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https://github.com/rtic-rs/rtic.git
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Disable the playground on all of these
This commit is contained in:
parent
0807aa548c
commit
a66540efa0
30 changed files with 103 additions and 103 deletions
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@ -34,7 +34,7 @@ This activates the monotonics making it possible to use them.
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See the following example:
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See the following example:
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``` rust
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``` rust,noplayground
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{{#include ../../../../examples/schedule.rs}}
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{{#include ../../../../examples/schedule.rs}}
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```
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```
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@ -54,7 +54,7 @@ which allows canceling or rescheduling of the task scheduled to run in the futur
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If `cancel` or `reschedule_at`/`reschedule_after` returns an `Err` it means that the operation was
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If `cancel` or `reschedule_at`/`reschedule_after` returns an `Err` it means that the operation was
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too late and that the task is already sent for execution. The following example shows this in action:
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too late and that the task is already sent for execution. The following example shows this in action:
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``` rust
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``` rust,noplayground
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{{#include ../../../../examples/cancel-reschedule.rs}}
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{{#include ../../../../examples/cancel-reschedule.rs}}
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```
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```
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@ -27,7 +27,7 @@ cortex-m-rtic = "0.5.3"
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The only code change that needs to be made is that any reference to `rtfm` before now need to point
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The only code change that needs to be made is that any reference to `rtfm` before now need to point
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to `rtic` as follows:
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to `rtic` as follows:
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``` rust
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``` rust,noplayground
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//
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//
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// Change this
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// Change this
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//
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//
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@ -42,7 +42,7 @@ framework: `resources`, `spawn`, `schedule` -- these variables will become
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fields of the `Context` structure. Each function within the `#[rtfm::app]` item
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fields of the `Context` structure. Each function within the `#[rtfm::app]` item
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gets a different `Context` type.
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gets a different `Context` type.
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``` rust
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``` rust,noplayground
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#[rtfm::app(/* .. */)]
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#[rtfm::app(/* .. */)]
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const APP: () = {
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const APP: () = {
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// change this
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// change this
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@ -90,7 +90,7 @@ const APP: () = {
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The syntax used to declare resources has changed from `static mut`
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The syntax used to declare resources has changed from `static mut`
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variables to a `struct Resources`.
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variables to a `struct Resources`.
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``` rust
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``` rust,noplayground
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#[rtfm::app(/* .. */)]
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#[rtfm::app(/* .. */)]
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const APP: () = {
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const APP: () = {
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// change this
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// change this
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@ -118,7 +118,7 @@ the `device` field of the `init::Context` structure.
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Change this:
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Change this:
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``` rust
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``` rust,noplayground
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#[rtfm::app(/* .. */)]
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#[rtfm::app(/* .. */)]
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const APP: () = {
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const APP: () = {
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#[init]
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#[init]
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@ -132,7 +132,7 @@ const APP: () = {
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Into this:
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Into this:
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``` rust
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``` rust,noplayground
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#[rtfm::app(/* .. */, peripherals = true)]
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#[rtfm::app(/* .. */, peripherals = true)]
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// ^^^^^^^^^^^^^^^^^^
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// ^^^^^^^^^^^^^^^^^^
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const APP: () = {
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const APP: () = {
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@ -155,7 +155,7 @@ attribute with the `binds` argument instead.
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Change this:
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Change this:
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``` rust
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``` rust,noplayground
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#[rtfm::app(/* .. */)]
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#[rtfm::app(/* .. */)]
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const APP: () = {
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const APP: () = {
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// hardware tasks
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// hardware tasks
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@ -175,7 +175,7 @@ const APP: () = {
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Into this:
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Into this:
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``` rust
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``` rust,noplayground
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#[rtfm::app(/* .. */)]
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#[rtfm::app(/* .. */)]
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const APP: () = {
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const APP: () = {
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#[task(binds = SVCall)]
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#[task(binds = SVCall)]
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@ -212,7 +212,7 @@ ensure it is enabled by the application inside `init`.
