly the channels implementation, the timer-queue implementation relies on a global *Critical Section* (CS) for race protection. For the examples a CS implementation is provided by adding `--features test-critical-section` to the build options.
-
 <details>
 <summary>A complete example</summary>
 
@@ -48,6 +44,9 @@ $ cargo run --target thumbv7m-none-eabi --example async-delay --features test-cr
 
 </details>
 
+> Interested in contributing new implementations of [`Monotonic`], or more information about the inner workings of monotonics?
+> Check out the [Implementing a `Monotonic`] chapter!
+
 ## Timeout
 
 Rust [`Future`]s (underlying Rust `async`/`await`) are composable. This makes it possible to `select` in between `Futures` that have completed.

book/en/src/by-example/tips/monotonic_impl.md

@@ -1,25 +0,0 @@
-# Implementing a `Monotonic` timer for scheduling
-
-The framework is flexible because it can use any timer which has compare-match and optionally supporting overflow interrupts for scheduling. The single requirement to make a timer usable with RTIC is implementing the `rtic-time::Monotonic` trait.
-
-For RTIC 1.0 and 2.0 we instead assume the user has a time library, e.g. [`fugit`], as the basis for all time-based operations when implementing `Monotonic`. These libraries make it much easier to correctly implement the `Monotonic` trait, allowing the use of almost any timer in the system for scheduling.
-
-The trait documents the requirements for each method. There are reference implementations available in [`rtic-monotonics`] that can be used for inspriation.
-
-- [`Systick based`], runs at a fixed interrupt (tick) rate - with some overhead but simple and provides support for large time spans
-- [`RP2040 Timer`], a "proper" implementation with support for waiting for long periods without interrupts. Clearly demonstrates how to use the `TimerQueue` to handle scheduling.
-- [`nRF52 timers`] implements monotonic & Timer Queue for the RTC and normal timers in nRF52's
-
-## Contributing
-
-Contributing new implementations of `Monotonic` can be done in multiple ways:
-* Implement the trait behind a feature flag in [`rtic-monotonics`], and create a PR for them to be included in the main RTIC repository. This way, the implementations of are in-tree, and RTIC can guarantee their correctness, and can update them in the case of a new release.
-* Implement the changes in an external repository.
-
-[`rtic-monotonics`]: https://github.com/rtic-rs/rtic/tree/master/rtic-monotonics/
-[`rtic_time::Monotonic`]: https://docs.rs/rtic_time/
-[`fugit`]: https://docs.rs/fugit/
-[`Systick based`]: https://github.com/rtic-monotonics
-[`rtic-monotonics`]:  https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics
-[`RP2040 Timer`]: https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics/src/rp2040.rs
-[`nRF52 timers`]: https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics/src/nrf.rs

book/en/src/monotonic_impl.md

@@ -0,0 +1,38 @@
+# The magic behind Monotonics
+
+Internally, all monotonics use a [Timer Queue](#the-timer-queue), which is a priority queue with entries describing the time at which their respective `Future`s should complete.
+
+## Implementing a `Monotonic` timer for scheduling
+
+The [`rtic-time`] framework is flexible because it can use any timer which has compare-match and optionally supporting overflow interrupts for scheduling. The single requirement to make a timer usable with RTIC is implementing the [`rtic-time::Monotonic`] trait.
+
+For RTIC 2.0, we assume that the user has a time library, e.g. [`fugit`], as the basis for all time-based operations when implementing [`Monotonic`]. These libraries make it much easier to correctly implement the [`Monotonic`] trait, allowing the use of almost any timer in the system for scheduling.
+
+The trait documents the requirements for each method. There are reference implementations available in [`rtic-monotonics`] that can be used for inspriation.
+
+- [`Systick based`], runs at a fixed interrupt (tick) rate - with some overhead but simple and provides support for large time spans
+- [`RP2040 Timer`], a "proper" implementation with support for waiting for long periods without interrupts. Clearly demonstrates how to use the [`TimerQueue`] to handle scheduling.
+- [`nRF52 timers`] implements monotonic & Timer Queue for the RTC and normal timers in nRF52's
+
+## Contributing
+
+Contributing new implementations of `Monotonic` can be done in multiple ways:
+* Implement the trait behind a feature flag in [`rtic-monotonics`], and create a PR for them to be included in the main RTIC repository. This way, the implementations of are in-tree, RTIC can guarantee their correctness, and can update them in the case of a new release.
+* Implement the changes in an external repository. Doing so will not have them included in [`rtic-monotonics`], but may make it easier to do so in the future.
+
+[`rtic-monotonics`]: https://github.com/rtic-rs/rtic/tree/master/rtic-monotonics/
+[`fugit`]: https://docs.rs/fugit/
+[`Systick based`]: https://github.com/rtic-monotonics
+[`rtic-monotonics`]:  https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics
+[`RP2040 Timer`]: https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics/src/rp2040.rs
+[`nRF52 timers`]: https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics/src/nrf.rs
+[`rtic-time`]: https://docs.rs/rtic-time/latest/rtic_time
+[`rtic-time::Monotonic`]: https://docs.rs/rtic-time/latest/rtic_time/trait.Monotonic.html
+[`Monotonic`]: https://docs.rs/rtic-time/latest/rtic_time/trait.Monotonic.html
+[`TimerQueue`]: https://docs.rs/rtic-time/latest/rtic_time/struct.TimerQueue.html
+
+## The timer queue
+
+The timer queue is implemented as a list based priority queue, where list-nodes are statically allocated as part of the  `Future` created when `await`-ing a Future created when waiting for the monotonic. Thus, the timer queue is infallible at run-time (its size and allocation are determined at compile time).
+
+Similarly the channels implementation, the timer-queue implementation relies on a global *Critical Section* (CS) for race protection. For the examples a CS implementation is provided by adding `--features test-critical-section` to the build options.