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Split up migration guides into its own sections

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6
book/en/src/SUMMARY.md
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@ -10,8 +10,10 @@
- [Types, Send and Sync](./by-example/types-send-sync.md) - [Types, Send and Sync](./by-example/types-send-sync.md)
- [Starting a new project](./by-example/new.md) - [Starting a new project](./by-example/new.md)
- [Tips & tricks](./by-example/tips.md) - [Tips & tricks](./by-example/tips.md)
- [Migrating from v0.4.x to v0.5.0](./migration.md) - [Migration Guides](./migration.md)
- [Migrating from RTFM to RTIC](./migration_rtic.md) - [v0.5.x to v0.6.x](./migration/migration_v5.md)
- [v0.4.x to v0.5.x](./migration/migration_v4.md)
- [RTFM to RTIC](./migration/migration_rtic.md)
- [Under the hood](./internals.md) - [Under the hood](./internals.md)
- [Interrupt configuration](./internals/interrupt-configuration.md) - [Interrupt configuration](./internals/interrupt-configuration.md)
- [Non-reentrancy](./internals/non-reentrancy.md) - [Non-reentrancy](./internals/non-reentrancy.md)

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book/en/src/migration.md
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@ -1,331 +1,4 @@
# Migration of RTIC # Migration Guides
## Migrating from v0.5.x to v0.6.0 This section describes how to migrate between different version of RTIC.
It also acts as a comparing reference between versions.
This section describes how to upgrade from v0.5.x to v0.6.0 of the RTIC framework.
### `Cargo.toml` - version bump
Change the version of `cortex-m-rtic` to `"0.6.0"`.
### Module instead of Const
With the support of attributes on modules the `const APP` workaround is not needed.
Change
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
[code here]
};
```
into
``` rust
#[rtic::app(/* .. */)]
mod app {
[code here]
}
```
Now that a regular Rust module is used it means it is possible to have custom
user code within that module.
Additionally, it means that `use`-statements for resources etc may be required.
### Init always returns late resources
In order to make the API more symmetric the #[init]-task always returns a late resource.
From this:
``` rust
#[rtic::app(device = lm3s6965)]
mod app {
#[init]
fn init(_: init::Context) {
rtic::pend(Interrupt::UART0);
}
[more code]
}
```
to this:
``` rust
#[rtic::app(device = lm3s6965)]
mod app {
#[init]
fn init(_: init::Context) -> init::LateResources {
rtic::pend(Interrupt::UART0);
init::LateResources {}
}
[more code]
}
```
### Resources struct - #[resources]
Previously the RTIC resources had to be in in a struct named exactly "Resources":
``` rust
struct Resources {
// Resources defined in here
}
```
With RTIC v0.6.0 the resources struct is annotated similarly like
`#[task]`, `#[init]`, `#[idle]`: with an attribute `#[resources]`
``` rust
#[resources]
struct Resources {
// Resources defined in here
}
```
In fact, the name of the struct is now up to the developer:
``` rust
#[resources]
struct whateveryouwant {
// Resources defined in here
}
```
would work equally well.
## Migrating from v0.4.x to v0.5.0
This section covers how to upgrade an application written against RTIC v0.4.x to
the version v0.5.0 of the framework.
### `Cargo.toml`
First, the version of the `cortex-m-rtic` dependency needs to be updated to
`"0.5.0"`. The `timer-queue` feature needs to be removed.
``` toml
[dependencies.cortex-m-rtic]
# change this
version = "0.4.3"
# into this
version = "0.5.0"
# and remove this Cargo feature
features = ["timer-queue"]
# ^^^^^^^^^^^^^
```
### `Context` argument
All functions inside the `#[rtic::app]` item need to take as first argument a
`Context` structure. This `Context` type will contain the variables that were
magically injected into the scope of the function by version v0.4.x of the
framework: `resources`, `spawn`, `schedule` -- these variables will become
fields of the `Context` structure. Each function within the `#[rtic::app]` item
gets a different `Context` type.
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// change this
#[task(resources = [x], spawn = [a], schedule = [b])]
fn foo() {
resources.x.lock(|x| /* .. */);
spawn.a(message);
schedule.b(baseline);
}
// into this
#[task(resources = [x], spawn = [a], schedule = [b])]
fn foo(mut cx: foo::Context) {
// ^^^^^^^^^^^^^^^^^^^^
cx.resources.x.lock(|x| /* .. */);
// ^^^
cx.spawn.a(message);
// ^^^
cx.schedule.b(message, baseline);
// ^^^
}
// change this
#[init]
fn init() {
// ..