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Change this:
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Change this:
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``` rust
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``` rust,noplayground
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use rtfm::{Duration, Instant, U32Ext};
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use rtfm::{Duration, Instant, U32Ext};
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#[rtfm::app(/* .. */)]
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#[rtfm::app(/* .. */)]
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@ -226,7 +226,7 @@ const APP: () = {
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Into this:
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Into this:
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``` rust
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``` rust,noplayground
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use rtfm::cyccnt::{Duration, Instant, U32Ext};
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use rtfm::cyccnt::{Duration, Instant, U32Ext};
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// ^^^^^^^^
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// ^^^^^^^^
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@ -12,7 +12,7 @@ With the support of attributes on modules the `const APP` workaround is not need
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Change
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Change
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``` rust
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``` rust,noplayground
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#[rtic::app(/* .. */)]
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#[rtic::app(/* .. */)]
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const APP: () = {
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const APP: () = {
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[code here]
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[code here]
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@ -21,7 +21,7 @@ const APP: () = {
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into
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into
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``` rust
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``` rust,noplayground
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#[rtic::app(/* .. */)]
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#[rtic::app(/* .. */)]
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mod app {
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mod app {
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[code here]
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[code here]
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@ -75,7 +75,7 @@ mod app {
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Change
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Change
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``` rust
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``` rust,noplayground
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#[rtic::app(/* .. */)]
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#[rtic::app(/* .. */)]
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const APP: () = {
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const APP: () = {
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[code here]
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[code here]
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@ -92,7 +92,7 @@ const APP: () = {
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into
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into
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``` rust
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``` rust,noplayground
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#[rtic::app(/* .. */, dispatchers = [SSI0, QEI0])]
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#[rtic::app(/* .. */, dispatchers = [SSI0, QEI0])]
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mod app {
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mod app {
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[code here]
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[code here]
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@ -106,7 +106,7 @@ This works also for ram functions, see examples/ramfunc.rs
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Previously the RTIC resources had to be in in a struct named exactly "Resources":
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Previously the RTIC resources had to be in in a struct named exactly "Resources":
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``` rust
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``` rust,noplayground
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struct Resources {
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struct Resources {
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// Resources defined in here
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// Resources defined in here
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}
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}
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@ -115,7 +115,7 @@ struct Resources {
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With RTIC v1.0.0 the resources structs are annotated similarly like
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With RTIC v1.0.0 the resources structs are annotated similarly like
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`#[task]`, `#[init]`, `#[idle]`: with the attributes `#[shared]` and `#[local]`
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`#[task]`, `#[init]`, `#[idle]`: with the attributes `#[shared]` and `#[local]`
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``` rust
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``` rust,noplayground
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#[shared]
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#[shared]
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struct MySharedResources {
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struct MySharedResources {
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// Resources shared between tasks are defined here
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// Resources shared between tasks are defined here
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@ -136,7 +136,7 @@ In v1.0.0 resources are split between `shared` resources and `local` resources.
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In v0.5.x:
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In v0.5.x:
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``` rust
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``` rust,noplayground
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struct Resources {
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struct Resources {
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local_to_b: i64,
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local_to_b: i64,
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shared_by_a_and_b: i64,
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shared_by_a_and_b: i64,
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@ -151,7 +151,7 @@ fn b(_: b::Context) {}
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In v1.0.0:
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In v1.0.0:
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``` rust
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``` rust,noplayground
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#[shared]
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#[shared]
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struct Shared {
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struct Shared {
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shared_by_a_and_b: i64,
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shared_by_a_and_b: i64,
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@ -176,7 +176,7 @@ to be used for all `shared` resource access.
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In old code one could do the following as the high priority
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In old code one could do the following as the high priority
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task has exclusive access to the resource:
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task has exclusive access to the resource:
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``` rust
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``` rust,noplayground
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#[task(priority = 2, resources = [r])]
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#[task(priority = 2, resources = [r])]
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fn foo(cx: foo::Context) {
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fn foo(cx: foo::Context) {
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cx.resources.r = /* ... */;
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cx.resources.r = /* ... */;
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@ -190,7 +190,7 @@ fn bar(cx: bar::Context) {
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And with symmetric locks one needs to use locks in both tasks:
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And with symmetric locks one needs to use locks in both tasks:
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``` rust
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``` rust,noplayground
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#[task(priority = 2, shared = [r])]
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#[task(priority = 2, shared = [r])]
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fn foo(cx: foo::Context) {
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fn foo(cx: foo::Context) {
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cx.shared.r.lock(|r| r = /* ... */);
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cx.shared.r.lock(|r| r = /* ... */);
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@ -211,7 +211,7 @@ This is still possible in 1.0: the `#[shared]` resource must be annotated with t
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v0.5 code:
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v0.5 code:
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``` rust
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``` rust,noplayground
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struct Resources {
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struct Resources {
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counter: u64,
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counter: u64,
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}
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}
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@ -229,7 +229,7 @@ fn b(cx: b::Context) {
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v1.0 code:
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v1.0 code:
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``` rust
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``` rust,noplayground
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#[shared]
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#[shared]
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struct Shared {
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struct Shared {
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#[lock_free]
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#[lock_free]
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@ -254,7 +254,7 @@ Instead of that syntax, use the `local` argument in `#[init]`.
