mirror of
https://github.com/rtic-rs/rtic.git
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Add migration to 0.6 along with updated documentation
This commit is contained in:
Henrik Tjäder
parent
163edd7579
commit
9ca10b0d8c
14 changed files with 140 additions and 73 deletions
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@ -9,7 +9,7 @@ is required to follow along.
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[repository]: https://github.com/rtic-rs/cortex-m-rtic
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To run the examples on your laptop / PC you'll need the `qemu-system-arm`
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To run the examples on your computer you'll need the `qemu-system-arm`
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program. Check [the embedded Rust book] for instructions on how to set up an
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embedded development environment that includes QEMU.
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@ -4,11 +4,11 @@ The framework provides an abstraction to share data between any of the contexts
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we saw in the previous section (task handlers, `init` and `idle`): resources.
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Resources are data visible only to functions declared within the `#[app]`
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pseudo-module. The framework gives the user complete control over which context
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module. The framework gives the user complete control over which context
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can access which resource.
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All resources are declared as a single `struct` within the `#[app]`
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pseudo-module. Each field in the structure corresponds to a different resource.
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module. Each field in the structure corresponds to a different resource.
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Resources can optionally be given an initial value using the `#[init]`
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attribute. Resources that are not given an initial value are referred to as
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*late* resources and are covered in more detail in a follow-up section in this
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@ -92,7 +92,7 @@ following snippet:
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``` rust
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#[rtic::app(..)]
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const APP: () = {
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mod app {
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#[init(spawn = [foo, bar])]
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fn init(cx: init::Context) {
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cx.spawn.foo().unwrap();
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@ -113,5 +113,5 @@ const APP: () = {
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fn bar(cx: bar::Context, payload: i32) {
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// ..
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}
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};
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}
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```
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@ -139,7 +139,7 @@ $ tail target/rtic-expansion.rs
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``` rust
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#[doc = r" Implementation details"]
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const APP: () = {
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mod app {
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#[doc = r" Always include the device crate which contains the vector table"]
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use lm3s6965 as _;
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#[no_mangle]
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@ -152,7 +152,7 @@ const APP: () = {
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rtic::export::wfi()
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}
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}
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};
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}
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```
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Or, you can use the [`cargo-expand`] sub-command. This sub-command will expand
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@ -1,6 +1,6 @@
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# Types, Send and Sync
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Every function within the `APP` pseudo-module has a `Context` structure as its
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Every function within the `app` module has a `Context` structure as its
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first parameter. All the fields of these structures have predictable,
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non-anonymous types so you can write plain functions that take them as arguments.
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@ -15,7 +15,7 @@ To achieve the fine-grained access control where tasks can only access the
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static variables (resources) that they have specified in their RTIC attribute
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the RTIC framework performs a source code level transformation. This
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transformation consists of placing the resources (static variables) specified by
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the user *inside* a `const` item and the user code *outside* the `const` item.
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the user *inside* a module and the user code *outside* the module.
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This makes it impossible for the user code to refer to these static variables.
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Access to the resources is then given to each task using a `Resources` struct
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@ -29,7 +29,7 @@ happens behind the scenes:
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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static mut X: u64: 0;
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static mut Y: bool: 0;
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@ -49,7 +49,7 @@ const APP: () = {
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}
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// ..
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};
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}
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```
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The framework produces codes like this:
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@ -103,8 +103,8 @@ pub mod bar {
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}
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/// Implementation details
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const APP: () = {
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// everything inside this `const` item is hidden from user code
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mod app {
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// everything inside this module is hidden from user code
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static mut X: u64 = 0;
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static mut Y: bool = 0;
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@ -154,5 +154,5 @@ const APP: () = {
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// ..
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});
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}
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};
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}
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```
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@ -28,7 +28,7 @@ An example to illustrate the ceiling analysis:
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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struct Resources {
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// accessed by `foo` (prio = 1) and `bar` (prio = 2)
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// -> CEILING = 2
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@ -80,5 +80,5 @@ const APP: () = {
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}
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// ..
