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8
book/en/src/SUMMARY.md
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@ -10,8 +10,10 @@
- [Types, Send and Sync](./by-example/types-send-sync.md)
- [Starting a new project](./by-example/new.md)
- [Tips & tricks](./by-example/tips.md)
- [Migrating from v0.4.x to v0.5.0](./migration.md)
- [Migrating from RTFM to RTIC](./migration_rtic.md)
- [Migration Guides](./migration.md)
- [v0.5.x to v0.6.x](./migration/migration_v5.md)
- [v0.4.x to v0.5.x](./migration/migration_v4.md)
- [RTFM to RTIC](./migration/migration_rtic.md)
- [Under the hood](./internals.md)
- [Interrupt configuration](./internals/interrupt-configuration.md)
- [Non-reentrancy](./internals/non-reentrancy.md)
@ -21,5 +23,3 @@
- [Ceiling analysis](./internals/ceilings.md)
- [Software tasks](./internals/tasks.md)
- [Timer queue](./internals/timer-queue.md)
- [Homogeneous multi-core support](./homogeneous.md)
- [Heterogeneous multi-core support](./heterogeneous.md)

10
book/en/src/by-example.md
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@ -9,8 +9,16 @@ is required to follow along.
[repository]: https://github.com/rtic-rs/cortex-m-rtic
To run the examples on your laptop / PC you'll need the `qemu-system-arm`
To run the examples on your computer you'll need the `qemu-system-arm`
program. Check [the embedded Rust book] for instructions on how to set up an
embedded development environment that includes QEMU.
[the embedded Rust book]: https://rust-embedded.github.io/book/intro/install.html
## Real World Examples
The following are examples of RTFM being used in real world projects.
### RTFM V0.4.2
- [etrombly/sandbox](https://github.com/etrombly/sandbox/tree/41d423bcdd0d8e42fd46b79771400a8ca349af55). A hardware zen garden that draws patterns in sand. Patterns are sent over serial using G-code.

20
book/en/src/by-example/app.md
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@ -7,7 +7,7 @@ This is the smallest possible RTIC application:
```
All RTIC applications use the [`app`] attribute (`#[app(..)]`). This attribute
must be applied to a `const` item that contains items. The `app` attribute has
must be applied to a `mod`-item. The `app` attribute has
a mandatory `device` argument that takes a *path* as a value. This path must
point to a *peripheral access crate* (PAC) generated using [`svd2rust`]
**v0.14.x** or newer. The `app` attribute will expand into a suitable entry
@ -17,31 +17,25 @@ point so it's not required to use the [`cortex_m_rt::entry`] attribute.
[`svd2rust`]: https://crates.io/crates/svd2rust
[`cortex_m_rt::entry`]: ../../../api/cortex_m_rt_macros/attr.entry.html
> **ASIDE**: Some of you may be wondering why we are using a `const` item as a
> module and not a proper `mod` item. The reason is that using attributes on
> modules requires a feature gate, which requires a nightly toolchain. To make
> RTIC work on stable we use the `const` item instead. When more parts of macros
> 1.2 are stabilized we'll move from a `const` item to a `mod` item and
> eventually to a crate level attribute (`#![app]`).
## `init`
Within the pseudo-module the `app` attribute expects to find an initialization
Within the `app` module the attribute expects to find an initialization
function marked with the `init` attribute. This function must have signature
`fn(init::Context) [-> init::LateResources]` (the return type is not always
required).
This initialization function will be the first part of the application to run.
The `init` function will run *with interrupts disabled* and has exclusive access
to Cortex-M and, optionally, device specific peripherals through the `core` and
`device` fields of `init::Context`.
to Cortex-M where the `bare_metal::CriticalSection` token is available as `cs`.
And optionally, device specific peripherals through the `core` and `device` fields
of `init::Context`.
`static mut` variables declared at the beginning of `init` will be transformed
into `&'static mut` references that are safe to access.
[`rtic::Peripherals`]: ../../api/rtic/struct.Peripherals.html
The example below shows the types of the `core` and `device` fields and
The example below shows the types of the `core`, `device` and `cs` fields, and
showcases safe access to a `static mut` variable. The `device` field is only
available when the `peripherals` argument is set to `true` (it defaults to
`false`).