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v0.5.x code:
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v0.5.x code:
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``` rust
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``` rust,noplayground
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#[init]
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#[init]
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fn init(_: init::Context) {
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fn init(_: init::Context) {
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static mut BUFFER: [u8; 1024] = [0; 1024];
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static mut BUFFER: [u8; 1024] = [0; 1024];
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@ -264,7 +264,7 @@ fn init(_: init::Context) {
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v1.0.0 code:
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v1.0.0 code:
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``` rust
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``` rust,noplayground
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#[init(local = [
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#[init(local = [
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buffer: [u8; 1024] = [0; 1024]
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buffer: [u8; 1024] = [0; 1024]
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// type ^^^^^^^^^^^^ ^^^^^^^^^ initial value
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// type ^^^^^^^^^^^^ ^^^^^^^^^ initial value
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@ -282,7 +282,7 @@ In order to make the API more symmetric the #[init]-task always returns a late r
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From this:
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From this:
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``` rust
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``` rust,noplayground
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#[rtic::app(device = lm3s6965)]
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#[rtic::app(device = lm3s6965)]
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const APP: () = {
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const APP: () = {
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#[init]
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#[init]
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@ -296,7 +296,7 @@ const APP: () = {
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to this:
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to this:
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``` rust
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``` rust,noplayground
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#[rtic::app(device = lm3s6965)]
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#[rtic::app(device = lm3s6965)]
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mod app {
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mod app {
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#[shared]
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#[shared]
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@ -321,7 +321,7 @@ mod app {
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With the new spawn/spawn_after/spawn_at interface,
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With the new spawn/spawn_after/spawn_at interface,
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old code requiring the context `cx` for spawning such as:
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old code requiring the context `cx` for spawning such as:
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``` rust
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``` rust,noplayground
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#[task(spawn = [bar])]
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#[task(spawn = [bar])]
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fn foo(cx: foo::Context) {
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fn foo(cx: foo::Context) {
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cx.spawn.bar().unwrap();
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cx.spawn.bar().unwrap();
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@ -335,7 +335,7 @@ fn bar(cx: bar::Context) {
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Will now be written as:
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Will now be written as:
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``` rust
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``` rust,noplayground
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#[task]
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#[task]
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fn foo(_c: foo::Context) {
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fn foo(_c: foo::Context) {
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bar::spawn().unwrap();
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bar::spawn().unwrap();
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@ -27,6 +27,6 @@ Overall, the generated code infers no additional overhead in comparison to a han
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To give a flavour of RTIC, the following example contains commonly used features.
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To give a flavour of RTIC, the following example contains commonly used features.
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In the following sections we will go through each feature in detail.
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In the following sections we will go through each feature in detail.
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``` rust
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``` rust,noplayground
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{{#include ../../../../rtic/examples/common.rs}}
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{{#include ../../../../rtic/examples/common.rs}}
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```
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```
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@ -11,7 +11,7 @@ Like in `init`, locally declared resources will have `'static` lifetimes that ar
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The example below shows that `idle` runs after `init`.
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The example below shows that `idle` runs after `init`.
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``` rust
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``` rust,noplayground
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{{#include ../../../../rtic/examples/idle.rs}}
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{{#include ../../../../rtic/examples/idle.rs}}
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```
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```
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@ -38,7 +38,7 @@ The following example shows how to enable sleep by setting the
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[WFI]: https://developer.arm.com/documentation/dui0662/b/The-Cortex-M0--Instruction-Set/Miscellaneous-instructions/WFI
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[WFI]: https://developer.arm.com/documentation/dui0662/b/The-Cortex-M0--Instruction-Set/Miscellaneous-instructions/WFI
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[NOP]: https://developer.arm.com/documentation/dui0662/b/The-Cortex-M0--Instruction-Set/Miscellaneous-instructions/NOP
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[NOP]: https://developer.arm.com/documentation/dui0662/b/The-Cortex-M0--Instruction-Set/Miscellaneous-instructions/NOP
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``` rust
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``` rust,noplayground
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{{#include ../../../../rtic/examples/idle-wfi.rs}}
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{{#include ../../../../rtic/examples/idle-wfi.rs}}
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```
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```
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@ -16,7 +16,7 @@ The example below shows the types of the `core`, `device` and `cs` fields, and s
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The `device` field is only available when the `peripherals` argument is set to the default value `true`.