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};
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}
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```
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@ -32,7 +32,7 @@ The example below shows the different types handed out to each task:
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mut app {
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struct Resources {
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#[init(0)]
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x: u64,
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@ -57,7 +57,7 @@ const APP: () = {
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}
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// ..
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};
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}
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```
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Now let's see how these types are created by the framework.
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@ -99,7 +99,7 @@ pub mod bar {
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}
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}
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const APP: () = {
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mod app {
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static mut x: u64 = 0;
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impl rtic::Mutex for resources::x {
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@ -129,7 +129,7 @@ const APP: () = {
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// ..
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})
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}
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};
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}
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```
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## `lock`
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@ -225,7 +225,7 @@ Consider this program:
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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struct Resources {
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#[init(0)]
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x: u64,
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@ -277,7 +277,7 @@ const APP: () = {
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}
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// ..
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};
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}
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```
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The code generated by the framework looks like this:
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@ -315,7 +315,7 @@ pub mod foo {
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}
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}
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const APP: () = {
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mod app {
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use cortex_m::register::basepri;
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#[no_mangle]
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@ -368,7 +368,7 @@ const APP: () = {
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}
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// repeat for resource `y`
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};
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}
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```
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At the end the compiler will optimize the function `foo` into something like
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@ -430,7 +430,7 @@ handler through preemption. This is best observed in the following example:
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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struct Resources {
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#[init(0)]
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x: u64,
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@ -484,7 +484,7 @@ const APP: () = {
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// ..
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}
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};
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}
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```
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IMPORTANT: let's say we *forget* to roll back `BASEPRI` in `UART1` -- this would
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@ -493,7 +493,7 @@ be a bug in the RTIC code generator.
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``` rust
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// code generated by RTIC
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const APP: () = {
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mod app {
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// ..
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#[no_mangle]
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@ -513,7 +513,7 @@ const APP: () = {
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// BUG: FORGOT to roll back the BASEPRI to the snapshot value we took before
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basepri::write(initial);
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}
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};
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}
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```
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The consequence is that `idle` will run at a dynamic priority of `2` and in fact
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@ -13,7 +13,7 @@ This example gives you an idea of the code that the RTIC framework runs:
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``` rust
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#[rtic::app(device = lm3s6965)]
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const APP: () = {
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mod app {
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#[init]
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fn init(c: init::Context) {
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// .. user code ..
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@ -28,7 +28,7 @@ const APP: () = {
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fn foo(c: foo::Context) {
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// .. user code ..
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}
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};
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}
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```
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The framework generates an entry point that looks like this:
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@ -10,7 +10,7 @@ initialize late resources.
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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struct Resources {
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x: Thing,
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}
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@ -34,7 +34,7 @@ const APP: () = {
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}
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// ..
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};
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}
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```
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The code generated by the framework looks like this:
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@ -69,7 +69,7 @@ pub mod foo {
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}
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/// Implementation details
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const APP: () = {
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mod app {
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// uninitialized static
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static mut x: MaybeUninit<Thing> = MaybeUninit::uninit();
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@ -101,7 +101,7 @@ const APP: () = {
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// ..
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})
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}
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};
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}
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```
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An important detail here is that `interrupt::enable` behaves like a *compiler
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@ -12,7 +12,7 @@ are discouraged from directly invoking an interrupt handler.
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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#[init]
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fn init(c: init::Context) { .. }
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@ -39,7 +39,7 @@ const APP: () = {
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// in aliasing of the static variable `X`
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unsafe { UART0() }
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}
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};
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}
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```
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The RTIC framework must generate the interrupt handler code that calls the user
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@ -57,7 +57,7 @@ fn bar(c: bar::Context) {
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// .. user code ..