}
// into this
#[init]
fn init(cx: init::Context) {
// ^^^^^^^^^^^^^^^^^
// ..
}
// ..
};
```
### Resources
The syntax used to declare resources has been changed from `static mut`
variables to a `struct Resources`.
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// change this
static mut X: u32 = 0;
static mut Y: u32 = (); // late resource
// into this
struct Resources {
#[init(0)] // <- initial value
X: u32, // NOTE: we suggest changing the naming style to `snake_case`
Y: u32, // late resource
}
// ..
};
```
### Device peripherals
If your application was accessing the device peripherals in `#[init]` through
the `device` variable then you'll need to add `peripherals = true` to the
`#[rtic::app]` attribute to continue to access the device peripherals through
the `device` field of the `init::Context` structure.
Change this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
#[init]
fn init() {
device.SOME_PERIPHERAL.write(something);
}
// ..
};
```
Into this:
``` rust
#[rtic::app(/* .. */, peripherals = true)]
// ^^^^^^^^^^^^^^^^^^
const APP: () = {
#[init]
fn init(cx: init::Context) {
// ^^^^^^^^^^^^^^^^^
cx.device.SOME_PERIPHERAL.write(something);
// ^^^
}
// ..
};
```
### `#[interrupt]` and `#[exception]`
The `#[interrupt]` and `#[exception]` attributes have been removed. To declare
hardware tasks in v0.5.x use the `#[task]` attribute with the `binds` argument.
Change this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// hardware tasks
#[exception]
fn SVCall() { /* .. */ }
#[interrupt]
fn UART0() { /* .. */ }
// software task
#[task]
fn foo() { /* .. */ }
// ..
};
```
Into this:
``` rust
#[rtic::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) { /* .. */ }
// ..
};
```
### `schedule`
The `timer-queue` feature has been removed. To use the `schedule` API one must
first define the monotonic timer the runtime will use using the `monotonic`
argument of the `#[rtic::app]` attribute. To continue using the cycle counter
(CYCCNT) as the monotonic timer, and match the behavior of version v0.4.x, add
the `monotonic = rtic::cyccnt::CYCCNT` argument to the `#[rtic::app]` attribute.
Also, the `Duration` and `Instant` types and the `U32Ext` trait have been moved
into the `rtic::cyccnt` module. This module is only available on ARMv7-M+
devices. The removal of the `timer-queue` also brings back the `DWT` peripheral
inside the core peripherals struct, this will need to be enabled by the application
inside `init`.
Change this:
``` rust
use rtic::{Duration, Instant, U32Ext};
#[rtic::app(/* .. */)]
const APP: () = {
#[task(schedule = [b])]
fn a() {
// ..
}
};
```
Into this:
``` rust
use rtic::cyccnt::{Duration, Instant, U32Ext};
// ^^^^^^^^
#[rtic::app(/* .. */, monotonic = rtic::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) {
// ..
}
};
```

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book/en/src/migration_rtic.md → book/en/src/migration/migration_rtic.md
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@ -0,0 +1,232 @@
# Migrating from v0.4.x to v0.5.0
This section covers how to upgrade an application written against RTIC v0.4.x to
the version v0.5.0 of the framework.
### `Cargo.toml`
First, the version of the `cortex-m-rtic` dependency needs to be updated to
`"0.5.0"`. The `timer-queue` feature needs to be removed.
``` toml
[dependencies.cortex-m-rtic]
# change this
version = "0.4.3"
# into this
version = "0.5.0"
# and remove this Cargo feature
features = ["timer-queue"]
# ^^^^^^^^^^^^^
```
### `Context` argument
All functions inside the `#[rtic::app]` item need to take as first argument a
`Context` structure. This `Context` type will contain the variables that were
magically injected into the scope of the function by version v0.4.x of the
framework: `resources`, `spawn`, `schedule` -- these variables will become
fields of the `Context` structure. Each function within the `#[rtic::app]` item
gets a different `Context` type.
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// change this
#[task(resources = [x], spawn = [a], schedule = [b])]
fn foo() {
resources.x.lock(|x| /* .. */);
spawn.a(message);
schedule.b(baseline);
}
// into this
#[task(resources = [x], spawn = [a], schedule = [b])]
fn foo(mut cx: foo::Context) {
// ^^^^^^^^^^^^^^^^^^^^
cx.resources.x.lock(|x| /* .. */);
// ^^^
cx.spawn.a(message);
// ^^^
cx.schedule.b(message, baseline);
// ^^^
}
// change this
#[init]
fn init() {
// ..