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The `device` field is only available when the `peripherals` argument is set to the default value `true`.
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In the rare case you want to implement an ultra-slim application you can explicitly set `peripherals` to `false`.
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In the rare case you want to implement an ultra-slim application you can explicitly set `peripherals` to `false`.
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``` rust
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``` rust,noplayground
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{{#include ../../../../rtic/examples/init.rs}}
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{{#include ../../../../rtic/examples/init.rs}}
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```
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```
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@ -2,7 +2,7 @@
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This is the smallest possible RTIC application:
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This is the smallest possible RTIC application:
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``` rust
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``` rust,noplayground
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{{#include ../../../../rtic/examples/smallest.rs}}
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{{#include ../../../../rtic/examples/smallest.rs}}
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```
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```
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@ -33,7 +33,7 @@ Task Priority
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The following example showcases the priority based scheduling of tasks:
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The following example showcases the priority based scheduling of tasks:
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``` rust
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``` rust,noplayground
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{{#include ../../../../rtic/examples/preempt.rs}}
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{{#include ../../../../rtic/examples/preempt.rs}}
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```
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```
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@ -2,7 +2,7 @@
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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:
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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:
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``` rust
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``` rust,noplayground
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...
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...
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const CAPACITY: usize = 5;
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const CAPACITY: usize = 5;
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#[init]
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#[init]
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@ -22,7 +22,7 @@ Channels can also be used from *hardware* tasks, but only in a non-`async` manne
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The `send` method post a message on the channel as shown below:
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The `send` method post a message on the channel as shown below:
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``` rust
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``` rust,noplayground
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#[task]
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#[task]
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async fn sender1(_c: sender1::Context, mut sender: Sender<'static, u32, CAPACITY>) {
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async fn sender1(_c: sender1::Context, mut sender: Sender<'static, u32, CAPACITY>) {
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hprintln!("Sender 1 sending: 1");
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hprintln!("Sender 1 sending: 1");
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||||||
|
@ -34,7 +34,7 @@ async fn sender1(_c: sender1::Context, mut sender: Sender<'static, u32, CAPACITY
|
||||||
|
|
||||||
The receiver can `await` incoming messages:
|
The receiver can `await` incoming messages:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[task]
|
#[task]
|
||||||
async fn receiver(_c: receiver::Context, mut receiver: Receiver<'static, u32, CAPACITY>) {
|
async fn receiver(_c: receiver::Context, mut receiver: Receiver<'static, u32, CAPACITY>) {
|
||||||
while let Ok(val) = receiver.recv().await {
|
while let Ok(val) = receiver.recv().await {
|
||||||
|
@ -48,7 +48,7 @@ Channels are implemented using a small (global) *Critical Section* (CS) for prot
|
||||||
|
|
||||||
For a complete example:
|
For a complete example:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/async-channel.rs}}
|
{{#include ../../../../rtic/examples/async-channel.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -64,7 +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.
|
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}}
|
{{#include ../../../../rtic/examples/async-channel-done.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -81,7 +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.
|
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}}
|
{{#include ../../../../rtic/examples/async-channel-no-sender.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -97,7 +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).
|
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}}
|
{{#include ../../../../rtic/examples/async-channel-no-receiver.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -115,7 +115,7 @@ Using the Try API, you can send or receive data from or to a channel without req
|
||||||
|
|
||||||
This API is exposed through `Receiver::try_recv` and `Sender::try_send`.
|
This API is exposed through `Receiver::try_recv` and `Sender::try_send`.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/async-channel-try.rs}}
|
{{#include ../../../../rtic/examples/async-channel-try.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -7,7 +7,7 @@ This can be achieved by instantiating a monotonic timer (for implementations, se
|
||||||
[`rtic-monotonics`]: https://github.com/rtic-rs/rtic/tree/master/rtic-monotonics
|
[`rtic-monotonics`]: https://github.com/rtic-rs/rtic/tree/master/rtic-monotonics
|
||||||
[`rtic-time`]: https://github.com/rtic-rs/rtic/tree/master/rtic-time
|
[`rtic-time`]: https://github.com/rtic-rs/rtic/tree/master/rtic-time
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
...
|
...
