diff --git a/.gitignore b/.gitignore index 7405f865fd..d081dc3a5e 100644 --- a/.gitignore +++ b/.gitignore @@ -5,3 +5,4 @@ /target Cargo.lock *.hex +book-target/ diff --git a/book/en/src/by-example/app_task.md b/book/en/archive/by_example/app_task.md similarity index 100% rename from book/en/src/by-example/app_task.md rename to book/en/archive/by_example/app_task.md diff --git a/book/en/src/by-example/monotonic.md b/book/en/archive/by_example/monotonic.md similarity index 98% rename from book/en/src/by-example/monotonic.md rename to book/en/archive/by_example/monotonic.md index 3a23681fd9..0ed4340d9c 100644 --- a/book/en/src/by-example/monotonic.md +++ b/book/en/archive/by_example/monotonic.md @@ -34,7 +34,7 @@ This activates the monotonics making it possible to use them. See the following example: -``` rust +``` rust,noplayground {{#include ../../../../examples/schedule.rs}} ``` @@ -54,7 +54,7 @@ which allows canceling or rescheduling of the task scheduled to run in the futur If `cancel` or `reschedule_at`/`reschedule_after` returns an `Err` it means that the operation was too late and that the task is already sent for execution. The following example shows this in action: -``` rust +``` rust,noplayground {{#include ../../../../examples/cancel-reschedule.rs}} ``` diff --git a/book/en/src/by-example/tips_from_ram.md b/book/en/archive/by_example/tips/from_ram.md similarity index 84% rename from book/en/src/by-example/tips_from_ram.md rename to book/en/archive/by_example/tips/from_ram.md index f6b2173186..a153139e5a 100644 --- a/book/en/src/by-example/tips_from_ram.md +++ b/book/en/archive/by_example/tips/from_ram.md @@ -11,8 +11,8 @@ improve performance in some cases. The example below shows how to place the higher priority task, `bar`, in RAM. -``` rust -{{#include ../../../../rtic/examples/ramfunc.rs}} +``` rust,noplayground +{{#include ../../../../../rtic/examples/ramfunc.rs}} ``` Running this program produces the expected output. @@ -22,7 +22,7 @@ $ cargo run --target thumbv7m-none-eabi --example ramfunc ``` ``` console -{{#include ../../../../rtic/ci/expected/ramfunc.run}} +{{#include ../../../../../rtic/ci/expected/ramfunc.run}} ``` One can look at the output of `cargo-nm` to confirm that `bar` ended in RAM @@ -33,7 +33,7 @@ $ cargo nm --example ramfunc --release | grep ' foo::' ``` ``` console -{{#include ../../../../rtic/ci/expected/ramfunc.run.grep.foo}} +{{#include ../../../../../rtic/ci/expected/ramfunc.run.grep.foo}} ``` ``` console @@ -41,5 +41,5 @@ $ cargo nm --example ramfunc --target thumbv7m-none-eabi --release | grep '*bar ``` ``` console -{{#include ../../../../rtic/ci/expected/ramfunc.run.grep.bar}} +{{#include ../../../../../rtic/ci/expected/ramfunc.run.grep.bar}} ``` diff --git a/book/en/src/migration.md b/book/en/archive/migration.md similarity index 100% rename from book/en/src/migration.md rename to book/en/archive/migration.md diff --git a/book/en/src/migration/migration_rtic.md b/book/en/archive/migration/migration_rtic.md similarity index 97% rename from book/en/src/migration/migration_rtic.md rename to book/en/archive/migration/migration_rtic.md index c027da35fd..e079cbf356 100644 --- a/book/en/src/migration/migration_rtic.md +++ b/book/en/archive/migration/migration_rtic.md @@ -27,7 +27,7 @@ cortex-m-rtic = "0.5.3" The only code change that needs to be made is that any reference to `rtfm` before now need to point to `rtic` as follows: -``` rust +``` rust,noplayground // // Change this // diff --git a/book/en/src/migration/migration_v4.md b/book/en/archive/migration/migration_v4.md similarity index 96% rename from book/en/src/migration/migration_v4.md rename to book/en/archive/migration/migration_v4.md index d1a7ebeb98..f28b6d9531 100644 --- a/book/en/src/migration/migration_v4.md +++ b/book/en/archive/migration/migration_v4.md @@ -42,7 +42,7 @@ framework: `resources`, `spawn`, `schedule` -- these variables will become fields of the `Context` structure. Each function within the `#[rtfm::app]` item gets a different `Context` type. -``` rust +``` rust,noplayground #[rtfm::app(/* .. */)] const APP: () = { // change this @@ -90,7 +90,7 @@ const APP: () = { The syntax used to declare resources has changed from `static mut` variables to a `struct Resources`. -``` rust +``` rust,noplayground #[rtfm::app(/* .. */)] const APP: () = { // change this @@ -118,7 +118,7 @@ the `device` field of the `init::Context` structure. Change this: -``` rust +``` rust,noplayground #[rtfm::app(/* .. */)] const APP: () = { #[init] @@ -132,7 +132,7 @@ const APP: () = { Into this: -``` rust +``` rust,noplayground #[rtfm::app(/* .. */, peripherals = true)] // ^^^^^^^^^^^^^^^^^^ const APP: () = { @@ -155,7 +155,7 @@ attribute with the `binds` argument instead. Change this: -``` rust +``` rust,noplayground #[rtfm::app(/* .. */)] const APP: () = { // hardware tasks @@ -175,7 +175,7 @@ const APP: () = { Into this: -``` rust +``` rust,noplayground #[rtfm::app(/* .. */)] const APP: () = { #[task(binds = SVCall)] @@ -212,7 +212,7 @@ ensure it is enabled by the application inside `init`. Change this: -``` rust +``` rust,noplayground use rtfm::{Duration, Instant, U32Ext}; #[rtfm::app(/* .. */)] @@ -226,7 +226,7 @@ const APP: () = { Into this: -``` rust +``` rust,noplayground use rtfm::cyccnt::{Duration, Instant, U32Ext}; // ^^^^^^^^ diff --git a/book/en/src/migration/migration_v5.md b/book/en/archive/migration/migration_v5.md similarity index 94% rename from book/en/src/migration/migration_v5.md rename to book/en/archive/migration/migration_v5.md index 5a8fabce5b..1b4fa0dcce 100644 --- a/book/en/src/migration/migration_v5.md +++ b/book/en/archive/migration/migration_v5.md @@ -12,7 +12,7 @@ With the support of attributes on modules the `const APP` workaround is not need Change -``` rust +``` rust,noplayground #[rtic::app(/* .. */)] const APP: () = { [code here] @@ -21,7 +21,7 @@ const APP: () = { into -``` rust +``` rust,noplayground #[rtic::app(/* .. */)] mod app { [code here] @@ -75,7 +75,7 @@ mod app { Change -``` rust +``` rust,noplayground #[rtic::app(/* .. */)] const APP: () = { [code here] @@ -92,7 +92,7 @@ const APP: () = { into -``` rust +``` rust,noplayground #[rtic::app(/* .. */, dispatchers = [SSI0, QEI0])] mod app { [code here] @@ -106,7 +106,7 @@ This works also for ram functions, see examples/ramfunc.rs Previously the RTIC resources had to be in in a struct named exactly "Resources": -``` rust +``` rust,noplayground struct Resources { // Resources defined in here } @@ -115,7 +115,7 @@ struct Resources { With RTIC v1.0.0 the resources structs are annotated similarly like `#[task]`, `#[init]`, `#[idle]`: with the attributes `#[shared]` and `#[local]` -``` rust +``` rust,noplayground #[shared] struct MySharedResources { // Resources shared between tasks are defined here @@ -136,7 +136,7 @@ In v1.0.0 resources are split between `shared` resources and `local` resources. In v0.5.x: -``` rust +``` rust,noplayground struct Resources { local_to_b: i64, shared_by_a_and_b: i64, @@ -151,7 +151,7 @@ fn b(_: b::Context) {} In v1.0.0: -``` rust +``` rust,noplayground #[shared] struct Shared { shared_by_a_and_b: i64, @@ -176,7 +176,7 @@ to be used for all `shared` resource access. In old code one could do the following as the high priority task has exclusive access to the resource: -``` rust +``` rust,noplayground #[task(priority = 2, resources = [r])] fn foo(cx: foo::Context) { cx.resources.r = /* ... */; @@ -190,7 +190,7 @@ fn bar(cx: bar::Context) { And with symmetric locks one needs to use locks in both tasks: -``` rust +``` rust,noplayground #[task(priority = 2, shared = [r])] fn foo(cx: foo::Context) { cx.shared.r.lock(|r| r = /* ... */); @@ -211,7 +211,7 @@ This is still possible in 1.0: the `#[shared]` resource must be annotated with t v0.5 code: -``` rust +``` rust,noplayground struct Resources { counter: u64, } @@ -229,7 +229,7 @@ fn b(cx: b::Context) { v1.0 code: -``` rust +``` rust,noplayground #[shared] struct Shared { #[lock_free] @@ -254,7 +254,7 @@ Instead of that syntax, use the `local` argument in `#[init]`. v0.5.x code: -``` rust +``` rust,noplayground #[init] fn init(_: init::Context) { static mut BUFFER: [u8; 1024] = [0; 1024]; @@ -264,7 +264,7 @@ fn init(_: init::Context) { v1.0.0 code: -``` rust +``` rust,noplayground #[init(local = [ buffer: [u8; 1024] = [0; 1024] // type ^^^^^^^^^^^^ ^^^^^^^^^ initial value @@ -282,7 +282,7 @@ In order to make the API more symmetric the #[init]-task always returns a late r From this: -``` rust +``` rust,noplayground #[rtic::app(device = lm3s6965)] const APP: () = { #[init] @@ -296,7 +296,7 @@ const APP: () = { to this: -``` rust +``` rust,noplayground #[rtic::app(device = lm3s6965)] mod app { #[shared] @@ -321,7 +321,7 @@ mod app { With the new spawn/spawn_after/spawn_at interface, old code requiring the context `cx` for spawning such as: -``` rust +``` rust,noplayground #[task(spawn = [bar])] fn foo(cx: foo::Context) { cx.spawn.bar().unwrap(); @@ -335,7 +335,7 @@ fn bar(cx: bar::Context) { Will now be written as: -``` rust +``` rust,noplayground #[task] fn foo(_c: foo::Context) { bar::spawn().unwrap(); diff --git a/book/en/src/SUMMARY.md b/book/en/src/SUMMARY.md index 587117cc95..40832844af 100644 --- a/book/en/src/SUMMARY.md +++ b/book/en/src/SUMMARY.md @@ -2,31 +2,40 @@ [Preface](./preface.md) +--- + +- [Starting a new project](./starting_a_project.md) - [RTIC by example](./by-example.md) - [The `app`](./by-example/app.md) - - [Hardware tasks & `pend`](./by-example/hardware_tasks.md) + - [Hardware tasks](./by-example/hardware_tasks.md) - [Software tasks & `spawn`](./by-example/software_tasks.md) - [Resources](./by-example/resources.md) - [The init task](./by-example/app_init.md) - [The idle task](./by-example/app_idle.md) - [Channel based communication](./by-example/channel.md) - - [Delay and Timeout](./by-example/delay.md) - - [Starting a new project](./by-example/starting_a_project.md) + - [Delay and Timeout using Monotonics](./by-example/delay.md) - [The minimal app](./by-example/app_minimal.md) - - [Tips & Tricks](./by-example/tips.