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}
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const APP: () = {
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mod app {
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// everything in this block is not visible to user code
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#[no_mangle]
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@ -69,7 +69,7 @@ const APP: () = {
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unsafe fn USART1() {
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bar(..);
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}
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};
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}
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```
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## By hardware
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@ -28,7 +28,7 @@ Consider this example:
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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// ..
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#[interrupt(binds = UART0, priority = 2, spawn = [bar, baz])]
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@ -51,7 +51,7 @@ const APP: () = {
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extern "C" {
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fn UART1();
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}
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};
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}
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```
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The framework produces the following task dispatcher which consists of an
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@ -62,7 +62,7 @@ fn bar(c: bar::Context) {
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// .. user code ..
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}
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const APP: () = {
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mod app {
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use heapless::spsc::Queue;
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use cortex_m::register::basepri;
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@ -110,7 +110,7 @@ const APP: () = {
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// BASEPRI invariant
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basepri::write(snapshot);
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}
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};
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}
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```
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## Spawning a task
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@ -144,7 +144,7 @@ mod foo {
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}
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}
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const APP: () = {
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mod app {
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// ..
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// Priority ceiling for the producer endpoint of the `RQ1`
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@ -194,7 +194,7 @@ const APP: () = {
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}
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}
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}
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};
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}
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```
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Using `bar_FQ` to limit the number of `bar` tasks that can be spawned may seem
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@ -211,7 +211,7 @@ fn baz(c: baz::Context, input: u64) {
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// .. user code ..
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}
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const APP: () = {
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mod app {
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// ..
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// Now we show the full contents of the `Ready` struct
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@ -263,13 +263,13 @@ const APP: () = {
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}
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}
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}
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};
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}
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```
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And now let's look at the real implementation of the task dispatcher:
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``` rust
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const APP: () = {
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mod app {
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// ..
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#[no_mangle]
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@ -304,7 +304,7 @@ const APP: () = {
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// BASEPRI invariant
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basepri::write(snapshot);
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}
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};
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}
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```
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`INPUTS` plus `FQ`, the free queue, is effectively a memory pool. However,
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@ -357,7 +357,7 @@ Consider the following example:
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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#[idle(spawn = [foo, bar])]
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fn idle(c: idle::Context) -> ! {
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// ..
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@ -382,7 +382,7 @@ const APP: () = {
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fn quux(c: quux::Context) {
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// ..
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}
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};
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}
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```
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This is how the ceiling analysis would go:
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|
|
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@ -12,7 +12,7 @@ Let's see how this in implemented in code. Consider the following program:
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
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mod app {
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// ..
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#[task(capacity = 2, schedule = [foo])]
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@ -24,7 +24,7 @@ const APP: () = {
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extern "C" {
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fn UART0();
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}
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};
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}
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```
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## `schedule`
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@ -46,7 +46,7 @@ mod foo {
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}
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}
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const APP: () = {
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mod app {
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type Instant = <path::to::user::monotonic::timer as rtic::Monotonic>::Instant;
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// all tasks that can be `schedule`-d
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|
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@ -100,7 +100,7 @@ const APP: () = {
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}
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}
|
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}
|
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};
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}
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```
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|
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This looks very similar to the `Spawn` implementation. In fact, the same
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@ -123,7 +123,7 @@ is up.
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Let's see the associated code.
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``` rust
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const APP: () = {
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mod app {
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#[no_mangle]
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fn SysTick() {
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const PRIORITY: u8 = 1;
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|
|
@ -146,7 +146,7 @@ const APP: () = {
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}
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}
|
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}
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};
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}
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```
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|
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This looks similar to a task dispatcher except that instead of running the
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@ -197,7 +197,7 @@ able to insert the task in the timer queue; this lets us omit runtime checks.
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## System timer priority
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The priority of the system timer can't set by the user; it is chosen by the
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The priority of the system timer can't be set by the user; it is chosen by the
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framework. To ensure that lower priority tasks don't prevent higher priority
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tasks from running we choose the priority of the system timer to be the maximum
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of all the `schedule`-able tasks.