|
||||||
{{#include ../../../../rtic/examples/async-timeout.rs:init}}
|
{{#include ../../../../rtic/examples/async-timeout.rs:init}}
|
||||||
...
|
...
|
||||||
|
@ -15,7 +15,7 @@ This can be achieved by instantiating a monotonic timer (for implementations, se
|
||||||
|
|
||||||
A *software* task can `await` the delay to expire:
|
A *software* task can `await` the delay to expire:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[task]
|
#[task]
|
||||||
async fn foo(_cx: foo::Context) {
|
async fn foo(_cx: foo::Context) {
|
||||||
...
|
...
|
||||||
|
@ -34,7 +34,7 @@ Similarly the channels implementation, the timer-queue implementation relies on
|
||||||
<details>
|
<details>
|
||||||
<summary>A complete example</summary>
|
<summary>A complete example</summary>
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/async-delay.rs}}
|
{{#include ../../../../rtic/examples/async-delay.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -58,7 +58,7 @@ A common use case is transactions with an associated timeout. In the examples sh
|
||||||
|
|
||||||
Using the `select_biased` macro from the `futures` crate it may look like this:
|
Using the `select_biased` macro from the `futures` crate it may look like this:
|
||||||
|
|
||||||
``` rust,noplayground
|
``` rust,noplayground,noplayground
|
||||||
{{#include ../../../../rtic/examples/async-timeout.rs:select_biased}}
|
{{#include ../../../../rtic/examples/async-timeout.rs:select_biased}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -70,7 +70,7 @@ Using `select_biased` any number of futures can be combined, so its very powerfu
|
||||||
|
|
||||||
Rewriting the second example from above using `timeout_after` gives:
|
Rewriting the second example from above using `timeout_after` gives:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/async-timeout.rs:timeout_at_basic}}
|
{{#include ../../../../rtic/examples/async-timeout.rs:timeout_at_basic}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -78,7 +78,7 @@ In cases where you want exact control over time without drift we can use exact p
|
||||||
|
|
||||||
[fugit]: https://crates.io/crates/fugit
|
[fugit]: https://crates.io/crates/fugit
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
|
|
||||||
{{#include ../../../../rtic/examples/async-timeout.rs:timeout_at}}
|
{{#include ../../../../rtic/examples/async-timeout.rs:timeout_at}}
|
||||||
|
|
||||||
|
@ -99,7 +99,7 @@ For the third iteration, with `n == 2`, `hal_get` will take 550ms to finish, in
|
||||||
<details>
|
<details>
|
||||||
<summary>A complete example</summary>
|
<summary>A complete example</summary>
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/async-timeout.rs}}
|
{{#include ../../../../rtic/examples/async-timeout.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -19,7 +19,7 @@ Beware of using interrupt vectors that are used internally by hardware features;
|
||||||
|
|
||||||
The example below demonstrates the use of the `#[task(binds = InterruptName)]` attribute to declare a hardware task bound to an interrupt handler.
|
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}}
|
{{#include ../../../../rtic/examples/hardware.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -10,7 +10,7 @@ pending spawns of `foo`. Exceeding this capacity is an `Error`.
|
||||||
|
|
||||||
The number of arguments to a task is not limited:
|
The number of arguments to a task is not limited:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../examples/message_passing.rs}}
|
{{#include ../../../../examples/message_passing.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -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.
|
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}}
|
{{#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:
|
In the example below the different uses and lifetimes are shown:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/declared_locals.rs}}
|
{{#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.
|
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}}
|
{{#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:
|
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}}
|
{{#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.
|
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}}
|
{{#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.
|
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}}
|
{{#include ../../../../rtic/examples/lock-free.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -23,7 +23,7 @@ The framework will give a compilation error if there are not enough dispatchers
|
||||||
|
|
||||||
See the following example:
|
See the following example:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/spawn.rs}}
|
{{#include ../../../../rtic/examples/spawn.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -40,7 +40,7 @@ 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.
|
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}}
|
{{#include ../../../../rtic/examples/spawn_loop.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -56,7 +56,7 @@ 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.
|
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}}
|
{{#include ../../../../rtic/examples/spawn_err.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -71,7 +71,7 @@ $ cargo run --target thumbv7m-none-eabi --example spawn_err
|
||||||
## Passing arguments
|
## Passing arguments
|
||||||
You can also pass arguments at spawn as follows.
