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<ol class="chapter"><li class="chapter-item expanded affix "><a href="../preface.html">Preface</a></li><li class="chapter-item expanded "><a href="../by-example.html"><strong aria-hidden="true">1.</strong> RTIC by example</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../by-example/app.html"><strong aria-hidden="true">1.1.</strong> The app</a></li><li class="chapter-item expanded "><a href="../by-example/resources.html"><strong aria-hidden="true">1.2.</strong> Resources</a></li><li class="chapter-item expanded "><a href="../by-example/app_init.html"><strong aria-hidden="true">1.3.</strong> The init task</a></li><li class="chapter-item expanded "><a href="../by-example/app_idle.html"><strong aria-hidden="true">1.4.</strong> The idle task</a></li><li class="chapter-item expanded "><a href="../by-example/app_task.html"><strong aria-hidden="true">1.5.</strong> Defining tasks</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../by-example/hardware_tasks.html"><strong aria-hidden="true">1.5.1.</strong> Hardware tasks</a></li><li class="chapter-item expanded "><a href="../by-example/software_tasks.html"><strong aria-hidden="true">1.5.2.</strong> Software tasks & spawn</a></li><li class="chapter-item expanded "><a href="../by-example/message_passing.html"><strong aria-hidden="true">1.5.3.</strong> Message passing & capacity</a></li><li class="chapter-item expanded "><a href="../by-example/app_priorities.html"><strong aria-hidden="true">1.5.4.</strong> Task priorities</a></li><li class="chapter-item expanded "><a href="../by-example/monotonic.html"><strong aria-hidden="true">1.5.5.</strong> Monotonic & spawn_{at/after}</a></li></ol></li><li class="chapter-item expanded "><a href="../by-example/starting_a_project.html"><strong aria-hidden="true">1.6.</strong> Starting a new project</a></li><li class="chapter-item expanded "><a href="../by-example/app_minimal.html"><strong aria-hidden="true">1.7.</strong> The minimal app</a></li><li class="chapter-item expanded "><a href="../by-example/tips.html"><strong aria-hidden="true">1.8.</strong> Tips & Tricks</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../by-example/tips_monotonic_impl.html"><strong aria-hidden="true">1.8.1.</strong> Implementing Monotonic</a></li><li class="chapter-item expanded "><a href="../by-example/tips_destructureing.html"><strong aria-hidden="true">1.8.2.</strong> Resource de-structure-ing</a></li><li class="chapter-item expanded "><a href="../by-example/tips_indirection.html"><strong aria-hidden="true">1.8.3.</strong> Avoid copies when message passing</a></li><li class="chapter-item expanded "><a href="../by-example/tips_static_lifetimes.html"><strong aria-hidden="true">1.8.4.</strong> 'static super-powers</a></li><li class="chapter-item expanded "><a href="../by-example/tips_view_code.html"><strong aria-hidden="true">1.8.5.</strong> Inspecting generated code</a></li><li class="chapter-item expanded "><a href="../by-example/tips_from_ram.html"><strong aria-hidden="true">1.8.6.</strong> Running tasks from RAM</a></li></ol></li></ol></li><li class="chapter-item expanded "><a href="../awesome_rtic.html"><strong aria-hidden="true">2.</strong> Awesome RTIC examples</a></li><li class="chapter-item expanded "><a href="../migration.html"><strong aria-hidden="true">3.</strong> Migration Guides</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../migration/migration_v5.html" class="active"><strong aria-hidden="true">3.1.</strong> v0.5.x to v1.0.x</a></li><li class="chapter-item expanded "><a href="../migration/migration_v4.html"><strong aria-hidden="true">3.2.</strong> v0.4.x to v0.5.x</a></li><li class="chapter-item expanded "><a href="../migration/migration_rtic.html"><strong aria-hidden="true">3.3.</strong> RTFM to RTIC</a></li></ol></li><li class="chapter-item expanded "><a href="../internals.html"><strong aria-hidden="true">4.</strong> Under the hood</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../internals/targets.html"><strong aria-hidden="true">4.1.</strong> Cortex-M architectures</a></li></ol></li></ol>
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<h1 class="menu-title">Real-Time Interrupt-driven Concurrency</h1>
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<main>
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<h1 id="migrating-from-v05x-to-v100"><a class="header" href="#migrating-from-v05x-to-v100">Migrating from v0.5.x to v1.0.0</a></h1>
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<p>This section describes how to upgrade from v0.5.x to v1.0.0 of the RTIC framework.</p>
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<h2 id="cargotoml---version-bump"><a class="header" href="#cargotoml---version-bump"><code>Cargo.toml</code> - version bump</a></h2>
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<p>Change the version of <code>cortex-m-rtic</code> to <code>"1.0.0"</code>.</p>
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<h2 id="mod-instead-of-const"><a class="header" href="#mod-instead-of-const"><code>mod</code> instead of <code>const</code></a></h2>
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<p>With the support of attributes on modules the <code>const APP</code> workaround is not needed.</p>
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<p>Change</p>
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<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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</span><span class="boring">fn main() {
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</span>#[rtic::app(/* .. */)]
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const APP: () = {
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[code here]
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};
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<span class="boring">}</span></code></pre></pre>
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<p>into</p>
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<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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</span><span class="boring">fn main() {
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</span>#[rtic::app(/* .. */)]
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mod app {
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[code here]
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}
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<span class="boring">}</span></code></pre></pre>
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<p>Now that a regular Rust module is used it means it is possible to have custom
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user code within that module.
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Additionally, it means that <code>use</code>-statements for resources used in user
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code must be moved inside <code>mod app</code>, or be referred to with <code>super</code>. For
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example, change:</p>
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<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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</span><span class="boring">fn main() {
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</span>use some_crate::some_func;
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#[rtic::app(/* .. */)]
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const APP: () = {
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fn func() {
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some_crate::some_func();
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}
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};
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<span class="boring">}</span></code></pre></pre>
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<p>into</p>
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<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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</span><span class="boring">fn main() {
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</span>#[rtic::app(/* .. */)]
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mod app {
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use some_crate::some_func;
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fn func() {
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some_crate::some_func();
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}
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}
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<span class="boring">}</span></code></pre></pre>
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<p>or</p>
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<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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</span><span class="boring">fn main() {
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</span>use some_crate::some_func;
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#[rtic::app(/* .. */)]
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mod app {
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fn func() {
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super::some_crate::some_func();
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}
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}
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<span class="boring">}</span></code></pre></pre>
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<h2 id="move-dispatchers-from-extern-c-to-app-arguments"><a class="header" href="#move-dispatchers-from-extern-c-to-app-arguments">Move Dispatchers from <code>extern "C"</code> to app arguments</a></h2>
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<p>Change</p>
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<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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</span><span class="boring">fn main() {
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</span>#[rtic::app(/* .. */)]
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const APP: () = {
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[code here]
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// RTIC requires that unused interrupts are declared in an extern block when
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// using software tasks; these free interrupts will be used to dispatch the
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// software tasks.
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extern "C" {
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fn SSI0();
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fn QEI0();
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}
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};
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<span class="boring">}</span></code></pre></pre>
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<p>into</p>
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<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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</span><span class="boring">fn main() {
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</span>#[rtic::app(/* .. */, dispatchers = [SSI0, QEI0])]
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mod app {
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[code here]
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}
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<span class="boring">}</span></code></pre></pre>
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<p>This works also for ram functions, see examples/ramfunc.rs</p>
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<h2 id="resources-structs---shared-local"><a class="header" href="#resources-structs---shared-local">Resources structs - <code>#[shared]</code>, <code>#[local]</code></a></h2>
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|
<p>Previously the RTIC resources had to be in in a struct named exactly "Resources":</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
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|
</span><span class="boring">fn main() {
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|
</span>struct Resources {
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|
// Resources defined in here
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}
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<span class="boring">}</span></code></pre></pre>
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<p>With RTIC v1.0.0 the resources structs are annotated similarly like
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<code>#[task]</code>, <code>#[init]</code>, <code>#[idle]</code>: with the attributes <code>#[shared]</code> and <code>#[local]</code></p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
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|
</span>#[shared]
|
|
struct MySharedResources {
|
|
// Resources shared between tasks are defined here
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|
}
|
|
|
|
#[local]
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|
struct MyLocalResources {
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|
// Resources defined here cannot be shared between tasks; each one is local to a single task
|
|
}
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|
<span class="boring">}</span></code></pre></pre>
|
|
<p>These structs can be freely named by the developer.</p>
|
|
<h2 id="shared-and-local-arguments-in-tasks"><a class="header" href="#shared-and-local-arguments-in-tasks"><code>shared</code> and <code>local</code> arguments in <code>#[task]</code>s</a></h2>
|
|
<p>In v1.0.0 resources are split between <code>shared</code> resources and <code>local</code> resources.