}
// into this
#[init]
fn init(cx: init::Context) {
// ^^^^^^^^^^^^^^^^^
// ..
}
// ..
};
```
### Resources
The syntax used to declare resources has been changed from `static mut`
variables to a `struct Resources`.
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// change this
static mut X: u32 = 0;
static mut Y: u32 = (); // late resource
// into this
struct Resources {
#[init(0)] // <- initial value
X: u32, // NOTE: we suggest changing the naming style to `snake_case`
Y: u32, // late resource
}
// ..
};
```
### Device peripherals
If your application was accessing the device peripherals in `#[init]` through
the `device` variable then you'll need to add `peripherals = true` to the
`#[rtic::app]` attribute to continue to access the device peripherals through
the `device` field of the `init::Context` structure.
Change this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
#[init]
fn init() {
device.SOME_PERIPHERAL.write(something);
}
// ..
};
```
Into this:
``` rust
#[rtic::app(/* .. */, peripherals = true)]
// ^^^^^^^^^^^^^^^^^^
const APP: () = {
#[init]
fn init(cx: init::Context) {
// ^^^^^^^^^^^^^^^^^
cx.device.SOME_PERIPHERAL.write(something);
// ^^^
}
// ..
};
```
### `#[interrupt]` and `#[exception]`
The `#[interrupt]` and `#[exception]` attributes have been removed. To declare
hardware tasks in v0.5.x use the `#[task]` attribute with the `binds` argument.
Change this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// hardware tasks
#[exception]
fn SVCall() { /* .. */ }
#[interrupt]
fn UART0() { /* .. */ }
// software task
#[task]
fn foo() { /* .. */ }
// ..
};
```
Into this:
``` rust
#[rtic::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) { /* .. */ }
// ..
};
```
### `schedule`
The `timer-queue` feature has been removed. To use the `schedule` API one must
first define the monotonic timer the runtime will use using the `monotonic`
argument of the `#[rtic::app]` attribute. To continue using the cycle counter
(CYCCNT) as the monotonic timer, and match the behavior of version v0.4.x, add
the `monotonic = rtic::cyccnt::CYCCNT` argument to the `#[rtic::app]` attribute.
Also, the `Duration` and `Instant` types and the `U32Ext` trait have been moved
into the `rtic::cyccnt` module. This module is only available on ARMv7-M+
devices. The removal of the `timer-queue` also brings back the `DWT` peripheral
inside the core peripherals struct, this will need to be enabled by the application
inside `init`.
Change this:
``` rust
use rtic::{Duration, Instant, U32Ext};
#[rtic::app(/* .. */)]
const APP: () = {
#[task(schedule = [b])]
fn a() {
// ..
}
};
```
Into this:
``` rust
use rtic::cyccnt::{Duration, Instant, U32Ext};
// ^^^^^^^^
#[rtic::app(/* .. */, monotonic = rtic::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) {
// ..
}
};
```

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# Migrating from v0.5.x to v0.6.0
This section describes how to upgrade from v0.5.x to v0.6.0 of the RTIC framework.
### `Cargo.toml` - version bump
Change the version of `cortex-m-rtic` to `"0.6.0"`.
### Module instead of Const
With the support of attributes on modules the `const APP` workaround is not needed.
Change
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
[code here]
};
```
into
``` rust
#[rtic::app(/* .. */)]
mod app {
[code here]
}
```
Now that a regular Rust module is used it means it is possible to have custom
user code within that module.
Additionally, it means that `use`-statements for resources etc may be required.
### Init always returns late resources
In order to make the API more symmetric the #[init]-task always returns a late resource.
From this:
``` rust
#[rtic::app(device = lm3s6965)]
mod app {
#[init]
fn init(_: init::Context) {
rtic::pend(Interrupt::UART0);
}
[more code]
}
```
to this:
``` rust
#[rtic::app(device = lm3s6965)]
mod app {
#[init]
fn init(_: init::Context) -> init::LateResources {
rtic::pend(Interrupt::UART0);
init::LateResources {}
}
[more code]
}
```
### Resources struct - #[resources]
Previously the RTIC resources had to be in in a struct named exactly "Resources":
``` rust
struct Resources {
// Resources defined in here
}
```
With RTIC v0.6.0 the resources struct is annotated similarly like
`#[task]`, `#[init]`, `#[idle]`: with an attribute `#[resources]`
``` rust
#[resources]
struct Resources {
// Resources defined in here
}
```
In fact, the name of the struct is now up to the developer:
``` rust
#[resources]
struct whateveryouwant {
// Resources defined in here
}
```
would work equally well.