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) - - + - [Tips & Tricks](./by-example/tips/index.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) - + +--- + +- [Migrating from v1.0.x to v2.0.0](./migration_v1_v2.md) + - [Rust Nightly & features](./migration_v1_v2/nightly.md) + - [Migrating to `rtic-monotonics`](./migration_v1_v2/monotonics.md) + - [Software tasks must now be `async`](./migration_v1_v2/async_tasks.md) + - [Using and understanding `rtic-sync`](./migration_v1_v2/rtic-sync.md) + - [A code example on migration](./migration_v1_v2/complete_example.md) + +--- + - [Under the hood](./internals.md) - [Cortex-M architectures](./internals/targets.md) diff --git a/book/en/src/awesome_rtic.md b/book/en/src/awesome_rtic.md index 36d38e6252..2fa4ec9ef8 100644 --- a/book/en/src/awesome_rtic.md +++ b/book/en/src/awesome_rtic.md @@ -1,8 +1,7 @@ # Awesome RTIC examples -See the [`rtic-rs/rtic-examples`][rticexamples] repository for community -provided complete examples. +See the [`rtic-rs/rtic/examples`][rticexamples] repository for complete examples. -Pull-requests to this repo are welcome! +Pull-requests are welcome! -[rticexamples]: https://github.com/rtic-rs/rtic-examples +[rticexamples]: https://github.com/rtic-rs/rtic/tree/master/examples diff --git a/book/en/src/by-example/app.md b/book/en/src/by-example/app.md index 0d977a1c57..0aeed5b61d 100644 --- a/book/en/src/by-example/app.md +++ b/book/en/src/by-example/app.md @@ -2,7 +2,9 @@ ## Requirements on the `app` attribute -All RTIC applications use the [`app`] attribute (`#[app(..)]`). This attribute only applies to a `mod`-item containing the RTIC application. The `app` attribute has a mandatory `device` argument that takes a *path* as a value. This must be a full path pointing to a *peripheral access crate* (PAC) generated using [`svd2rust`] **v0.14.x** or newer. +All RTIC applications use the [`app`] attribute (`#[app(..)]`). This attribute only applies to a `mod`-item containing the RTIC application. + +The `app` attribute has a mandatory `device` argument that takes a *path* as a value. This must be a full path pointing to a *peripheral access crate* (PAC) generated using [`svd2rust`] **v0.14.x** or newer. The `app` attribute will expand into a suitable entry point and thus replaces the use of the [`cortex_m_rt::entry`] attribute. @@ -12,21 +14,33 @@ The `app` attribute will expand into a suitable entry point and thus replaces th ## Structure and zero-cost concurrency -An RTIC `app` is an executable system model for single-core applications, declaring a set of `local` and `shared` resources operated on by a set of `init`, `idle`, *hardware* and *software* tasks. In short the `init` task runs before any other task returning the set of `local` and `shared` resources. Tasks run preemptively based on their associated static priority, `idle` has the lowest priority (and can be used for background work, and/or to put the system to sleep until woken by some event). Hardware tasks are bound to underlying hardware interrupts, while software tasks are scheduled by asynchronous executors (one for each software task priority). +An RTIC `app` is an executable system model for single-core applications, declaring a set of `local` and `shared` resources operated on by a set of `init`, `idle`, *hardware* and *software* tasks. + +* `init` runs before any other task, and returns the `local` and `shared` resources. +* Tasks (both hardware and software) run preemptively based on their associated static priority. +* Hardware tasks are bound to underlying hardware interrupts. +* Software tasks are schedulied by an set of asynchronous executors, one for each software task priority. +* `idle` has the lowest priority, and can be used for background work, and/or to put the system to sleep until it is woken by some event. At compile time the task/resource model is analyzed under the Stack Resource Policy (SRP) and executable code generated with the following outstanding properties: -- guaranteed race-free resource access and deadlock-free execution on a single-shared stack - - hardware task scheduling is performed directly by the hardware, and - - software task scheduling is performed by auto generated async executors tailored to the application. +- Guaranteed race-free resource access and deadlock-free execution on a single-shared stack. +- Hardware task scheduling is performed directly by the hardware. +- Software task scheduling is performed by auto generated async executors tailored to the application. Overall, the generated code infers no additional overhead in comparison to a hand-written implementation, thus in Rust terms RTIC offers a zero-cost abstraction to concurrency. +## Priority + +Priorities in RTIC are specified using the `priority = N` (where N is a positive number) argument passed to the `#[task]` attribute. All `#[task]`s can have a priority. If the priority of a task is not specified, it is set to the default value of 1. + +Priorities in RTIC follow a higher value = more important scheme. For examples, a task with priority 2 will preempt a task with priority 1. + ## An RTIC application example -To give a flavour of RTIC, the following example contains commonly used features. +To give a taste of RTIC, the following example contains commonly used features. In the following sections we will go through each feature in detail. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/common.rs}} ``` diff --git a/book/en/src/by-example/app_idle.md b/book/en/src/by-example/app_idle.md index cbfd7ba50b..c0b4139c26 100644 --- a/book/en/src/by-example/app_idle.md +++ b/book/en/src/by-example/app_idle.md @@ -11,7 +11,7 @@ Like in `init`, locally declared resources will have `'static` lifetimes that ar The example below shows that `idle` runs after `init`. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/idle.rs}} ``` @@ -38,7 +38,7 @@ The following example shows how to enable sleep by setting the [WFI]: https://developer.arm.com/documentation/dui0662/b/The-Cortex-M0--Instruction-Set/Miscellaneous-instructions/WFI [NOP]: https://developer.arm.com/documentation/dui0662/b/The-Cortex-M0--Instruction-Set/Miscellaneous-instructions/NOP -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/idle-wfi.rs}} ``` diff --git a/book/en/src/by-example/app_init.md b/book/en/src/by-example/app_init.md index fb37387ba2..e581ef5532 100644 --- a/book/en/src/by-example/app_init.md +++ b/book/en/src/by-example/app_init.md @@ -16,7 +16,7 @@ The example below shows the types of the `core`, `device` and `cs` fields, and s The `device` field is only available when the `peripherals` argument is set to the default value `true`. In the rare case you want to implement an ultra-slim application you can explicitly set `peripherals` to `false`. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/init.rs}} ``` diff --git a/book/en/src/by-example/app_minimal.md b/book/en/src/by-example/app_minimal.md index 714f543229..2c6f21887b 100644 --- a/book/en/src/by-example/app_minimal.md +++ b/book/en/src/by-example/app_minimal.md @@ -2,7 +2,7 @@ This is the smallest possible RTIC application: -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/smallest.rs}} ``` diff --git a/book/en/src/by-example/app_priorities.md b/book/en/src/by-example/app_priorities.md index 9d27658362..86ff9859ab 100644 --- a/book/en/src/by-example/app_priorities.md +++ b/book/en/src/by-example/app_priorities.md @@ -33,7 +33,7 @@ Task Priority The following example showcases the priority based scheduling of tasks: -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/preempt.rs}} ``` diff --git a/book/en/src/by-example/channel.md b/book/en/src/by-example/channel.md index c020870aac..75ecbfd938 100644 --- a/book/en/src/by-example/channel.md +++ b/book/en/src/by-example/channel.md @@ -1,8 +1,8 @@ # Communication over channels. -Channels can be used to communicate data between running *software* tasks. The channel is essentially a wait queue, allowing tasks with multiple producers and a single receiver. A channel is constructed in the `init` task and backed by statically allocated memory. Send and receive endpoints are distributed to *software* tasks: +Channels can be used to communicate data between running tasks. The channel is essentially a wait queue, allowing tasks with multiple producers and a single receiver. A channel is constructed in the `init` task and backed by statically allocated memory. Send and receive endpoints are distributed to *software* tasks: -``` rust +``` rust,noplayground ... const CAPACITY: usize = 5; #[init] @@ -16,11 +16,13 @@ const CAPACITY: usize = 5; In this case the channel holds data of `u32` type with a capacity of 5 elements. +Channels can also be used from *hardware* tasks, but only in a non-`async` manner using the [Try API](#try-api). + ## Sending data The `send` method post a message on the channel as shown below: -``` rust +``` rust,noplayground #[task] async fn sender1(_c: sender1::Context, mut sender: Sender<'static, u32, CAPACITY>) { hprintln!