|
|
<code>#[task]</code>, <code>#[init]</code> and <code>#[idle]</code> no longer have a <code>resources</code> argument; they must now use the <code>shared</code> and <code>local</code> arguments.</p>
|
|
<p>In v0.5.x:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>struct Resources {
|
|
local_to_b: i64,
|
|
shared_by_a_and_b: i64,
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|
}
|
|
|
|
#[task(resources = [shared_by_a_and_b])]
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|
fn a(_: a::Context) {}
|
|
|
|
#[task(resources = [shared_by_a_and_b, local_to_b])]
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|
fn b(_: b::Context) {}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<p>In v1.0.0:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[shared]
|
|
struct Shared {
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|
shared_by_a_and_b: i64,
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|
}
|
|
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|
#[local]
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|
struct Local {
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|
local_to_b: i64,
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}
|
|
|
|
#[task(shared = [shared_by_a_and_b])]
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|
fn a(_: a::Context) {}
|
|
|
|
#[task(shared = [shared_by_a_and_b], local = [local_to_b])]
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|
fn b(_: b::Context) {}
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<span class="boring">}</span></code></pre></pre>
|
|
<h2 id="symmetric-locks"><a class="header" href="#symmetric-locks">Symmetric locks</a></h2>
|
|
<p>Now RTIC utilizes symmetric locks, this means that the <code>lock</code> method need
|
|
to be used for all <code>shared</code> resource access.
|
|
In old code one could do the following as the high priority
|
|
task has exclusive access to the resource:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[task(priority = 2, resources = [r])]
|
|
fn foo(cx: foo::Context) {
|
|
cx.resources.r = /* ... */;
|
|
}
|
|
|
|
#[task(resources = [r])]
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|
fn bar(cx: bar::Context) {
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|
cx.resources.r.lock(|r| r = /* ... */);
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}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<p>And with symmetric locks one needs to use locks in both tasks:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[task(priority = 2, shared = [r])]
|
|
fn foo(cx: foo::Context) {
|
|
cx.shared.r.lock(|r| r = /* ... */);
|
|
}
|
|
|
|
#[task(shared = [r])]
|
|
fn bar(cx: bar::Context) {
|
|
cx.shared.r.lock(|r| r = /* ... */);
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<p>Note that the performance does not change thanks to LLVM's optimizations which optimizes away unnecessary locks.</p>
|
|
<h2 id="lock-free-resource-access"><a class="header" href="#lock-free-resource-access">Lock-free resource access</a></h2>
|
|
<p>In RTIC 0.5 resources shared by tasks running at the same priority could be accessed <em>without</em> the <code>lock</code> API.
|
|
This is still possible in 1.0: the <code>#[shared]</code> resource must be annotated with the field-level <code>#[lock_free]</code> attribute.</p>
|
|
<p>v0.5 code:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>struct Resources {
|
|
counter: u64,
|
|
}
|
|
|
|
#[task(resources = [counter])]
|
|
fn a(cx: a::Context) {
|
|
*cx.resources.counter += 1;
|
|
}
|
|
|
|
#[task(resources = [counter])]
|
|
fn b(cx: b::Context) {
|
|
*cx.resources.counter += 1;
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<p>v1.0 code:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[shared]
|
|
struct Shared {
|
|
#[lock_free]
|
|
counter: u64,
|
|
}
|
|
|
|
#[task(shared = [counter])]
|
|
fn a(cx: a::Context) {
|
|
*cx.shared.counter += 1;
|
|
}
|
|
|
|
#[task(shared = [counter])]
|
|
fn b(cx: b::Context) {
|
|
*cx.shared.counter += 1;
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<h2 id="no-static-mut-transform"><a class="header" href="#no-static-mut-transform">no <code>static mut</code> transform</a></h2>
|
|
<p><code>static mut</code> variables are no longer transformed to safe <code>&'static mut</code> references.