@ -61,7 +55,7 @@ $ cargo run --example init
## `idle`
A function marked with the `idle` attribute can optionally appear in the
pseudo-module. This function is used as the special *idle task* and must have
module. This function is used as the special *idle task* and must have
signature `fn(idle::Context) - > !`.
When present, the runtime will execute the `idle` task after `init`. Unlike

6
book/en/src/by-example/resources.md
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@ -4,11 +4,13 @@ The framework provides an abstraction to share data between any of the contexts
we saw in the previous section (task handlers, `init` and `idle`): resources.
Resources are data visible only to functions declared within the `#[app]`
pseudo-module. The framework gives the user complete control over which context
module. The framework gives the user complete control over which context
can access which resource.
All resources are declared as a single `struct` within the `#[app]`
pseudo-module. Each field in the structure corresponds to a different resource.
module. Each field in the structure corresponds to a different resource.
The `struct` must be annotated with the following attribute: `#[resources]`.
Resources can optionally be given an initial value using the `#[init]`
attribute. Resources that are not given an initial value are referred to as
*late* resources and are covered in more detail in a follow-up section in this

4
book/en/src/by-example/tasks.md
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@ -95,7 +95,7 @@ following snippet:
``` rust
#[rtic::app(..)]
const APP: () = {
mod app {
#[init(spawn = [foo, bar])]
fn init(cx: init::Context) {
cx.spawn.foo().unwrap();
@ -116,5 +116,5 @@ const APP: () = {
fn bar(cx: bar::Context, payload: i32) {
// ..
}
};
}
```

4
book/en/src/by-example/tips.md
View file

@ -144,7 +144,7 @@ $ tail target/rtic-expansion.rs
``` rust
#[doc = r" Implementation details"]
const APP: () = {
mod app {
#[doc = r" Always include the device crate which contains the vector table"]
use lm3s6965 as _;
#[no_mangle]
@ -157,7 +157,7 @@ const APP: () = {
rtic::export::wfi()
}
}
};
}
```
Or, you can use the [`cargo-expand`] sub-command. This sub-command will expand

2
book/en/src/by-example/types-send-sync.md
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@ -1,6 +1,6 @@
# Types, Send and Sync
Every function within the `APP` pseudo-module has a `Context` structure as its
Every function within the `app` module has a `Context` structure as its
first parameter. All the fields of these structures have predictable,
non-anonymous types so you can write plain functions that take them as arguments.

6
book/en/src/heterogeneous.md
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@ -1,6 +0,0 @@
# Heterogeneous multi-core support
This section covers the *experimental* heterogeneous multi-core support provided
by RTIC behind the `heterogeneous` Cargo feature.
**Content coming soon**

6
book/en/src/homogeneous.md
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@ -1,6 +0,0 @@
# Homogeneous multi-core support
This section covers the *experimental* homogeneous multi-core support provided
by RTIC behind the `homogeneous` Cargo feature.
**Content coming soon**

12
book/en/src/internals/access.md
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@ -15,7 +15,7 @@ To achieve the fine-grained access control where tasks can only access the
static variables (resources) that they have specified in their RTIC attribute
the RTIC framework performs a source code level transformation. This
transformation consists of placing the resources (static variables) specified by
the user *inside* a `const` item and the user code *outside* the `const` item.
the user *inside* a module and the user code *outside* the module.
This makes it impossible for the user code to refer to these static variables.
Access to the resources is then given to each task using a `Resources` struct
@ -29,7 +29,7 @@ happens behind the scenes:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
static mut X: u64: 0;
static mut Y: bool: 0;
@ -49,7 +49,7 @@ const APP: () = {
}
// ..
};
}
```
The framework produces codes like this:
@ -103,8 +103,8 @@ pub mod bar {
}
/// Implementation details
const APP: () = {
// everything inside this `const` item is hidden from user code
mod app {
// everything inside this module is hidden from user code
static mut X: u64 = 0;
static mut Y: bool = 0;
@ -154,5 +154,5 @@ const APP: () = {
// ..