|
You can also pass arguments at spawn as follows.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/spawn_arguments.rs}}
|
{{#include ../../../../rtic/examples/spawn_arguments.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
@ -92,7 +92,7 @@ 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
|
[Send]: https://doc.rust-lang.org/nomicon/send-and-sync.html
|
||||||
|
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../rtic/examples/zero-prio-task.rs}}
|
{{#include ../../../../rtic/examples/zero-prio-task.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -3,7 +3,7 @@
|
||||||
Destructuring task resources might help readability if a task takes multiple
|
Destructuring task resources might help readability if a task takes multiple
|
||||||
resources. Here are two examples on how to split up the resource struct:
|
resources. Here are two examples on how to split up the resource struct:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../../rtic/examples/destructure.rs}}
|
{{#include ../../../../../rtic/examples/destructure.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -11,7 +11,7 @@ improve performance in some cases.
|
||||||
|
|
||||||
The example below shows how to place the higher priority task, `bar`, in RAM.
|
The example below shows how to place the higher priority task, `bar`, in RAM.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../../rtic/examples/ramfunc.rs}}
|
{{#include ../../../../../rtic/examples/ramfunc.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -13,7 +13,7 @@ As this example of approach goes completely outside of RTIC resource model with
|
||||||
|
|
||||||
Here's an example where `heapless::Pool` is used to "box" buffers of 128 bytes.
|
Here's an example where `heapless::Pool` is used to "box" buffers of 128 bytes.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../../rtic/examples/pool.rs}}
|
{{#include ../../../../../rtic/examples/pool.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -8,7 +8,7 @@ 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
|
[`heapless::spsc::Queue`]: https://docs.rs/heapless/0.7.5/heapless/spsc/struct.Queue.html
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{#include ../../../../../rtic/examples/static.rs}}
|
{{#include ../../../../../rtic/examples/static.rs}}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
|
@ -16,7 +16,7 @@ $ rustfmt target/rtic-expansion.rs
|
||||||
$ tail target/rtic-expansion.rs
|
$ tail target/rtic-expansion.rs
|
||||||
```
|
```
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[doc = r" Implementation details"]
|
#[doc = r" Implementation details"]
|
||||||
mod app {
|
mod app {
|
||||||
#[doc = r" Always include the device crate which contains the vector table"]
|
#[doc = r" Always include the device crate which contains the vector table"]
|
||||||
|
|
|
@ -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
|
The code below is an example of the kind of source level transformation that
|
||||||
happens behind the scenes:
|
happens behind the scenes:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
static mut X: u64: 0;
|
static mut X: u64: 0;
|
||||||
|
@ -54,7 +54,7 @@ mod app {
|
||||||
|
|
||||||
The framework produces codes like this:
|
The framework produces codes like this:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
fn init(c: init::Context) {
|
fn init(c: init::Context) {
|
||||||
// .. user code ..
|
// .. user code ..
|
||||||
}
|
}
|
||||||
|
|
|
@ -26,7 +26,7 @@ gets a unique reference (`&mut-`) to resources.
|
||||||
|
|
||||||
An example to illustrate the ceiling analysis:
|
An example to illustrate the ceiling analysis:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
struct Resources {
|
struct Resources {
|
||||||
|
|
|
@ -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:
|
The example below shows the different types handed out to each task:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mut app {
|
mut app {
|
||||||
struct Resources {
|
struct Resources {
|
||||||
|
@ -62,7 +62,7 @@ mut app {
|
||||||
|
|
||||||
Now let's see how these types are created by the framework.
|
Now let's see how these types are created by the framework.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
fn foo(c: foo::Context) {
|
fn foo(c: foo::Context) {
|
||||||
// .. user code ..
|
// .. 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
|
Thus the dynamic priority at any point in time can be computed as
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
dynamic_priority = max(hw2logical(BASEPRI), hw2logical(static_priority))
|
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
|
> **NOTE:** this is a simplified implementation
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
impl rtic::Mutex for resources::x {
|
impl rtic::Mutex for resources::x {
|
||||||
type T = u64;
|
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
|
multiple unique references (`&mut-`) to `x` breaking Rust aliasing rules. See
|
||||||
below:
|
below:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[interrupt(binds = UART0, priority = 1, resources = [x])]
|
#[interrupt(binds = UART0, priority = 1, resources = [x])]
|
||||||
fn foo(c: foo::Context) {
|
fn foo(c: foo::Context) {
|
||||||
// resource proxy
|
// resource proxy
|
||||||
|
@ -223,7 +223,7 @@ provides extra information to the compiler.