|
|
Instead of that syntax, use the <code>local</code> argument in <code>#[init]</code>.</p>
|
|
<p>v0.5.x code:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[init]
|
|
fn init(_: init::Context) {
|
|
static mut BUFFER: [u8; 1024] = [0; 1024];
|
|
let buffer: &'static mut [u8; 1024] = BUFFER;
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<p>v1.0.0 code:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[init(local = [
|
|
buffer: [u8; 1024] = [0; 1024]
|
|
// type ^^^^^^^^^^^^ ^^^^^^^^^ initial value
|
|
])]
|
|
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
|
|
let buffer: &'static mut [u8; 1024] = cx.local.buffer;
|
|
|
|
(Shared {}, Local {}, init::Monotonics())
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<h2 id="init-always-returns-late-resources"><a class="header" href="#init-always-returns-late-resources">Init always returns late resources</a></h2>
|
|
<p>In order to make the API more symmetric the #[init]-task always returns a late resource.</p>
|
|
<p>From this:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[rtic::app(device = lm3s6965)]
|
|
const APP: () = {
|
|
#[init]
|
|
fn init(_: init::Context) {
|
|
rtic::pend(Interrupt::UART0);
|
|
}
|
|
|
|
// [more code]
|
|
};
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<p>to this:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[rtic::app(device = lm3s6965)]
|
|
mod app {
|
|
#[shared]
|
|
struct MySharedResources {}
|
|
|
|
#[local]
|
|
struct MyLocalResources {}
|
|
|
|
#[init]
|
|
fn init(_: init::Context) -> (MySharedResources, MyLocalResources, init::Monotonics) {
|
|
rtic::pend(Interrupt::UART0);
|
|
|
|
(MySharedResources, MyLocalResources, init::Monotonics())
|
|
}
|
|
|
|
// [more code]
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<h2 id="spawn-from-anywhere"><a class="header" href="#spawn-from-anywhere">Spawn from anywhere</a></h2>
|
|
<p>With the new spawn/spawn_after/spawn_at interface,
|
|
old code requiring the context <code>cx</code> for spawning such as:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[task(spawn = [bar])]
|
|
fn foo(cx: foo::Context) {
|
|
cx.spawn.bar().unwrap();
|
|
}
|
|
|
|
#[task(schedule = [bar])]
|
|
fn bar(cx: bar::Context) {
|
|
cx.schedule.foo(/* ... */).unwrap();
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<p>Will now be written as:</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>#[task]
|
|
fn foo(_c: foo::Context) {
|
|
bar::spawn().unwrap();
|
|
}
|
|
|
|
#[task]
|
|
fn bar(_c: bar::Context) {
|
|
// Takes a Duration, relative to “now”
|
|
let spawn_handle = foo::spawn_after(/* ... */);
|
|
}
|
|
|
|
#[task]
|
|
fn bar(_c: bar::Context) {
|
|
// Takes an Instant
|
|
let spawn_handle = foo::spawn_at(/* ... */);
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
<p>Thus the requirement of having access to the context is dropped.</p>
|
|
<p>Note that the attributes <code>spawn</code>/<code>schedule</code> in the task definition are no longer needed.</p>
|
|
<hr />
|
|
<h2 id="additions"><a class="header" href="#additions">Additions</a></h2>
|
|
<h3 id="extern-tasks"><a class="header" href="#extern-tasks">Extern tasks</a></h3>
|
|
<p>Both software and hardware tasks can now be defined external to the <code>mod app</code>.
|
|
Previously this was possible only by implementing a trampoline calling out the task implementation.</p>
|
|
<p>See examples <code>examples/extern_binds.rs</code> and <code>examples/extern_spawn.rs</code>.</p>
|
|
<p>This enables breaking apps into multiple files.</p>
|
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