});
}
};
}
```

4
book/en/src/internals/ceilings.md
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@ -28,7 +28,7 @@ An example to illustrate the ceiling analysis:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
struct Resources {
// accessed by `foo` (prio = 1) and `bar` (prio = 2)
// -> CEILING = 2
@ -80,5 +80,5 @@ const APP: () = {
}
// ..
};
}
```

24
book/en/src/internals/critical-sections.md
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@ -32,7 +32,7 @@ The example below shows the different types handed out to each task:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mut app {
struct Resources {
#[init(0)]
x: u64,
@ -57,7 +57,7 @@ const APP: () = {
}
// ..
};
}
```
Now let's see how these types are created by the framework.
@ -99,7 +99,7 @@ pub mod bar {
}
}
const APP: () = {
mod app {
static mut x: u64 = 0;
impl rtic::Mutex for resources::x {
@ -129,7 +129,7 @@ const APP: () = {
// ..
})
}
};
}
```
## `lock`
@ -225,7 +225,7 @@ Consider this program:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
struct Resources {
#[init(0)]
x: u64,
@ -277,7 +277,7 @@ const APP: () = {
}
// ..
};
}
```
The code generated by the framework looks like this:
@ -315,7 +315,7 @@ pub mod foo {
}
}
const APP: () = {
mod app {
use cortex_m::register::basepri;
#[no_mangle]
@ -368,7 +368,7 @@ const APP: () = {
}
// repeat for resource `y`
};
}
```
At the end the compiler will optimize the function `foo` into something like
@ -430,7 +430,7 @@ handler through preemption. This is best observed in the following example:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
struct Resources {
#[init(0)]
x: u64,
@ -484,7 +484,7 @@ const APP: () = {
// ..
}
};
}
```
IMPORTANT: let's say we *forget* to roll back `BASEPRI` in `UART1` -- this would
@ -493,7 +493,7 @@ be a bug in the RTIC code generator.
``` rust
// code generated by RTIC
const APP: () = {
mod app {
// ..
#[no_mangle]
@ -513,7 +513,7 @@ const APP: () = {
// BUG: FORGOT to roll back the BASEPRI to the snapshot value we took before
basepri::write(initial);
}
};
}
```
The consequence is that `idle` will run at a dynamic priority of `2` and in fact

4
book/en/src/internals/interrupt-configuration.md
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@ -13,7 +13,7 @@ This example gives you an idea of the code that the RTIC framework runs:
``` rust
#[rtic::app(device = lm3s6965)]
const APP: () = {
mod app {
#[init]
fn init(c: init::Context) {
// .. user code ..
@ -28,7 +28,7 @@ const APP: () = {
fn foo(c: foo::Context) {
// .. user code ..
}
};
}
```
The framework generates an entry point that looks like this:

8
book/en/src/internals/late-resources.md
View file

@ -10,7 +10,7 @@ initialize late resources.
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
struct Resources {
x: Thing,
}
@ -34,7 +34,7 @@ const APP: () = {
}
// ..
};
}
```
The code generated by the framework looks like this:
@ -69,7 +69,7 @@ pub mod foo {
}
/// Implementation details
const APP: () = {
mod app {
// uninitialized static
static mut x: MaybeUninit<Thing> = MaybeUninit::uninit();
@ -101,7 +101,7 @@ const APP: () = {
// ..
})
}
};
}
```
An important detail here is that `interrupt::enable` behaves like a *compiler

8
book/en/src/internals/non-reentrancy.md
View file

@ -12,7 +12,7 @@ are discouraged from directly invoking an interrupt handler.
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
#[init]
fn init(c: init::Context) { .. }
@ -39,7 +39,7 @@ const APP: () = {
// in aliasing of the static variable `X`
unsafe { UART0() }
}
};
}
```
The RTIC framework must generate the interrupt handler code that calls the user
@ -57,7 +57,7 @@ fn bar(c: bar::Context) {
// .. user code ..
}
const APP: () = {
mod app {
// everything in this block is not visible to user code
#[no_mangle]
@ -69,7 +69,7 @@ const APP: () = {
unsafe fn USART1() {
bar(..);
}
};
}
```
## By hardware

24
book/en/src/internals/tasks.md
View file

@ -28,7 +28,7 @@ Consider this example:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
// ..
#[interrupt(binds = UART0, priority = 2, spawn = [bar, baz])]
@ -51,7 +51,7 @@ const APP: () = {
extern "C" {
fn UART1();
}
};
}
```
The framework produces the following task dispatcher which consists of an
@ -62,7 +62,7 @@ fn bar(c: bar::Context) {
// .. user code ..
}
const APP: () = {
mod app {
use heapless::spsc::Queue;
use cortex_m::register::basepri;
@ -110,7 +110,7 @@ const APP: () = {
// BASEPRI invariant
basepri::write(snapshot);
}
};
}
```
## Spawning a task
@ -144,7 +144,7 @@ mod foo {
}
}
const APP: () = {
mod app {
// ..
// Priority ceiling for the producer endpoint of the `RQ1`
@ -194,7 +194,7 @@ const APP: () = {
}
}
}
};
}
```
Using `bar_FQ` to limit the number of `bar` tasks that can be spawned may seem
@ -211,7 +211,7 @@ fn baz(c: baz::Context, input: u64) {
// .. user code ..
}
const APP: () = {
mod app {
// ..
// Now we show the full contents of the `Ready` struct
@ -263,13 +263,13 @@ const APP: () = {
}
}
}
};
}
```
And now let's look at the real implementation of the task dispatcher:
``` rust
const APP: () = {
mod app {
// ..
#[no_mangle]
@ -304,7 +304,7 @@ const APP: () = {
// BASEPRI invariant
basepri::write(snapshot);
}
};
}
```
`INPUTS` plus `FQ`, the free queue, is effectively a memory pool. However,
@ -357,7 +357,7 @@ Consider the following example:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
#[idle(spawn = [foo, bar])]
fn idle(c: idle::Context) -> ! {
// ..
@ -382,7 +382,7 @@ const APP: () = {
fn quux(c: quux::Context) {
// ..
}
};
}
```
This is how the ceiling analysis would go:

28
book/en/src/internals/timer-queue.md
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@ -12,7 +12,7 @@ Let's see how this in implemented in code. Consider the following program:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
// ..
#[task(capacity = 2, schedule = [foo])]
@ -24,7 +24,7 @@ const APP: () = {
extern "C" {
fn UART0();
}
};
}
```
## `schedule`
@ -46,7 +46,7 @@ mod foo {
}
}
const APP: () = {
mod app {
type Instant = <path::to::user::monotonic::timer as rtic::Monotonic>::Instant;
// all tasks that can be `schedule`-d
@ -100,7 +100,7 @@ const APP: () = {
}
}
}
};
}
```
This looks very similar to the `Spawn` implementation. In fact, the same
@ -123,7 +123,7 @@ is up.
Let's see the associated code.
``` rust
const APP: () = {
mod app {
#[no_mangle]
fn SysTick() {
const PRIORITY: u8 = 1;
@ -146,7 +146,7 @@ const APP: () = {
}
}
}
};
}
```
This looks similar to a task dispatcher except that instead of running the
@ -197,7 +197,7 @@ able to insert the task in the timer queue; this lets us omit runtime checks.
## System timer priority
The priority of the system timer can't set by the user; it is chosen by the
The priority of the system timer can't be set by the user; it is chosen by the
framework. To ensure that lower priority tasks don't prevent higher priority
tasks from running we choose the priority of the system timer to be the maximum
of all the `schedule`-able tasks.
@ -222,7 +222,7 @@ To illustrate, consider the following example:
``` rust
#[rtic::app(device = ..)]
const APP: () = {
mod app {
#[task(priority = 3, spawn = [baz])]
fn foo(c: foo::Context) {
// ..
@ -237,7 +237,7 @@ const APP: () = {
fn baz(c: baz::Context) {
// ..
}
};
}
```
The ceiling analysis would go like this:
@ -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: () = {
}
}
}
};
}
```

234
book/en/src/migration.md
View file

@ -1,232 +1,4 @@
# Migrating from v0.4.x to v0.5.0
# Migration Guides
This section covers how to upgrade an application written against RTIC v0.4.x to
the version v0.5.0 of the framework.
## `Cargo.toml`
First, the version of the `cortex-m-rtic` dependency needs to be updated to
`"0.5.0"`. The `timer-queue` feature needs to be removed.
``` toml
[dependencies.cortex-m-rtic]
# change this
version = "0.4.3"
# into this
version = "0.5.0"
# and remove this Cargo feature
features = ["timer-queue"]
# ^^^^^^^^^^^^^
```
## `Context` argument
All functions inside the `#[rtic::app]` item need to take as first argument a
`Context` structure. This `Context` type will contain the variables that were
magically injected into the scope of the function by version v0.4.x of the
framework: `resources`, `spawn`, `schedule` -- these variables will become
fields of the `Context` structure. Each function within the `#[rtic::app]` item
gets a different `Context` type.
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// change this
#[task(resources = [x], spawn = [a], schedule = [b])]
fn foo() {
resources.x.lock(|x| /* .. */);
spawn.a(message);
schedule.b(baseline);
}
// into this
#[task(resources = [x], spawn = [a], schedule = [b])]
fn foo(mut cx: foo::Context) {
// ^^^^^^^^^^^^^^^^^^^^
cx.resources.x.lock(|x| /* .. */);
// ^^^
cx.spawn.a(message);
// ^^^
cx.schedule.b(message, baseline);
// ^^^
}
// change this
#[init]
fn init() {
// ..
}
// into this
#[init]
fn init(cx: init::Context) {
// ^^^^^^^^^^^^^^^^^
// ..
}
// ..
};
```
## Resources
The syntax used to declare resources has been changed from `static mut`
variables to a `struct Resources`.
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// change this
static mut X: u32 = 0;
static mut Y: u32 = (); // late resource
// into this
struct Resources {
#[init(0)] // <- initial value
X: u32, // NOTE: we suggest changing the naming style to `snake_case`
Y: u32, // late resource
}
// ..
};
```
## Device peripherals
If your application was accessing the device peripherals in `#[init]` through
the `device` variable then you'll need to add `peripherals = true` to the
`#[rtic::app]` attribute to continue to access the device peripherals through
the `device` field of the `init::Context` structure.
Change this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
#[init]
fn init() {
device.SOME_PERIPHERAL.write(something);
}
// ..
};
```
Into this:
``` rust
#[rtic::app(/* .. */, peripherals = true)]
// ^^^^^^^^^^^^^^^^^^
const APP: () = {
#[init]
fn init(cx: init::Context) {
// ^^^^^^^^^^^^^^^^^
cx.device.SOME_PERIPHERAL.write(something);
// ^^^
}
// ..
};
```
## `#[interrupt]` and `#[exception]`
The `#[interrupt]` and `#[exception]` attributes have been removed. To declare
hardware tasks in v0.5.x use the `#[task]` attribute with the `binds` argument.
Change this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// hardware tasks
#[exception]
fn SVCall() { /* .. */ }
#[interrupt]
fn UART0() { /* .. */ }
// software task
#[task]
fn foo() { /* .. */ }
// ..
};
```
Into this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
#[task(binds = SVCall)]
// ^^^^^^^^^^^^^^
fn svcall(cx: svcall::Context) { /* .. */ }
// ^^^^^^ we suggest you use a `snake_case` name here
#[task(binds = UART0)]
// ^^^^^^^^^^^^^
fn uart0(cx: uart0::Context) { /* .. */ }
#[task]
fn foo(cx: foo::Context) { /* .. */ }
// ..
};
```
## `schedule`
The `timer-queue` feature has been removed. To use the `schedule` API one must
first define the monotonic timer the runtime will use using the `monotonic`
argument of the `#[rtic::app]` attribute. To continue using the cycle counter
(CYCCNT) as the monotonic timer, and match the behavior of version v0.4.x, add
the `monotonic = rtic::cyccnt::CYCCNT` argument to the `#[rtic::app]` attribute.
Also, the `Duration` and `Instant` types and the `U32Ext` trait have been moved
into the `rtic::cyccnt` module. This module is only available on ARMv7-M+
devices. The removal of the `timer-queue` also brings back the `DWT` peripheral
inside the core peripherals struct, this will need to be enabled by the application
inside `init`.
Change this:
``` rust
use rtic::{Duration, Instant, U32Ext};
#[rtic::app(/* .. */)]
const APP: () = {
#[task(schedule = [b])]
fn a() {
// ..
}
};
```
Into this:
``` rust
use rtic::cyccnt::{Duration, Instant, U32Ext};
// ^^^^^^^^
#[rtic::app(/* .. */, monotonic = rtic::cyccnt::CYCCNT)]
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
const APP: () = {
#[init]
fn init(cx: init::Context) {
cx.core.DWT.enable_cycle_counter();
// optional, configure the DWT run without a debugger connected
cx.core.DCB.enable_trace();
}
#[task(schedule = [b])]
fn a(cx: a::Context) {
// ..
}
};
```
This section describes how to migrate between different version of RTIC.
It also acts as a comparing reference between versions.

0
book/en/src/migration_rtic.md → book/en/src/migration/migration_rtic.md
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232
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@ -0,0 +1,232 @@
# Migrating from v0.4.x to v0.5.0
This section covers how to upgrade an application written against RTIC v0.4.x to
the version v0.5.0 of the framework.
### `Cargo.toml`
First, the version of the `cortex-m-rtic` dependency needs to be updated to
`"0.5.0"`. The `timer-queue` feature needs to be removed.
``` toml
[dependencies.cortex-m-rtic]
# change this
version = "0.4.3"
# into this
version = "0.5.0"
# and remove this Cargo feature
features = ["timer-queue"]
# ^^^^^^^^^^^^^
```
### `Context` argument
All functions inside the `#[rtic::app]` item need to take as first argument a
`Context` structure. This `Context` type will contain the variables that were
magically injected into the scope of the function by version v0.4.x of the
framework: `resources`, `spawn`, `schedule` -- these variables will become
fields of the `Context` structure. Each function within the `#[rtic::app]` item
gets a different `Context` type.
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// change this
#[task(resources = [x], spawn = [a], schedule = [b])]
fn foo() {
resources.x.lock(|x| /* .. */);
spawn.a(message);
schedule.b(baseline);
}
// into this
#[task(resources = [x], spawn = [a], schedule = [b])]
fn foo(mut cx: foo::Context) {
// ^^^^^^^^^^^^^^^^^^^^
cx.resources.x.lock(|x| /* .. */);
// ^^^
cx.spawn.a(message);
// ^^^
cx.schedule.b(message, baseline);
// ^^^
}
// change this
#[init]
fn init() {
// ..
}
// into this
#[init]
fn init(cx: init::Context) {
// ^^^^^^^^^^^^^^^^^
// ..
}
// ..
};
```
### Resources
The syntax used to declare resources has been changed from `static mut`
variables to a `struct Resources`.
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// change this
static mut X: u32 = 0;
static mut Y: u32 = (); // late resource
// into this
struct Resources {
#[init(0)] // <- initial value
X: u32, // NOTE: we suggest changing the naming style to `snake_case`
Y: u32, // late resource
}
// ..
};
```
### Device peripherals
If your application was accessing the device peripherals in `#[init]` through
the `device` variable then you'll need to add `peripherals = true` to the
`#[rtic::app]` attribute to continue to access the device peripherals through
the `device` field of the `init::Context` structure.
Change this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
#[init]
fn init() {
device.SOME_PERIPHERAL.write(something);
}
// ..
};
```
Into this:
``` rust
#[rtic::app(/* .. */, peripherals = true)]
// ^^^^^^^^^^^^^^^^^^
const APP: () = {
#[init]
fn init(cx: init::Context) {
// ^^^^^^^^^^^^^^^^^
cx.device.SOME_PERIPHERAL.write(something);
// ^^^
}
// ..
};
```
### `#[interrupt]` and `#[exception]`
The `#[interrupt]` and `#[exception]` attributes have been removed. To declare
hardware tasks in v0.5.x use the `#[task]` attribute with the `binds` argument.
Change this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
// hardware tasks
#[exception]
fn SVCall() { /* .. */ }
#[interrupt]
fn UART0() { /* .. */ }
// software task
#[task]
fn foo() { /* .. */ }
// ..
};
```
Into this:
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
#[task(binds = SVCall)]
// ^^^^^^^^^^^^^^
fn svcall(cx: svcall::Context) { /* .. */ }
// ^^^^^^ we suggest you use a `snake_case` name here
#[task(binds = UART0)]
// ^^^^^^^^^^^^^
fn uart0(cx: uart0::Context) { /* .. */ }
#[task]
fn foo(cx: foo::Context) { /* .. */ }
// ..
};
```
### `schedule`
The `timer-queue` feature has been removed. To use the `schedule` API one must
first define the monotonic timer the runtime will use using the `monotonic`
argument of the `#[rtic::app]` attribute. To continue using the cycle counter
(CYCCNT) as the monotonic timer, and match the behavior of version v0.4.x, add
the `monotonic = rtic::cyccnt::CYCCNT` argument to the `#[rtic::app]` attribute.
Also, the `Duration` and `Instant` types and the `U32Ext` trait have been moved
into the `rtic::cyccnt` module. This module is only available on ARMv7-M+
devices. The removal of the `timer-queue` also brings back the `DWT` peripheral
inside the core peripherals struct, this will need to be enabled by the application
inside `init`.
Change this:
``` rust
use rtic::{Duration, Instant, U32Ext};
#[rtic::app(/* .. */)]
const APP: () = {
#[task(schedule = [b])]
fn a() {
// ..
}
};
```
Into this:
``` rust
use rtic::cyccnt::{Duration, Instant, U32Ext};
// ^^^^^^^^
#[rtic::app(/* .. */, monotonic = rtic::cyccnt::CYCCNT)]
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
const APP: () = {
#[init]
fn init(cx: init::Context) {
cx.core.DWT.enable_cycle_counter();
// optional, configure the DWT run without a debugger connected
cx.core.DCB.enable_trace();
}
#[task(schedule = [b])]
fn a(cx: a::Context) {
// ..
}
};
```

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@ -0,0 +1,96 @@
# Migrating from v0.5.x to v0.6.0
This section describes how to upgrade from v0.5.x to v0.6.0 of the RTIC framework.
### `Cargo.toml` - version bump
Change the version of `cortex-m-rtic` to `"0.6.0"`.
### Module instead of Const
With the support of attributes on modules the `const APP` workaround is not needed.
Change
``` rust
#[rtic::app(/* .. */)]
const APP: () = {
[code here]
};
```
into
``` rust
#[rtic::app(/* .. */)]
mod app {
[code here]
}
```
Now that a regular Rust module is used it means it is possible to have custom
user code within that module.
Additionally, it means that `use`-statements for resources etc may be required.
### Init always returns late resources
In order to make the API more symmetric the #[init]-task always returns a late resource.
From this:
``` rust
#[rtic::app(device = lm3s6965)]
mod app {
#[init]
fn init(_: init::Context) {
rtic::pend(Interrupt::UART0);
}
[more code]
}
```
to this:
``` rust
#[rtic::app(device = lm3s6965)]
mod app {
#[init]
fn init(_: init::Context) -> init::LateResources {
rtic::pend(Interrupt::UART0);
init::LateResources {}
}
[more code]
}
```
### Resources struct - #[resources]
Previously the RTIC resources had to be in in a struct named exactly "Resources":
``` rust
struct Resources {
// Resources defined in here
}
```
With RTIC v0.6.0 the resources struct is annotated similarly like
`#[task]`, `#[init]`, `#[idle]`: with an attribute `#[resources]`
``` rust
#[resources]
struct Resources {
// Resources defined in here
}
```
In fact, the name of the struct is now up to the developer:
``` rust
#[resources]
struct whateveryouwant {
// Resources defined in here
}
```
would work equally well.

6
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@ -13,8 +13,10 @@ There is a translation of this book in [Russian].
[Russian]: ../ru/index.html
This is the documentation of v0.5.x of RTIC; for the documentation of version
v0.4.x go [here](/0.4).
This is the documentation of v0.6.x of RTIC; for the documentation of version
* v0.5.x go [here](/0.5).
* v0.4.x go [here](/0.4).
{{#include ../../../README.md:7:46}}