83cdf00eec
466: Fix for type aliases in `mod app`, UB in `spawn_at`, and `#[cfg]` in hardware tasks r=AfoHT a=korken89
Type aliases such as the following did not work in `0.6-alpha`:
```rust
use rtic::app;
#[app(device = lm3s6965, dispatchers = [SSI0])]
mod app {
type Test = u32;
#[task]
fn t1(_: t1::Context, _val: Test) {}
}
```
Plus that accessing associated constants of monotonic timers was not working as it should dues to the syntax and codegen transforming:
```rust
#[monotonic(binds = SysTick, default = true)]
type MyMono = DwtSystick<8_000_000>; // 8 MHz
```
into
```rust
mod MyMono {
// ...
}
```
causing the original `type MyMono` to not exist anymore.
This PR fixes this and adds test to check for this by doing the following expansion instead:
```rust
#[monotonic(binds = SysTick, default = true)]
type MyMono = DwtSystick<8_000_000>; // 8 MHz
```
into
```rust
type MyMono = DwtSystick<8_000_000>;
mod monotonics {
mod MyMono {
// ...
}
// And other monotonics go here as well
}
```
**Breaking change**
This causes a breaking change in accessing the `MyMono::now()` method which now exists under `monotonics::MyMono::now()`.
---
Moreover a UB issue was found and fixed in `spawn_at` and hardware tasks properly propagate `#[cfg]`s.
Closes #460
Closes #462
Closes #463
Co-authored-by: Emil Fresk <emil.fresk@gmail.com>
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| CHANGELOG.md | ||
| CNAME | ||
| CONTRIBUTING.md | ||
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| LICENSE-CC-BY-SA | ||
| LICENSE-MIT | ||
| README.md | ||
| redirect.html | ||
Real-Time Interrupt-driven Concurrency
A concurrency framework for building real-time systems.
Formerly known as Real-Time For the Masses.
Features
-
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.
-
Message passing between tasks. Specifically, messages can be passed to software tasks at spawn time.
-
A timer queue 2. Software tasks can be scheduled to run at some time in the future. This feature can be used to implement periodic tasks.
-
Support for prioritization of tasks and, thus, preemptive multitasking.
-
Efficient and data race free memory sharing through fine grained priority based critical sections 1.
-
Deadlock free execution guaranteed at compile time. This is an stronger guarantee than what's provided by the standard
Mutexabstraction.
-
Minimal scheduling overhead. The task scheduler has minimal software footprint; the hardware does the bulk of the scheduling.
-
Highly efficient memory usage: All the tasks share a single call stack and there's no hard dependency on a dynamic memory allocator.
-
All Cortex-M devices are fully supported.
-
This task model is amenable to known WCET (Worst Case Execution Time) analysis and scheduling analysis techniques. (Though we haven't yet developed Rust friendly tooling for that.)
Requirements
-
Rust 1.36.0+
-
Applications must be written using the 2018 edition.
User documentation
API reference
Chat
Join us and talk about RTIC in the Matrix room.
Weekly meeting notes can be found over at HackMD
Contributing
New features and big changes should go through the RFC process in the dedicated RFC repository.
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.
-
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. ↩︎
-
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. ↩︎