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Book: Fix links, proofread targets and starting_a_project
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A recommendation when starting a RTIC project from scratch is to
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A recommendation when starting a RTIC project from scratch is to
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follow RTIC's [`defmt-app-template`].
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follow RTIC's [`defmt-app-template`].
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If you are targeting ARMv6-M or ARMv8-M-base architecture, check out the section [Target Architecture](../internals/targets.md) for more information on hardware limitations to be aware of.
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If you are targeting ARMv6-M or ARMv8-M-base architecture, check out the section [Target Architecture](../internals/targets.md) for more information on hardware limitations to be aware of.
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[`defmt-app-template`]: https://github.com/rtic-rs/defmt-app-template
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[`defmt-app-template`]: https://github.com/rtic-rs/defmt-app-template
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This will give you an RTIC application with support for RTT logging with [`defmt`] and stack overflow
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This will give you an RTIC application with support for RTT logging with [`defmt`] and stack overflow
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protection using [`flip-link`]. There is also a multitude of examples provided by the community:
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protection using [`flip-link`]. There is also a multitude of examples provided by the community:
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For inspiration you may look at the below resources. For now they cover RTIC 1.0.x, but will be updated with RTIC 2.0.x examples over time.
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For inspiration, you may look at the below resources. For now, they cover RTIC v1.x, but will be updated with RTIC v2.x examples over time.
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- [`rtic-examples`] - Multiple projects
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- [`rtic-examples`] - Multiple projects
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- [https://github.com/kalkyl/f411-rtic](https://github.com/kalkyl/f411-rtic)
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- [https://github.com/kalkyl/f411-rtic](https://github.com/kalkyl/f411-rtic)
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# Target Architecture
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# Target Architecture
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While RTIC can currently target all Cortex-m devices there are some key architecure differences that
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While RTIC can currently target all Cortex-m devices there are some key architecture differences that
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users should be aware of. Namely the absence of Base Priority Mask Register (`BASEPRI`) which lends
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users should be aware of. Namely, the absence of Base Priority Mask Register (`BASEPRI`) which lends
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itself exceptionally well to the hardware priority ceiling support used in RTIC, in the ARMv6-M and
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itself exceptionally well to the hardware priority ceiling support used in RTIC, in the ARMv6-M and
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ARMv8-M-base architectures, which forces RTIC to use source masking instead. For each implementation
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ARMv8-M-base architectures, which forces RTIC to use source masking instead. For each implementation
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of lock and a detailed commentary of pros and cons, see the implementation of
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of lock and a detailed commentary of pros and cons, see the implementation of
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@ -29,7 +29,7 @@ Table 1 below shows a list of Cortex-m processors and which type of critical sec
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## Priority Ceiling
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## Priority Ceiling
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This implementation is covered in depth by the [Critical Sections][critical_sections] page of this book.
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This is covered by the [Resources][resources] page of this book.
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## Source Masking
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## Source Masking
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@ -55,17 +55,14 @@ with B.
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```
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```
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At time *t1*, task B locks the shared resource by selectively disabling (using the NVIC) all other
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At time *t1*, task B locks the shared resource by selectively disabling (using the NVIC) all other
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tasks which have a priority equal to or less than any task which shares resouces with B. In effect
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tasks which have a priority equal to or less than any task which shares resources with B. In effect
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this creates a virtual priority ceiling, miroring the `BASEPRI` approach described in the
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this creates a virtual priority ceiling, mirroring the `BASEPRI` approach. Task A is one such task that shares resources with
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[Critical Sections][critical_Sections] page. Task A is one such task that shares resources with
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task B. At time *t2*, task A is either spawned by task B or becomes pending through an interrupt
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task B. At time *t2*, task A is either spawned by task B or becomes pending through an interrupt
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condition, but does not yet preempt task B even though its priority is greater. This is because the
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condition, but does not yet preempt task B even though its priority is greater. This is because the
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NVIC is preventing it from starting due to task A being being disabled. At time *t3*, task B
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NVIC is preventing it from starting due to task A being disabled. At time *t3*, task B
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releases the lock by re-enabling the tasks in the NVIC. Because task A was pending and has a higher
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releases the lock by re-enabling the tasks in the NVIC. Because task A was pending and has a higher
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priority than task B, it immediately preempts task B and is free to use the shared resource without
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priority than task B, it immediately preempts task B and is free to use the shared resource without
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risk of data race conditions. At time *t4*, task A completes and returns the execution context to B.
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risk of data race conditions. At time *t4*, task A completes and returns the execution context to B.
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Since source masking relies on use of the NVIC, core exception sources such as HardFault, SVCall,
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Since source masking relies on use of the NVIC, core exception sources such as HardFault, SVCall,
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PendSV, and SysTick cannot share data with other tasks.
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PendSV, and SysTick cannot share data with other tasks.
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[critical_sections]: https://github.com/rtic-rs/cortex-m-rtic/blob/master/book/en/src/internals/critical-sections.md
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