("Sender 1 sending: 1"); @@ -32,7 +34,7 @@ async fn sender1(_c: sender1::Context, mut sender: Sender<'static, u32, CAPACITY The receiver can `await` incoming messages: -``` rust +``` rust,noplayground #[task] async fn receiver(_c: receiver::Context, mut receiver: Receiver<'static, u32, CAPACITY>) { while let Ok(val) = receiver.recv().await { @@ -46,7 +48,7 @@ Channels are implemented using a small (global) *Critical Section* (CS) for prot For a complete example: -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/async-channel.rs}} ``` @@ -62,7 +64,7 @@ Also sender endpoint can be awaited. In case the channel capacity has not yet be In the following example the `CAPACITY` has been reduced to 1, forcing sender tasks to wait until the data in the channel has been received. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/async-channel-done.rs}} ``` @@ -79,7 +81,7 @@ $ cargo run --target thumbv7m-none-eabi --example async-channel-done --features In case all senders have been dropped `await`-ing on an empty receiver channel results in an error. This allows to gracefully implement different types of shutdown operations. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/async-channel-no-sender.rs}} ``` @@ -95,7 +97,7 @@ Similarly, `await`-ing on a send channel results in an error in case the receive The resulting error returns the data back to the sender, allowing the sender to take appropriate action (e.g., storing the data to later retry sending it). -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/async-channel-no-receiver.rs}} ``` @@ -107,13 +109,13 @@ $ cargo run --target thumbv7m-none-eabi --example async-channel-no-receiver --fe {{#include ../../../../rtic/ci/expected/async-channel-no-receiver.run}} ``` - - ## Try API -In cases you wish the sender to proceed even in case the channel is full. To that end, a `try_send` API is provided. +Using the Try API, you can send or receive data from or to a channel without requiring that the operation succeeds, and in non-`async` contexts. -``` rust +This API is exposed through `Receiver::try_recv` and `Sender::try_send`. + +``` rust,noplayground {{#include ../../../../rtic/examples/async-channel-try.rs}} ``` diff --git a/book/en/src/by-example/delay.md b/book/en/src/by-example/delay.md index f2863633ec..81f855f412 100644 --- a/book/en/src/by-example/delay.md +++ b/book/en/src/by-example/delay.md @@ -1,24 +1,23 @@ # Tasks with delay -A convenient way to express *miniminal* timing requirements is by means of delaying progression. +A convenient way to express miniminal timing requirements is by delaying progression. -This can be achieved by instantiating a monotonic timer: +This can be achieved by instantiating a monotonic timer (for implementations, see [`rtic-monotonics`]): -``` rust +[`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 ... -rtic_monotonics::make_systick_handler!(); - -#[init] -fn init(cx: init::Context) -> (Shared, Local) { - hprintln!("init"); - - Systick::start(cx.core.SYST, 12_000_000); - ... +{{#include ../../../../rtic/examples/async-timeout.rs:init}} + ... ``` A *software* task can `await` the delay to expire: -``` rust +``` rust,noplayground #[task] async fn foo(_cx: foo::Context) { ... @@ -28,13 +27,10 @@ async fn foo(_cx: foo::Context) { ``` -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 is determined at compile time). +
+A complete example -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. - -For a complete example: - -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/async-delay.rs}} ``` @@ -46,75 +42,63 @@ $ cargo run --target thumbv7m-none-eabi --example async-delay --features test-cr {{#include ../../../../rtic/ci/expected/async-delay.run}} ``` +
+ +> 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 `Futures` (underlying Rust `async`/`await`) are composable. This makes it possible to `select` in between `Futures` that have completed. +Rust [`Future`]s (underlying Rust `async`/`await`) are composable. This makes it possible to `select` in between `Futures` that have completed. -A common use case is transactions with associated timeout. In the examples shown below, we introduce a fake HAL device which performs some transaction. We have modelled the time it takes based on the input parameter (`n`) as `350ms + n * 100ms)`. +[`Future`]: https://doc.rust-lang.org/std/future/trait.Future.html + +A common use case is transactions with an associated timeout. In the examples shown below, we introduce a fake HAL device that performs some transaction. We have modelled the time it takes based on the input parameter (`n`) as `350ms + n * 100ms`. Using the `select_biased` macro from the `futures` crate it may look like this: -``` rust -// Call hal with short relative timeout using `select_biased` -select_biased! { - v = hal_get(1).fuse() => hprintln!("hal returned {}", v), - _ = Systick::delay(200.millis()).fuse() => hprintln!("timeout", ), // this will finish first -} +``` rust,noplayground,noplayground +{{#include ../../../../rtic/examples/async-timeout.rs:select_biased}} ``` -Assuming the `hal_get` will take 450ms to finish, a short timeout of 200ms will expire. +Assuming the `hal_get` will take 450ms to finish, a short timeout of 200ms will expire before `hal_get` can complete. -``` rust -// Call hal with long relative timeout using `select_biased` -select_biased! { - v = hal_get(1).fuse() => hprintln!("hal returned {}", v), // hal finish first - _ = Systick::delay(1000.millis()).fuse() => hprintln!("timeout", ), -} +Extending the timeout to 1000ms would cause `hal_get` will to complete first. + +Using `select_biased` any number of futures can be combined, so its very powerful. However, as the timeout pattern is frequently used, more ergonomic support is baked into RTIC, provided by the [`rtic-monotonics`] and [`rtic-time`] crates. + +Rewriting the second example from above using `timeout_after` gives: + +``` rust,noplayground +{{#include ../../../../rtic/examples/async-timeout.rs:timeout_at_basic}} ``` -By extending the timeout to 1000ms, the `hal_get` will finish first. - -Using `select_biased` any number of futures can be combined, so its very powerful. However, as the timeout pattern is frequently used, it is directly supported by the RTIC [rtc-monotonics] and [rtic-time] crates. The second example from above using `timeout_after`: - -``` rust -// Call hal with long relative timeout using monotonic `timeout_after` -match Systick::timeout_after(1000.millis(), hal_get(1)).await { - Ok(v) => hprintln!("hal returned {}", v), - _ => hprintln!("timeout"), -} -``` - -In cases you want exact control over time without drift. For this purpose we can use exact points in time using `Instance`, and spans of time using `Duration`. Operations on the `Instance` and `Duration` types are given by the [fugit] crate. +In cases where you want exact control over time without drift we can use exact points in time using `Instant`, and spans of time using `Duration`. Operations on the `Instant` and `Duration` types come from the [`fugit`] crate. [fugit]: https://crates.io/crates/fugit -``` rust -// get the current time instance -let mut instant = Systick::now(); +``` rust,noplayground -// do this 3 times -for n in 0..3 { - // absolute point in time without drift - instant += 1000.millis(); - Systick::delay_until(instant).await; +{{#include ../../../../rtic/examples/async-timeout.rs:timeout_at}} - // absolute point it time for timeout - let timeout = instant + 500.millis(); - hprintln!("now is {:?}, timeout at {:?}", Systick::now(), timeout); - - match Systick::timeout_at(timeout, hal_get(n)).await { - Ok(v) => hprintln!("hal returned {} at time {:?}", v, Systick::now()), - _ => hprintln!("timeout"), - } -} ``` -`instant = Systick::now()` gives the baseline (i.e., the absolute current point in time). We want to call `hal_get` after 1000ms relative to this absolute point in time. This can be accomplished by `Systick::delay_until(instant).await;`. We define the absolute point in time for the `timeout`, and call `Systick::timeout_at(timeout, hal_get(n)).await`. For the first loop iteration `n == 0`, and the `hal_get` will take 350ms (and finishes before the timeout). For the second iteration `n == 1`, and `hal_get` will take 450ms (and again succeeds to finish before the timeout). For the third iteration `n == 2` (`hal_get` will take 5500ms to finish). In this case we will run into a timeout. +`let mut instant = Systick::now()` sets the starting time of execution. +We want to call `hal_get` after 1000ms relative to this starting time. This can be accomplished by using `Systick::delay_until(instant).await`. -The complete example: +Then, we define a point in time called `timeout`, and call `Systick::timeout_at(timeout, hal_get(n)).await`. -``` rust +For the first iteration of the loop, with `n == 0`, the `hal_get` will take 350ms (and finishes before the timeout). + +For the second iteration, with `n == 1`, the `hal_get` will take 450ms (and again succeeds to finish before the timeout). + +For the third iteration, with `n == 2`, `hal_get` will take 550ms to finish, in which case we will run into a timeout. + +
+A complete example + +``` rust,noplayground {{#include ../../../../rtic/examples/async-timeout.rs}} ``` @@ -125,3 +109,4 @@ $ cargo run --target thumbv7m-none-eabi --example async-timeout --features test- ``` console {{#include ../../../../rtic/ci/expected/async-timeout.run}} ``` +
diff --git a/book/en/src/by-example/hardware_tasks.md b/book/en/src/by-example/hardware_tasks.md index 75dd1a4cc0..ded488c421 100644 --- a/book/en/src/by-example/hardware_tasks.md +++ b/book/en/src/by-example/hardware_tasks.md @@ -1,8 +1,6 @@ # Hardware tasks -At its core RTIC is using a hardware interrupt controller ([ARM NVIC on cortex-m][NVIC]) to schedule and start execution of tasks. All tasks except `pre-init`, `#[init]` and `#[idle]` run as interrupt handlers. - -Hardware tasks are explicitly bound to interrupt handlers. +At its core RTIC is using a hardware interrupt controller ([ARM NVIC on cortex-m][NVIC]) to schedule and start execution of tasks. All tasks except `pre-init` (a hidden "task"), `#[init]` and `#[idle]` run as interrupt handlers. To bind a task to an interrupt, use the `#[task]` attribute argument `binds = InterruptName`. This task then becomes the interrupt handler for this hardware interrupt vector. @@ -17,9 +15,11 @@ Beware of using interrupt vectors that are used internally by hardware features; [pacorhal]: https://docs.rust-embedded.org/book/start/registers.html [NVIC]: https://developer.arm.com/documentation/100166/0001/Nested-Vectored-Interrupt-Controller/NVIC-functional-description/NVIC-interrupts +## Example + The example below demonstrates the use of the `#[task(binds = InterruptName)]` attribute to declare a hardware task bound to an interrupt handler. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/hardware.rs}} ``` diff --git a/book/en/src/by-example/message_passing.md b/book/en/src/by-example/message_passing.md index 0dc8f85814..02fd298fac 100644 --- a/book/en/src/by-example/message_passing.md +++ b/book/en/src/by-example/message_passing.md @@ -3,14 +3,14 @@ Software tasks support message passing, this means that software tasks can be spawned with an argument: `foo::spawn(1)` which will run the task `foo` with the argument `1`. -Capacity sets the size of the spawn queue for the task, if not specified capacity defaults to 1. +Capacity sets the size of the spawn queue for the task. If it is not specified, the capacity defaults to 1. In the example below, the capacity of task `foo` is `3`, allowing three simultaneous pending spawns of `foo`. Exceeding this capacity is an `Error`. The number of arguments to a task is not limited: -``` rust +``` rust,noplayground {{#include ../../../../examples/message_passing.rs}} ``` diff --git a/book/en/src/by-example/resources.md b/book/en/src/by-example/resources.md index 0bf5d11fb8..c2472bc2c2 100644 --- a/book/en/src/by-example/resources.md +++ b/book/en/src/by-example/resources.md @@ -25,7 +25,7 @@ Types of `#[local]` resources must implement a [`Send`] trait as they are being The example application shown below contains three tasks `foo`, `bar` and `idle`, each having access to its own `#[local]` resource. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/locals.rs}} ``` @@ -51,7 +51,7 @@ Types of `#[task(local = [..])]` resources have to be neither [`Send`] nor [`Syn In the example below the different uses and lifetimes are shown: -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/declared_locals.rs}} ``` @@ -76,7 +76,7 @@ The critical section created by the `lock` API is based on dynamic priorities: i In the example below we have three interrupt handlers with priorities ranging from one to three. The two handlers with the lower priorities contend for a `shared` resource and need to succeed in locking the resource in order to access its data. The highest priority handler, which does not access the `shared` resource, is free to preempt a critical section created by the lowest priority handler. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/lock.rs}} ``` @@ -94,7 +94,7 @@ Types of `#[shared]` resources have to be [`Send`]. As an extension to `lock`, and to reduce rightward drift, locks can be taken as tuples. The following examples show this in use: -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/multilock.rs}} ``` @@ -116,7 +116,7 @@ Note that in this release of RTIC it is not possible to request both exclusive a In the example below a key (e.g. a cryptographic key) is loaded (or created) at runtime (returned by `init`) and then used from two tasks that run at different priorities without any kind of lock. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/only-shared-access.rs}} ``` @@ -142,7 +142,7 @@ To adhere to the Rust [aliasing] rule, a resource may be either accessed through Using `#[lock_free]` on resources shared by tasks running at different priorities will result in a *compile-time* error -- not using the `lock` API would violate the aforementioned alias rule. Similarly, for each priority there can be only a single *software* task accessing a shared resource (as an `async` task may yield execution to other *software* or *hardware* tasks running at the same priority). However, under this single-task restriction, we make the observation that the resource is in effect no longer `shared` but rather `local`. Thus, using a `#[lock_free]` shared resource will result in a *compile-time* error -- where applicable, use a `#[local]` resource instead. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/lock-free.rs}} ``` diff --git a/book/en/src/by-example/software_tasks.md b/book/en/src/by-example/software_tasks.md index 0efc57ba02..444f4a6f27 100644 --- a/book/en/src/by-example/software_tasks.md +++ b/book/en/src/by-example/software_tasks.md @@ -1,7 +1,6 @@ # Software tasks & spawn -The RTIC concept of a software task shares a lot with that of [hardware tasks](./hardware_tasks.md) with the core difference that a software task is not explicitly bound to a specific -interrupt vector, but rather bound to a “dispatcher” interrupt vector running at the intended priority of the software task (see below). +The RTIC concept of a software task shares a lot with that of [hardware tasks](./hardware_tasks.md). The core difference is that a software task is not explicitly bound to a specific interrupt vector, but rather bound to a “dispatcher” interrupt vector running at the intended priority of the software task (see below). Similarly to *hardware* tasks, the `#[task]` attribute used on a function declare it as a task. The absence of a `binds = InterruptName` argument to the attribute declares the function as a *software task*. @@ -9,11 +8,11 @@ The static method `task_name::spawn()` spawns (starts) a software task and given The *software* task itself is given as an `async` Rust function, which allows the user to optionally `await` future events. This allows to blend reactive programming (by means of *hardware* tasks) with sequential programming (by means of *software* tasks). -Whereas, *hardware* tasks are assumed to run-to-completion (and return), *software* tasks may be started (`spawned`) once and run forever, with the side condition that any loop (execution path) is broken by at least one `await` (yielding operation). +While *hardware* tasks are assumed to run-to-completion (and return), *software* tasks may be started (`spawned`) once and run forever, on the condition that any loop (execution path) is broken by at least one `await` (yielding operation). -All *software* tasks at the same priority level shares an interrupt handler acting as an async executor dispatching the software tasks. +## Dispatchers -This list of dispatchers, `dispatchers = [FreeInterrupt1, FreeInterrupt2, ...]` is an argument to the `#[app]` attribute, where you define the set of free and usable interrupts. +All *software* tasks at the same priority level share an interrupt handler acting as an async executor dispatching the software tasks. This list of dispatchers, `dispatchers = [FreeInterrupt1, FreeInterrupt2, ...]` is an argument to the `#[app]` attribute, where you define the set of free and usable interrupts. Each interrupt vector acting as dispatcher gets assigned to one priority level meaning that the list of dispatchers need to cover all priority levels used by software tasks. @@ -23,7 +22,7 @@ The framework will give a compilation error if there are not enough dispatchers See the following example: -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/spawn.rs}} ``` @@ -40,7 +39,7 @@ In the below example, we `spawn` the *software* task `foo` from the `idle` task. Technically the async executor will `poll` the `foo` *future* which in this case leaves the *future* in a *completed* state. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/spawn_loop.rs}} ``` @@ -56,7 +55,7 @@ An attempt to `spawn` an already spawned task (running) task will result in an e Technically, a `spawn` to a *future* that is not in *completed* state is considered an error. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/spawn_err.rs}} ``` @@ -71,7 +70,7 @@ $ cargo run --target thumbv7m-none-eabi --example spawn_err ## Passing arguments You can also pass arguments at spawn as follows. -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/spawn_arguments.rs}} ``` @@ -92,7 +91,7 @@ Conceptually, one can see such tasks as running in the `main` thread of the appl [Send]: https://doc.rust-lang.org/nomicon/send-and-sync.html -``` rust +``` rust,noplayground {{#include ../../../../rtic/examples/zero-prio-task.rs}} ``` diff --git a/book/en/src/by-example/tips_destructureing.md b/book/en/src/by-example/tips/destructureing.md similarity index 66% rename from book/en/src/by-example/tips_destructureing.md rename to book/en/src/by-example/tips/destructureing.md index ab27987a56..752311d3a7 100644 --- a/book/en/src/by-example/tips_destructureing.md +++ b/book/en/src/by-example/tips/destructureing.md @@ -3,13 +3,13 @@ Destructuring task resources might help readability if a task takes multiple resources. Here are two examples on how to split up the resource struct: -``` rust -{{#include ../../../../rtic/examples/destructure.rs}} +``` rust,noplayground +{{#include ../../../../../rtic/examples/destructure.rs}} ``` ``` console $ cargo run --target thumbv7m-none-eabi --example destructure ``` ``` console -{{#include ../../../../rtic/ci/expected/destructure.run}} +{{#include ../../../../../rtic/ci/expected/destructure.run}} ``` diff --git a/book/en/src/by-example/tips.md b/book/en/src/by-example/tips/index.md similarity index 100% rename from book/en/src/by-example/tips.md rename to book/en/src/by-example/tips/index.md diff --git a/book/en/src/by-example/tips_indirection.md b/book/en/src/by-example/tips/indirection.md similarity index 83% rename from book/en/src/by-example/tips_indirection.md rename to book/en/src/by-example/tips/indirection.md index 0de14a612d..aa681905d9 100644 --- a/book/en/src/by-example/tips_indirection.md +++ b/book/en/src/by-example/tips/indirection.md @@ -7,14 +7,14 @@ Indirection can minimize message passing overhead: instead of sending the buffer One can use a global memory allocator to achieve indirection (`alloc::Box`, `alloc::Rc`, etc.), which requires using the nightly channel as of Rust v1.37.0, or one can use a statically allocated memory pool like [`heapless::Pool`]. -[`heapless::Pool`]: https://docs.rs/heapless/0.5.0/heapless/pool/index.html +[`heapless::Pool`]: https://docs.rs/heapless/latest/heapless/pool/index.html As this example of approach goes completely outside of RTIC resource model with shared and local the program would rely on the correctness of the memory allocator, in this case `heapless::pool`. Here's an example where `heapless::Pool` is used to "box" buffers of 128 bytes. -``` rust -{{#include ../../../../rtic/examples/pool.rs}} +``` rust,noplayground +{{#include ../../../../../rtic/examples/pool.rs}} ``` ``` console @@ -22,5 +22,5 @@ $ cargo run --target thumbv7m-none-eabi --example pool ``` ``` console -{{#include ../../../../rtic/ci/expected/pool.run}} +{{#include ../../../../../rtic/ci/expected/pool.run}} ``` diff --git a/book/en/src/by-example/tips_static_lifetimes.md b/book/en/src/by-example/tips/static_lifetimes.md similarity index 84% rename from book/en/src/by-example/tips_static_lifetimes.md rename to book/en/src/by-example/tips/static_lifetimes.md index 0eaa59f46b..f4e4829f7e 100644 --- a/book/en/src/by-example/tips_static_lifetimes.md +++ b/book/en/src/by-example/tips/static_lifetimes.md @@ -8,8 +8,8 @@ In the following example two different tasks share a [`heapless::spsc::Queue`] f [`heapless::spsc::Queue`]: https://docs.rs/heapless/0.7.5/heapless/spsc/struct.Queue.html -``` rust -{{#include ../../../../rtic/examples/static.rs}} +``` rust,noplayground +{{#include ../../../../../rtic/examples/static.rs}} ``` Running this program produces the expected output. @@ -19,5 +19,5 @@ $ cargo run --target thumbv7m-none-eabi --example static ``` ``` console -{{#include ../../../../rtic/ci/expected/static.run}} +{{#include ../../../../../rtic/ci/expected/static.run}} ``` diff --git a/book/en/src/by-example/tips_view_code.md b/book/en/src/by-example/tips/view_code.md similarity index 98% rename from book/en/src/by-example/tips_view_code.md rename to book/en/src/by-example/tips/view_code.md index b4a9066be9..64af7adb67 100644 --- a/book/en/src/by-example/tips_view_code.md +++ b/book/en/src/by-example/tips/view_code.md @@ -16,7 +16,7 @@ $ rustfmt target/rtic-expansion.rs $ tail target/rtic-expansion.rs ``` -``` rust +``` rust,noplayground #[doc = r" Implementation details"] mod app { #[doc = r" Always include the device crate which contains the vector table"] diff --git a/book/en/src/by-example/tips_monotonic_impl.md b/book/en/src/by-example/tips_monotonic_impl.md deleted file mode 100644 index 57b0a01c8e..0000000000 --- a/book/en/src/by-example/tips_monotonic_impl.md +++ /dev/null @@ -1,29 +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`] or [`embedded_time`], 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, and for inspiration -there is a reference implementation based on the `SysTick` timer available on all ARM Cortex M MCUs. - -- [`Systick based`], runs at a fixed interrupt (tick) rate - with some overhead but simple and provides support for large time spans - -Here is a list of `Monotonic` implementations for RTIC 1.0: - -- [`STM32F411 series`], implemented for the 32-bit timers -- [`Nordic nRF52 series Timer`], implemented for the 32-bit timers -- [`Nordic nRF52 series RTC`], implemented for the RTCs -- [`DWT and Systick based`], a more efficient (tickless) implementation - requires both `SysTick` and `DWT`, supports both high resolution and large time spans - -If you know of more implementations feel free to add them to this list. - -[`rtic_time::Monotonic`]: https://docs.rs/rtic_time/ -[`fugit`]: https://docs.rs/fugit/ -[`embedded_time`]: https://docs.rs/embedded_time/ -[`STM32F411 series`]: https://github.com/kalkyl/f411-rtic/blob/a696fce7d6d19fda2356c37642c4d53547982cca/src/mono.rs -[`Nordic nRF52 series Timer`]: https://github.com/kalkyl/nrf-play/blob/47f4410d4e39374c18ff58dc17c25159085fb526/src/mono.rs -[`Nordic nRF52 series RTC`]: https://gist.github.com/korken89/fe94a475726414dd1bce031c76adc3dd -[`Systick based`]: https://github.com/rtic-monotonics -[`DWT and Systick based`]: https://github.com/rtic-rs/dwt-systick-monotonic diff --git a/book/en/src/internals/access.md b/book/en/src/internals/access.md index 3894470c09..b9cc621ae3 100644 --- a/book/en/src/internals/access.md +++ b/book/en/src/internals/access.md @@ -27,7 +27,7 @@ section on [critical sections](critical-sections.html)). The code below is an example of the kind of source level transformation that happens behind the scenes: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { static mut X: u64: 0; @@ -54,7 +54,7 @@ mod app { The framework produces codes like this: -``` rust +``` rust,noplayground fn init(c: init::Context) { // .. user code .. } diff --git a/book/en/src/internals/ceilings.md b/book/en/src/internals/ceilings.md index 07bd0adda0..325e2ad49d 100644 --- a/book/en/src/internals/ceilings.md +++ b/book/en/src/internals/ceilings.md @@ -26,7 +26,7 @@ gets a unique reference (`&mut-`) to resources. An example to illustrate the ceiling analysis: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { struct Resources { diff --git a/book/en/src/internals/critical-sections.md b/book/en/src/internals/critical-sections.md index a064ad09a8..cd66c2b3d6 100644 --- a/book/en/src/internals/critical-sections.md +++ b/book/en/src/internals/critical-sections.md @@ -30,7 +30,7 @@ task we give it a *resource proxy*, whereas we give a unique reference The example below shows the different types handed out to each task: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mut app { struct Resources { @@ -62,7 +62,7 @@ mut app { Now let's see how these types are created by the framework. -``` rust +``` rust,noplayground fn foo(c: foo::Context) { // .. user code .. } @@ -149,7 +149,7 @@ The semantics of the `BASEPRI` register are as follows: Thus the dynamic priority at any point in time can be computed as -``` rust +``` rust,noplayground dynamic_priority = max(hw2logical(BASEPRI), hw2logical(static_priority)) ``` @@ -160,7 +160,7 @@ In this particular example we could implement the critical section as follows: > **NOTE:** this is a simplified implementation -``` rust +``` rust,noplayground impl rtic::Mutex for resources::x { type T = u64; @@ -194,7 +194,7 @@ calls to it. This is required for memory safety, as nested calls would produce multiple unique references (`&mut-`) to `x` breaking Rust aliasing rules. See below: -``` rust +``` rust,noplayground #[interrupt(binds = UART0, priority = 1, resources = [x])] fn foo(c: foo::Context) { // resource proxy @@ -223,7 +223,7 @@ provides extra information to the compiler. Consider this program: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { struct Resources { @@ -282,7 +282,7 @@ mod app { The code generated by the framework looks like this: -``` rust +``` rust,noplayground // omitted: user code pub mod resources { @@ -374,7 +374,7 @@ mod app { At the end the compiler will optimize the function `foo` into something like this: -``` rust +``` rust,noplayground fn foo(c: foo::Context) { // NOTE: BASEPRI contains the value `0` (its reset value) at this point @@ -428,7 +428,7 @@ should not result in an observable change of BASEPRI. This invariant needs to be preserved to avoid raising the dynamic priority of a handler through preemption. This is best observed in the following example: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { struct Resources { @@ -490,7 +490,7 @@ mod app { IMPORTANT: let's say we *forget* to roll back `BASEPRI` in `UART1` -- this would be a bug in the RTIC code generator. -``` rust +``` rust,noplayground // code generated by RTIC mod app { diff --git a/book/en/src/internals/interrupt-configuration.md b/book/en/src/internals/interrupt-configuration.md index 7aec9c9f4d..531c2bb59c 100644 --- a/book/en/src/internals/interrupt-configuration.md +++ b/book/en/src/internals/interrupt-configuration.md @@ -11,7 +11,7 @@ configuration is done before the `init` function runs. This example gives you an idea of the code that the RTIC framework runs: -``` rust +``` rust,noplayground #[rtic::app(device = lm3s6965)] mod app { #[init] @@ -33,7 +33,7 @@ mod app { The framework generates an entry point that looks like this: -``` rust +``` rust,noplayground // the real entry point of the program #[no_mangle] unsafe fn main() -> ! { diff --git a/book/en/src/internals/late-resources.md b/book/en/src/internals/late-resources.md index f3a0b0ae2a..ce36756488 100644 --- a/book/en/src/internals/late-resources.md +++ b/book/en/src/internals/late-resources.md @@ -8,7 +8,7 @@ interrupts are disabled. The example below shows the kind of code that the framework generates to initialize late resources. -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { struct Resources { @@ -39,7 +39,7 @@ mod app { The code generated by the framework looks like this: -``` rust +``` rust,noplayground fn init(c: init::Context) -> init::LateResources { // .. user code .. } diff --git a/book/en/src/internals/non-reentrancy.md b/book/en/src/internals/non-reentrancy.md index 17b34d0ca9..04785c362a 100644 --- a/book/en/src/internals/non-reentrancy.md +++ b/book/en/src/internals/non-reentrancy.md @@ -10,7 +10,7 @@ To reenter a task handler in software its underlying interrupt handler must be invoked using FFI (see example below). FFI requires `unsafe` code so end users are discouraged from directly invoking an interrupt handler. -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { #[init] @@ -48,7 +48,7 @@ call from user code. The above example expands into: -``` rust +``` rust,noplayground fn foo(c: foo::Context) { // .. user code .. } diff --git a/book/en/src/internals/targets.md b/book/en/src/internals/targets.md index 3562eefd22..67c6a59c64 100644 --- a/book/en/src/internals/targets.md +++ b/book/en/src/internals/targets.md @@ -29,7 +29,7 @@ Table 1 below shows a list of Cortex-m processors and which type of critical sec ## Priority Ceiling -This is covered by the [Resources][resources] page of this book. +This is covered by the [Resources](../by-example/resources.html) page of this book. ## Source Masking diff --git a/book/en/src/internals/tasks.md b/book/en/src/internals/tasks.md index db7afad525..a58db8f320 100644 --- a/book/en/src/internals/tasks.md +++ b/book/en/src/internals/tasks.md @@ -26,7 +26,7 @@ is treated as a resource contended by the tasks that can `spawn` other tasks. Let's first take a look the code generated by the framework to dispatch tasks. Consider this example: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { // .. @@ -57,7 +57,7 @@ mod app { The framework produces the following task dispatcher which consists of an interrupt handler and a ready queue: -``` rust +``` rust,noplayground fn bar(c: bar::Context) { // .. user code .. } @@ -121,7 +121,7 @@ There's one `Spawn` struct per task. The `Spawn` code generated by the framework for the previous example looks like this: -``` rust +``` rust,noplayground mod foo { // .. @@ -206,7 +206,7 @@ task capacities. We have omitted how message passing actually works so let's revisit the `spawn` implementation but this time for task `baz` which receives a `u64` message. -``` rust +``` rust,noplayground fn baz(c: baz::Context, input: u64) { // .. user code .. } @@ -268,7 +268,7 @@ mod app { And now let's look at the real implementation of the task dispatcher: -``` rust +``` rust,noplayground mod app { // .. @@ -355,7 +355,7 @@ endpoint is owned by a task dispatcher. Consider the following example: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { #[idle(spawn = [foo, bar])] diff --git a/book/en/src/internals/timer-queue.md b/book/en/src/internals/timer-queue.md index fcd345c51a..06056e2729 100644 --- a/book/en/src/internals/timer-queue.md +++ b/book/en/src/internals/timer-queue.md @@ -10,7 +10,7 @@ appropriate ready queue. Let's see how this in implemented in code. Consider the following program: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { // .. @@ -31,7 +31,7 @@ mod app { Let's first look at the `schedule` API. -``` rust +``` rust,noplayground mod foo { pub struct Schedule<'a> { priority: &'a Cell, @@ -122,7 +122,7 @@ is up. Let's see the associated code. -``` rust +``` rust,noplayground mod app { #[no_mangle] fn SysTick() { @@ -220,7 +220,7 @@ analysis. To illustrate, consider the following example: -``` rust +``` rust,noplayground #[rtic::app(device = ..)] mod app { #[task(priority = 3, spawn = [baz])] @@ -269,7 +269,7 @@ an `INSTANTS` buffers used to store the time at which a task was scheduled to run; this `Instant` is read in the task dispatcher and passed to the user code as part of the task context. -``` rust +``` rust,noplayground mod app { // .. @@ -311,7 +311,7 @@ buffer. The value to be written is stored in the `Spawn` struct and its either the `start` time of the hardware task or the `scheduled` time of the software task. -``` rust +``` rust,noplayground mod foo { // .. diff --git a/book/en/src/migration_v1_v2.md b/book/en/src/migration_v1_v2.md new file mode 100644 index 0000000000..173b9646bb --- /dev/null +++ b/book/en/src/migration_v1_v2.md @@ -0,0 +1,18 @@ +# Migrating from v1.0.x to v2.0.0 + +Migrating a project from RTIC `v1.0.x` to `v2.0.0` involves the following steps: + +1. `v2.0.0` requires [`#![type_alias_impl_trait]`](https://github.com/rust-lang/rust/issues/63063) and Rust Nightly. +2. Migrating from the monotonics included in `v1.0.x` to `rtic-time` and `rtic-monotonics`, replacing `spawn_after`, `spawn_at`. +3. Software tasks are now required to be `async`, and using them correctly. +4. Understanding and using data types provided by `rtic-sync`. + +For a detailed description of the changes, refer to the subchapters. + +If you wish to see a code example of changes required, you can check out [the full example migration page](./migration_v1_v2/complete_example.md). + +#### TL;DR (Too Long; Didn't Read) +1. Add `#![type_alias_impl_trait]` to your crate, and use `cargo +nightly`. +2. Instead of `spawn_after` and `spawn_at`, you now use the `async` functions `delay`, `delay_until` (and related) with impls provided by `rtic-monotonics`. +3. Software tasks _must_ be `async fn`s now. Not returning from a task is allowed so long as there is an `await` in the task. You can still `lock` shared resources. +4. Use `rtic_sync::Arbiter` to `await` access to a shared resource, and `rtic-channel` to communicate between tasks instead of `spawn`-ing new ones. \ No newline at end of file diff --git a/book/en/src/migration_v1_v2/async_tasks.md b/book/en/src/migration_v1_v2/async_tasks.md new file mode 100644 index 0000000000..60f70338dc --- /dev/null +++ b/book/en/src/migration_v1_v2/async_tasks.md @@ -0,0 +1,55 @@ +# Using `async` softare tasks. + +There have been a few changes to software tasks. They are outlined below. + +### Software tasks must now be `async`. + +All software tasks are now required to be `async`. + +#### Required changes. + +All of the tasks in your project that do not bind to an interrupt must now be an `async fn`. For example: + +``` rust,noplayground +#[task( + local = [ some_resource ], + shared = [ my_shared_resource ], + priority = 2 +)] +fn my_task(cx: my_task::Context) { + cx.local.some_resource.do_trick(); + cx.shared.my_shared_resource.lock(|s| s.do_shared_thing()); +} +``` + +becomes + +``` rust,noplayground +#[task( + local = [ some_resource ], + shared = [ my_shared_resource ], + priority = 2 +)] +async fn my_task(cx: my_task::Context) { + cx.local.some_resource.do_trick(); + cx.shared.my_shared_resource.lock(|s| s.do_shared_thing()); +} +``` + +## Software tasks may now run forever + +The new `async` software tasks are allowed to run forever, on one precondition: **there must be an `await` within the infinite loop of the task**. An example of such a task: + +``` rust,noplayground +#[task(local = [ my_channel ] )] +async fn my_task_that_runs_forever(cx: my_task_that_runs_forever::Context) { + loop { + let value = cx.local.my_channel.recv().await; + do_something_with_value(value); + } +} +``` + +## `spawn_after` and `spawn_at` have been removed. + +As discussed in the [Migrating to `rtic-monotonics`](./monotonics.md) chapter, `spawn_after` and `spawn_at` are no longer available. \ No newline at end of file diff --git a/book/en/src/migration_v1_v2/complete_example.md b/book/en/src/migration_v1_v2/complete_example.md new file mode 100644 index 0000000000..19a746a78d --- /dev/null +++ b/book/en/src/migration_v1_v2/complete_example.md @@ -0,0 +1,169 @@ +# A complete example of migration + +Below you can find the code for the implementation of the `stm32f3_blinky` example for v1.0.x and for v2.0.0. Further down, a diff is displayed. + +# v1.0.X + +```rust +#![deny(unsafe_code)] +#![deny(warnings)] +#![no_main] +#![no_std] + +use panic_rtt_target as _; +use rtic::app; +use rtt_target::{rprintln, rtt_init_print}; +use stm32f3xx_hal::gpio::{Output, PushPull, PA5}; +use stm32f3xx_hal::prelude::*; +use systick_monotonic::{fugit::Duration, Systick}; + +#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])] +mod app { + use super::*; + + #[shared] + struct Shared {} + + #[local] + struct Local { + led: PA5>, + state: bool, + } + + #[monotonic(binds = SysTick, default = true)] + type MonoTimer = Systick<1000>; + + #[init] + fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { + // Setup clocks + let mut flash = cx.device.FLASH.constrain(); + let mut rcc = cx.device.RCC.constrain(); + + let mono = Systick::new(cx.core.SYST, 36_000_000); + + rtt_init_print!(); + rprintln!("init"); + + let _clocks = rcc + .cfgr + .use_hse(8.MHz()) + .sysclk(36.MHz()) + .pclk1(36.MHz()) + .freeze(&mut flash.acr); + + // Setup LED + let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb); + let mut led = gpioa + .pa5 + .into_push_pull_output(&mut gpioa.moder, &mut gpioa.otyper); + led.set_high().unwrap(); + + // Schedule the blinking task + blink::spawn_after(Duration::::from_ticks(1000)).unwrap(); + + ( + Shared {}, + Local { led, state: false }, + init::Monotonics(mono), + ) + } + + #[task(local = [led, state])] + fn blink(cx: blink::Context) { + rprintln!("blink"); + if *cx.local.state { + cx.local.led.set_high().unwrap(); + *cx.local.state = false; + } else { + cx.local.led.set_low().unwrap(); + *cx.local.state = true; + } + blink::spawn_after(Duration::::from_ticks(1000)).unwrap(); + } +} + +``` + +# V2.0.0 + +``` rust,noplayground +{{ #include ../../../../examples/stm32f3_blinky/src/main.rs }} +``` + +## A diff between the two projects + +_Note_: This diff may not be 100% accurate, but it displays the important changes. + +``` diff +#![no_main] + #![no_std] ++#![feature(type_alias_impl_trait)] + + use panic_rtt_target as _; + use rtic::app; + use stm32f3xx_hal::gpio::{Output, PushPull, PA5}; + use stm32f3xx_hal::prelude::*; +-use systick_monotonic::{fugit::Duration, Systick}; ++use rtic_monotonics::Systick; + + #[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])] + mod app { +@@ -20,16 +21,14 @@ mod app { + state: bool, + } + +- #[monotonic(binds = SysTick, default = true)] +- type MonoTimer = Systick<1000>; +- + #[init] + fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { + // Setup clocks + let mut flash = cx.device.FLASH.constrain(); + let mut rcc = cx.device.RCC.constrain(); + +- let mono = Systick::new(cx.core.SYST, 36_000_000); ++ let mono_token = rtic_monotonics::create_systick_token!(); ++ let mono = Systick::new(cx.core.SYST, 36_000_000, mono_token); + + let _clocks = rcc + .cfgr +@@ -46,7 +45,7 @@ mod app { + led.set_high().unwrap(); + + // Schedule the blinking task +- blink::spawn_after(Duration::::from_ticks(1000)).unwrap(); ++ blink::spawn().unwrap(); + + ( + Shared {}, +@@ -56,14 +55,18 @@ mod app { + } + + #[task(local = [led, state])] +- fn blink(cx: blink::Context) { +- rprintln!("blink"); +- if *cx.local.state { +- cx.local.led.set_high().unwrap(); +- *cx.local.state = false; +- } else { +- cx.local.led.set_low().unwrap(); +- *cx.local.state = true; +- blink::spawn_after(Duration::::from_ticks(1000)).unwrap(); +- } ++ async fn blink(cx: blink::Context) { ++ loop { ++ // A task is now allowed to run forever, provided that ++ // there is an `await` somewhere in the loop. ++ SysTick::delay(1000.millis()).await; ++ rprintln!("blink"); ++ if *cx.local.state { ++ cx.local.led.set_high().unwrap(); ++ *cx.local.state = false; ++ } else { ++ cx.local.led.set_low().unwrap(); ++ *cx.local.state = true; ++ } ++ } ++ } + } +``` \ No newline at end of file diff --git a/book/en/src/migration_v1_v2/monotonics.md b/book/en/src/migration_v1_v2/monotonics.md new file mode 100644 index 0000000000..a8b0dba4fd --- /dev/null +++ b/book/en/src/migration_v1_v2/monotonics.md @@ -0,0 +1,13 @@ +# Migrating to `rtic-monotonics` + +In previous versions of `rtic`, monotonics were an integral, tightly coupled part of the `#[rtic::app]`. In this new version, [`rtic-monotonics`] provides them in a more decoupled way. + +The `#[monotonic]` attribute is no longer used. Instead, you use a `create_X_token` from [`rtic-monotonics`]. An invocation of this macro returns an interrupt registration token, which can be used to construct an instance of your desired monotonic. + +`spawn_after` and `spawn_at` are no longer available. Instead, you use the async functions `delay` and `delay_until` provided by ipmlementations of the `rtic_time::Monotonic` trait, available through [`rtic-monotonics`]. + +Check out the [code example](./complete_example.md) for an overview of the required changes. + +For more information on current monotonic implementations, see [the `rtic-monotonics` documentation](https://docs.rs/rtic-monotonics), and [the examples](https://github.com/rtic-rs/rtic/tree/master/examples). + +[`rtic-monotonics`]: ghttps://github.com/rtic/rtic-monotonics \ No newline at end of file diff --git a/book/en/src/migration_v1_v2/nightly.md b/book/en/src/migration_v1_v2/nightly.md new file mode 100644 index 0000000000..09f6e33bda --- /dev/null +++ b/book/en/src/migration_v1_v2/nightly.md @@ -0,0 +1,5 @@ +# RTIC now requires Rust Nightly + +The new `async` features require that you use a nightly compiler, and that the feature `type_alias_impl_trait` is enabled for your applications. + +To enable this feature, you must add the line `#![type_alias_impl_trait]` to the root file of your project, on the lines below or above where `#![no_std]` and `#![no_main]` are defined. \ No newline at end of file diff --git a/book/en/src/migration_v1_v2/rtic-sync.md b/book/en/src/migration_v1_v2/rtic-sync.md new file mode 100644 index 0000000000..fefde0326b --- /dev/null +++ b/book/en/src/migration_v1_v2/rtic-sync.md @@ -0,0 +1,9 @@ +# Using `rtic-sync` + +`rtic-sync` provides primitives that can be used for message passing and resource sharing in async context. + +The important structs are: +* The `Arbiter`, which allows you to await access to a shared resource in async contexts without using `lock`. +* `Channel`, which allows you to communicate between tasks (both `async` and non-`async`). + +For more information on these structs, see the [`rtic-sync` docs](https://docs.rs/rtic-sync) \ No newline at end of file diff --git a/book/en/src/monotonic_impl.md b/book/en/src/monotonic_impl.md new file mode 100644 index 0000000000..97c0da89c0 --- /dev/null +++ b/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. \ No newline at end of file diff --git a/book/en/src/rtic_and_embassy.md b/book/en/src/rtic_and_embassy.md new file mode 100644 index 0000000000..c1347aa2c7 --- /dev/null +++ b/book/en/src/rtic_and_embassy.md @@ -0,0 +1,17 @@ +# RTIC vs. Embassy + +## Differences + +Embassy provides both Hardware Abstraction Layers, and an executor/runtime, while RTIC aims to only provide an execution framework. For example, embassy provides `embassy-stm32` (a HAL), and `embassy-executor` (an executor). On the other hand, RTIC provides the framework in the form of [`rtic`], and the user is responsible for providing a PAC and HAL implementation (generally from the [`stm32-rs`] project). + +Additionally, RTIC aims to provide exclusive access to resources on as low a level of possible, ideally guarded by some form of hardware protection. This allows for access to hardware while not necessarily requiring locking mechanisms on the software level. + +## Mixing use of Embassy and RTIC + +Since most Embassy and RTIC libraries are runtime agnostic, many details from one project can be used in the other. For example, using [`rtic-monotonics`] in an `embassy-executor` powered project works, and using [`embassy-sync`] (though [`rtic-sync`] is recommended) in an RTIC project works. + +[`stm32-rs`]: https://github.com/stm32-rs +[`rtic`]: https://docs.rs/rtic/latest/rtic/ +[`rtic-monotonics`]: https://docs.rs/rtic-monotonics/latest/rtic_monotonics/ +[`embassy-sync`]: https://docs.rs/embassy-sync/latest/embassy_sync/ +[`rtic-sync`]: https://docs.rs/rtic-sync/latest/rtic_sync/ \ No newline at end of file diff --git a/book/en/src/rtic_vs.md b/book/en/src/rtic_vs.md index 454b2391ea..9d6f4f2066 100644 --- a/book/en/src/rtic_vs.md +++ b/book/en/src/rtic_vs.md @@ -4,8 +4,6 @@ RTIC aims to provide the lowest level of abstraction needed for developing robus It provides a minimal set of required mechanisms for safe sharing of mutable resources among interrupts and asynchronously executing tasks. The scheduling primitives leverages on the underlying hardware for unparalleled performance and predictability, in effect RTIC provides in Rust terms a zero-cost abstraction to concurrent real-time programming. - - ## Comparison regarding safety and security Comparing RTIC to traditional a Real-Time Operating System (RTOS) is hard. Firstly, a traditional RTOS typically comes with no guarantees regarding system safety, even the most hardened kernels like the formally verified [seL4] kernel. Their claims to integrity, confidentiality, and availability regards only the kernel itself (under additional assumptions its configuration and environment). They even state: @@ -16,7 +14,7 @@ Comparing RTIC to traditional a Real-Time Operating System (RTOS) is hard. First [seL4]: https://sel4.systems/ -### Security by design +## Security by design In the world of information security we commonly find: @@ -30,4 +28,4 @@ Thus their claim is correct, security is completely out of hands for the OS, the RTIC on the other hand holds your back. The declarative system wide model gives you a static set of tasks and resources, with precise control over what data is shared and between which parties. Moreover, Rust as a programming language comes with strong properties regarding integrity (compile time aliasing, mutability and lifetime guarantees, together with ensured data validity). -Using RTIC these properties propagate to the system wide model, without interference of other applications running. The RTIC kernel is internally infallible without any need of dynamically allocated data. \ No newline at end of file +Using RTIC these properties propagate to the system wide model, without interference of other applications running. The RTIC kernel is internally infallible without any need of dynamically allocated data. diff --git a/book/en/src/by-example/starting_a_project.md b/book/en/src/starting_a_project.md similarity index 55% rename from book/en/src/by-example/starting_a_project.md rename to book/en/src/starting_a_project.md index 86d7e71d60..437248f21b 100644 --- a/book/en/src/by-example/starting_a_project.md +++ b/book/en/src/starting_a_project.md @@ -3,19 +3,15 @@ A recommendation when starting a RTIC project from scratch is to follow RTIC's [`defmt-app-template`]. -If you are targeting ARMv6-M or ARMv8-M-base architecture, check out the section [Target Architecture](../internals/targets.md) for more information on hardware limitations to be aware of. +If you are targeting ARMv6-M or ARMv8-M-base architecture, check out the section [Target Architecture](./internals/targets.md) for more information on hardware limitations to be aware of. [`defmt-app-template`]: https://github.com/rtic-rs/defmt-app-template This will give you an RTIC application with support for RTT logging with [`defmt`] and stack overflow protection using [`flip-link`]. There is also a multitude of examples provided by the community: -For inspiration, you may look at the below resources. For now, they cover RTIC v1.x, but will be updated with RTIC v2.x examples over time. - -- [`rtic-examples`] - Multiple projects -- [https://github.com/kalkyl/f411-rtic](https://github.com/kalkyl/f411-rtic) -- ... More to come +For inspiration, you may look at the [rtic examples]. [`defmt`]: https://github.com/knurling-rs/defmt/ [`flip-link`]: https://github.com/knurling-rs/flip-link/ -[`rtic-examples`]: https://github.com/rtic-rs/rtic-examples +[rtic examples]: https://github.com/rtic-rs/rtic/tree/master/examples diff --git a/check-book.sh b/check-book.sh new file mode 100755 index 0000000000..22289fef1e --- /dev/null +++ b/check-book.sh @@ -0,0 +1,18 @@ +#!/bin/sh + +set -e + +cd book/en/ +mdbook build +cd ../../ + +cargo doc --features thumbv7-backend + +mkdir -p book-target/book/ +cp -r book/en/book/ book-target/book/en/ +cp LICENSE-* book-target/book/en +cp -r target/doc/ book-target/api/ + +lychee --offline --format detailed book-target/book/en/ + +rm -rf book-target/ \ No newline at end of file diff --git a/examples/rp2040_local_i2c_init/.cargo/config.toml b/examples/rp2040_local_i2c_init/.cargo/config.toml index c6e086aa50..5dd2d735d5 100644 --- a/examples/rp2040_local_i2c_init/.cargo/config.toml +++ b/examples/rp2040_local_i2c_init/.cargo/config.toml @@ -38,8 +38,3 @@ target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+ # target = "thumbv8m.base-none-eabi" # Cortex-M23 # target = "thumbv8m.main-none-eabi" # Cortex-M33 (no FPU) # target = "thumbv8m.main-none-eabihf" # Cortex-M33 (with FPU) - -# thumbv7m-none-eabi is not coming with core and alloc, compile myself -[unstable] -mtime-on-use = true -build-std = ["core", "alloc"] diff --git a/examples/rp2040_local_i2c_init/Cargo.lock b/examples/rp2040_local_i2c_init/Cargo.lock index db8191608a..c2962d402c 100644 --- a/examples/rp2040_local_i2c_init/Cargo.lock +++ b/examples/rp2040_local_i2c_init/Cargo.lock @@ -433,7 +433,7 @@ dependencies = [ [[package]] name = "rtic-monotonics" -version = "1.0.0-alpha.1" +version = "1.0.0-alpha.2" dependencies = [ "atomic-polyfill", "cfg-if", diff --git a/examples/stm32f3_blinky/.cargo/config.toml b/examples/stm32f3_blinky/.cargo/config.toml index 05a5069a70..bca7d2ddf3 100644 --- a/examples/stm32f3_blinky/.cargo/config.toml +++ b/examples/stm32f3_blinky/.cargo/config.toml @@ -38,8 +38,3 @@ target = "thumbv7m-none-eabi" # Cortex-M3 # target = "thumbv8m.base-none-eabi" # Cortex-M23 # target = "thumbv8m.main-none-eabi" # Cortex-M33 (no FPU) # target = "thumbv8m.main-none-eabihf" # Cortex-M33 (with FPU) - -# thumbv7m-none-eabi is not coming with core and alloc, compile myself -[unstable] -mtime-on-use = true -build-std = ["core", "alloc"] diff --git a/examples/stm32f3_blinky/Cargo.lock b/examples/stm32f3_blinky/Cargo.lock index 48b520be0b..6f97becc21 100644 --- a/examples/stm32f3_blinky/Cargo.lock +++ b/examples/stm32f3_blinky/Cargo.lock @@ -455,7 +455,7 @@ dependencies = [ [[package]] name = "rtic-monotonics" -version = "1.0.0-alpha.1" +version = "1.0.0-alpha.2" dependencies = [ "atomic-polyfill", "cfg-if", diff --git a/rtic/examples/async-channel-try.rs b/rtic/examples/async-channel-try.rs index 54a51d9e84..2e2af52e5d 100644 --- a/rtic/examples/async-channel-try.rs +++ b/rtic/examples/async-channel-try.rs @@ -18,7 +18,9 @@ mod app { struct Shared {} #[local] - struct Local {} + struct Local { + sender: Sender<'static, u32, CAPACITY>, + } const CAPACITY: usize = 1; #[init] @@ -28,7 +30,7 @@ mod app { receiver::spawn(r).unwrap(); sender1::spawn(s.clone()).unwrap(); - (Shared {}, Local {}) + (Shared {}, Local { sender: s.clone() }) } #[task] @@ -45,4 +47,11 @@ mod app { hprintln!("Sender 1 try sending: 2 {:?}", sender.try_send(2)); debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator } + + // This interrupt is never triggered, but is used to demonstrate that + // one can (try to) send data into a channel from a hardware task. + #[task(binds = GPIOA, local = [sender])] + fn hw_task(cx: hw_task::Context) { + cx.local.sender.try_send(3).ok(); + } } diff --git a/rtic/examples/async-timeout.rs b/rtic/examples/async-timeout.rs index 7690408e1e..2352cae5a6 100644 --- a/rtic/examples/async-timeout.rs +++ b/rtic/examples/async-timeout.rs @@ -23,12 +23,14 @@ mod app { #[local] struct Local {} + // ANCHOR: init #[init] fn init(cx: init::Context) -> (Shared, Local) { hprintln!("init"); let systick_token = rtic_monotonics::create_systick_token!(); Systick::start(cx.core.SYST, 12_000_000, systick_token); + // ANCHOR_END: init foo::spawn().ok(); @@ -37,6 +39,7 @@ mod app { #[task] async fn foo(_cx: foo::Context) { + // ANCHOR: select_biased // Call hal with short relative timeout using `select_biased` select_biased! { v = hal_get(1).fuse() => hprintln!("hal returned {}", v), @@ -48,13 +51,17 @@ mod app { v = hal_get(1).fuse() => hprintln!("hal returned {}", v), // hal finish first _ = Systick::delay(1000.millis()).fuse() => hprintln!("timeout", ), } + // ANCHOR_END: select_biased + // ANCHOR: timeout_after_basic // Call hal with long relative timeout using monotonic `timeout_after` match Systick::timeout_after(1000.millis(), hal_get(1)).await { Ok(v) => hprintln!("hal returned {}", v), _ => hprintln!("timeout"), } + // ANCHOR_END: timeout_after_basic + // ANCHOR: timeout_at // get the current time instance let mut instant = Systick::now(); @@ -73,6 +80,7 @@ mod app { _ => hprintln!("timeout"), } } + // ANCHOR_END: timeout_at debug::exit(debug::EXIT_SUCCESS); } diff --git a/rtic/examples/hardware.rs b/rtic/examples/hardware.rs index b4c6b6c9ca..3bd62b6c67 100644 --- a/rtic/examples/hardware.rs +++ b/rtic/examples/hardware.rs @@ -36,6 +36,8 @@ mod app { hprintln!("idle"); + // Some backends provide a manual way of pending an + // interrupt. rtic::pend(Interrupt::UART0); loop {