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|
|
@ -222,7 +222,7 @@ To illustrate, consider the following example:
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|
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``` rust
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#[rtic::app(device = ..)]
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const APP: () = {
|
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mod app {
|
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#[task(priority = 3, spawn = [baz])]
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fn foo(c: foo::Context) {
|
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// ..
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|
|
@ -237,7 +237,7 @@ const APP: () = {
|
|||
fn baz(c: baz::Context) {
|
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// ..
|
||||
}
|
||||
};
|
||||
}
|
||||
```
|
||||
|
||||
The ceiling analysis would go like this:
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||||
|
|
@ -246,7 +246,7 @@ The ceiling analysis would go like this:
|
|||
`SysTick` must run at the highest priority between these two, that is `3`.
|
||||
|
||||
- `foo::Spawn` (prio = 3) and `bar::Schedule` (prio = 2) contend over the
|
||||
consumer endpoind of `baz_FQ`; this leads to a priority ceiling of `3`.
|
||||
consumer endpoint of `baz_FQ`; this leads to a priority ceiling of `3`.
|
||||
|
||||
- `bar::Schedule` (prio = 2) has exclusive access over the consumer endpoint of
|
||||
`foo_FQ`; thus the priority ceiling of `foo_FQ` is effectively `2`.
|
||||
|
|
@ -270,7 +270,7 @@ run; this `Instant` is read in the task dispatcher and passed to the user code
|
|||
as part of the task context.
|
||||
|
||||
``` rust
|
||||
const APP: () = {
|
||||
mod app {
|
||||
// ..
|
||||
|
||||
#[no_mangle]
|
||||
|
|
@ -303,7 +303,7 @@ const APP: () = {
|
|||
// BASEPRI invariant
|
||||
basepri::write(snapshot);
|
||||
}
|
||||
};
|
||||
}
|
||||
```
|
||||
|
||||
Conversely, the `spawn` implementation needs to write a value to the `INSTANTS`
|
||||
|
|
@ -333,7 +333,7 @@ mod foo {
|
|||
}
|
||||
}
|
||||
|
||||
const APP: () = {
|
||||
mod app {
|
||||
impl<'a> foo::Spawn<'a> {
|
||||
/// Spawns the `baz` task
|
||||
pub fn baz(&self, message: u64) -> Result<(), u64> {
|
||||
|
|
@ -364,5 +364,5 @@ const APP: () = {
|
|||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
```
|
||||
|
|
|
|||
|
|
@ -1,14 +1,81 @@
|
|||
# Migrating from v0.4.x to v0.5.0
|
||||
# Migration of RTIC
|
||||
|
||||
## 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]
|
||||
}
|
||||
```
|
||||
|
||||
## 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`
|
||||
### `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
|
||||
|
|
@ -22,7 +89,7 @@ features = ["timer-queue"]
|
|||
# ^^^^^^^^^^^^^
|
||||
```
|
||||
|
||||
## `Context` argument
|
||||
### `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
|
||||
|
|
@ -74,7 +141,7 @@ const APP: () = {
|
|||
};
|
||||
```
|
||||
|
||||
## Resources
|
||||
### Resources
|
||||
|
||||
The syntax used to declare resources has been changed from `static mut`
|
||||
variables to a `struct Resources`.
|
||||
|
|
@ -98,7 +165,7 @@ const APP: () = {
|
|||
};
|
||||
```
|
||||
|
||||
## Device peripherals
|
||||
### 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
|
||||
|
|
@ -136,7 +203,7 @@ const APP: () = {
|
|||
};
|
||||
```
|
||||
|
||||
## `#[interrupt]` and `#[exception]`
|
||||
### `#[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.
|
||||
|
|
@ -182,7 +249,7 @@ const APP: () = {
|
|||
};
|
||||
```
|
||||
|
||||
## `schedule`
|
||||
### `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`
|
||||
|
|
@ -194,7 +261,7 @@ 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`.
|
||||
inside `init`.
|
||||
|
||||
Change this:
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue