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Real-Time Interrupt-driven Concurrency
The hardware accelerated Rust RTOS
A concurrency framework for building real-time systems.
Features
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Tasks as the unit of concurrency 1. Tasks can be event triggered (fired in response to asynchronous stimuli) or spawned by the application on demand.
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Message passing between tasks. Specifically, messages can be passed to software tasks at spawn time.
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A timer queue 2. Software tasks can be delayed or scheduled to continue running at some time in the future. This feature can be used to implement periodic tasks.
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Support for prioritization of tasks and, thus, preemptive multitasking.
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Efficient and data race free memory sharing through fine-grained priority based critical sections 1.
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Deadlock free execution guaranteed at compile time. This is a stronger guarantee than what's provided by the standard
Mutexabstraction.
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Minimal scheduling overhead. The task scheduler has minimal software footprint; the hardware does the bulk of the scheduling.
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Highly efficient memory usage: All the tasks share a single call stack and there's no hard dependency on a dynamic memory allocator.
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All Cortex-M devices are fully supported.
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Most RISC-V devices are supported. Refer to the RTIC book to learn more about RISC-V backends, their particularities, and their limitations.
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This task model is amenable to known WCET (Worst Case Execution Time) analysis and scheduling analysis techniques.
User documentation
Documentation for the development version.
API reference
Community provided examples repo
Chat
Join us and talk about RTIC in the Matrix room.
Weekly meeting minutes can be found over at RTIC HackMD
Contributing
New features and big changes should go through the RFC process in the dedicated RFC repository.
Running tests locally
To check all tests locally, make sure you got QEMU (and ESP32 QEMU if so desired)
then:
$ cargo xtask ci
To only format code before PR (included in ci above):
$ cargo xtask fmt
Clippy lints:
$ cargo xtask clippy
and so on. See cargo xtask --help for all options.
Acknowledgments
This crate is based on the Real-Time For the Masses language created by the Embedded Systems group at Luleå University of Technology, led by Prof. Per Lindgren.
References
License
All source code (including code snippets) is licensed under either of
- Apache License, Version 2.0 (LICENSE-APACHE or https://www.apache.org/licenses/LICENSE-2.0)
- MIT license (LICENSE-MIT or https://opensource.org/licenses/MIT)
at your option.
The written prose contained within the book is licensed under the terms of the Creative Commons CC-BY-SA v4.0 license (LICENSE-CC-BY-SA or https://creativecommons.org/licenses/by-sa/4.0/legalcode).
Contribution
Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be licensed as above, without any additional terms or conditions.
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Eriksson, J., Häggström, F., Aittamaa, S., Kruglyak, A., & Lindgren, P. (2013, June). Real-time for the masses, step 1: Programming API and static priority SRP kernel primitives. In Industrial Embedded Systems (SIES), 2013 8th IEEE International Symposium on (pp. 110-113). IEEE. ↩︎
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Lindgren, P., Fresk, E., Lindner, M., Lindner, A., Pereira, D., & Pinho, L. M. (2016). Abstract timers and their implementation onto the arm cortex-m family of mcus. ACM SIGBED Review, 13(1), 48-53. ↩︎