|
||||||
|
|
||||||
Consider this program:
|
Consider this program:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
struct Resources {
|
struct Resources {
|
||||||
|
@ -282,7 +282,7 @@ mod app {
|
||||||
|
|
||||||
The code generated by the framework looks like this:
|
The code generated by the framework looks like this:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
// omitted: user code
|
// omitted: user code
|
||||||
|
|
||||||
pub mod resources {
|
pub mod resources {
|
||||||
|
@ -374,7 +374,7 @@ mod app {
|
||||||
At the end the compiler will optimize the function `foo` into something like
|
At the end the compiler will optimize the function `foo` into something like
|
||||||
this:
|
this:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
fn foo(c: foo::Context) {
|
fn foo(c: foo::Context) {
|
||||||
// NOTE: BASEPRI contains the value `0` (its reset value) at this point
|
// 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
|
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:
|
handler through preemption. This is best observed in the following example:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
struct Resources {
|
struct Resources {
|
||||||
|
@ -490,7 +490,7 @@ mod app {
|
||||||
IMPORTANT: let's say we *forget* to roll back `BASEPRI` in `UART1` -- this would
|
IMPORTANT: let's say we *forget* to roll back `BASEPRI` in `UART1` -- this would
|
||||||
be a bug in the RTIC code generator.
|
be a bug in the RTIC code generator.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
// code generated by RTIC
|
// code generated by RTIC
|
||||||
|
|
||||||
mod app {
|
mod app {
|
||||||
|
|
|
@ -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:
|
This example gives you an idea of the code that the RTIC framework runs:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = lm3s6965)]
|
#[rtic::app(device = lm3s6965)]
|
||||||
mod app {
|
mod app {
|
||||||
#[init]
|
#[init]
|
||||||
|
@ -33,7 +33,7 @@ mod app {
|
||||||
|
|
||||||
The framework generates an entry point that looks like this:
|
The framework generates an entry point that looks like this:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
// the real entry point of the program
|
// the real entry point of the program
|
||||||
#[no_mangle]
|
#[no_mangle]
|
||||||
unsafe fn main() -> ! {
|
unsafe fn main() -> ! {
|
||||||
|
|
|
@ -8,7 +8,7 @@ interrupts are disabled.
|
||||||
The example below shows the kind of code that the framework generates to
|
The example below shows the kind of code that the framework generates to
|
||||||
initialize late resources.
|
initialize late resources.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
struct Resources {
|
struct Resources {
|
||||||
|
@ -39,7 +39,7 @@ mod app {
|
||||||
|
|
||||||
The code generated by the framework looks like this:
|
The code generated by the framework looks like this:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
fn init(c: init::Context) -> init::LateResources {
|
fn init(c: init::Context) -> init::LateResources {
|
||||||
// .. user code ..
|
// .. user code ..
|
||||||
}
|
}
|
||||||
|
|
|
@ -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
|
invoked using FFI (see example below). FFI requires `unsafe` code so end users
|
||||||
are discouraged from directly invoking an interrupt handler.
|
are discouraged from directly invoking an interrupt handler.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
#[init]
|
#[init]
|
||||||
|
@ -48,7 +48,7 @@ call from user code.
|
||||||
|
|
||||||
The above example expands into:
|
The above example expands into:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
fn foo(c: foo::Context) {
|
fn foo(c: foo::Context) {
|
||||||
// .. user code ..
|
// .. user code ..
|
||||||
}
|
}
|
||||||
|
|
|
@ -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.
|
Let's first take a look the code generated by the framework to dispatch tasks.
|
||||||
Consider this example:
|
Consider this example:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
// ..
|
// ..
|
||||||
|
@ -57,7 +57,7 @@ mod app {
|
||||||
The framework produces the following task dispatcher which consists of an
|
The framework produces the following task dispatcher which consists of an
|
||||||
interrupt handler and a ready queue:
|
interrupt handler and a ready queue:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
fn bar(c: bar::Context) {
|
fn bar(c: bar::Context) {
|
||||||
// .. user code ..
|
// .. 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
|
The `Spawn` code generated by the framework for the previous example looks like
|
||||||
this:
|
this:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
mod foo {
|
mod foo {
|
||||||
// ..
|
// ..
|
||||||
|
|
||||||
|
@ -206,7 +206,7 @@ task capacities.
|
||||||
We have omitted how message passing actually works so let's revisit the `spawn`
|
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.
|
implementation but this time for task `baz` which receives a `u64` message.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
fn baz(c: baz::Context, input: u64) {
|
fn baz(c: baz::Context, input: u64) {
|
||||||
// .. user code ..
|
// .. user code ..
|
||||||
}
|
}
|
||||||
|
@ -268,7 +268,7 @@ mod app {
|
||||||
|
|
||||||
And now let's look at the real implementation of the task dispatcher:
|
And now let's look at the real implementation of the task dispatcher:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
mod app {
|
mod app {
|
||||||
// ..
|
// ..
|
||||||
|
|
||||||
|
@ -355,7 +355,7 @@ endpoint is owned by a task dispatcher.
|
||||||
|
|
||||||
Consider the following example:
|
Consider the following example:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
#[idle(spawn = [foo, bar])]
|
#[idle(spawn = [foo, bar])]
|
||||||
|
|
|
@ -10,7 +10,7 @@ appropriate ready queue.
|
||||||
|
|
||||||
Let's see how this in implemented in code. Consider the following program:
|
Let's see how this in implemented in code. Consider the following program:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
// ..
|
// ..
|
||||||
|
@ -31,7 +31,7 @@ mod app {
|
||||||
|
|
||||||
Let's first look at the `schedule` API.
|
Let's first look at the `schedule` API.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
mod foo {
|
mod foo {
|
||||||
pub struct Schedule<'a> {
|
pub struct Schedule<'a> {
|
||||||
priority: &'a Cell<u8>,
|
priority: &'a Cell<u8>,
|
||||||
|
@ -122,7 +122,7 @@ is up.
|
||||||
|
|
||||||
Let's see the associated code.
|
Let's see the associated code.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
mod app {
|
mod app {
|
||||||
#[no_mangle]
|
#[no_mangle]
|
||||||
fn SysTick() {
|
fn SysTick() {
|
||||||
|
@ -220,7 +220,7 @@ analysis.
|
||||||
|
|
||||||
To illustrate, consider the following example:
|
To illustrate, consider the following example:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[rtic::app(device = ..)]
|
#[rtic::app(device = ..)]
|
||||||
mod app {
|
mod app {
|
||||||
#[task(priority = 3, spawn = [baz])]
|
#[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
|
run; this `Instant` is read in the task dispatcher and passed to the user code
|
||||||
as part of the task context.
|
as part of the task context.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
mod app {
|
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
|
the `start` time of the hardware task or the `scheduled` time of the software
|
||||||
task.
|
task.
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
mod foo {
|
mod foo {
|
||||||
// ..
|
// ..
|
||||||
|
|
||||||
|
|
|
@ -10,7 +10,7 @@ All software tasks are now required to be `async`.
|
||||||
|
|
||||||
All of the tasks in your project that do not bind to an interrupt must now be an `async fn`. For example:
|
All of the tasks in your project that do not bind to an interrupt must now be an `async fn`. For example:
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[task(
|
#[task(
|
||||||
local = [ some_resource ],
|
local = [ some_resource ],
|
||||||
shared = [ my_shared_resource ],
|
shared = [ my_shared_resource ],
|
||||||
|
@ -24,7 +24,7 @@ fn my_task(cx: my_task::Context) {
|
||||||
|
|
||||||
becomes
|
becomes
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
#[task(
|
#[task(
|
||||||
local = [ some_resource ],
|
local = [ some_resource ],
|
||||||
shared = [ my_shared_resource ],
|
shared = [ my_shared_resource ],
|
||||||
|
@ -40,7 +40,7 @@ async fn my_task(cx: my_task::Context) {
|
||||||
|
|
||||||
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:
|
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
|
``` rust,noplayground
|
||||||
#[task(local = [ my_channel ] )]
|
#[task(local = [ my_channel ] )]
|
||||||
async fn my_task_that_runs_forever(cx: my_task_that_runs_forever::Context) {
|
async fn my_task_that_runs_forever(cx: my_task_that_runs_forever::Context) {
|
||||||
loop {
|
loop {
|
||||||
|
|
|
@ -86,7 +86,7 @@ mod app {
|
||||||
|
|
||||||
# V2.0.0
|
# V2.0.0
|
||||||
|
|
||||||
``` rust
|
``` rust,noplayground
|
||||||
{{ #include ../../../../examples/stm32f3_blinky/src/main.rs }}
|
{{ #include ../../../../examples/stm32f3_blinky/src/main.rs }}
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
Loading…
Reference in a new issue