mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-11-23 20:22:51 +01:00
138 lines
5.1 KiB
Markdown
138 lines
5.1 KiB
Markdown
# Real-Time Interrupt-driven Concurrency
|
||
|
||
A concurrency framework for building real-time systems.
|
||
|
||
Formerly known as Real-Time For the Masses.
|
||
|
||
[](https://crates.io/crates/cortex-m-rtic)
|
||
[](https://docs.rs/cortex-m-rtic)
|
||
[](https://rtic.rs/)
|
||
[](https://matrix.to/#/#rtic:matrix.org)
|
||
[](https://hackmd.io/@xmis9JvZT8Gvo9lOEKyZ4Q/SkBJKsjuH)
|
||
|
||
## 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 a stronger
|
||
guarantee than what's provided by [the standard `Mutex`
|
||
abstraction][std-mutex].
|
||
|
||
[std-mutex]: https://doc.rust-lang.org/std/sync/struct.Mutex.html
|
||
|
||
- **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.
|
||
|
||
### Crate `cortex-m` 0.6 vs 0.7 in RTIC 0.5.x
|
||
|
||
The crate `cortex-m` 0.7 started using trait `InterruptNumber` for interrupts instead of `Nr` from `bare-metal`. In order to preserve backwards compatibility, RTIC 0.5.x will keep using `cortex-m` 0.6 by default. `cortex-m` 0.7 can be enabled using the feature `cortex-m-7` and disabling default features:
|
||
|
||
```
|
||
cortex-m-rtic = { version = "0.5.8", default-features = false, features = ["cortex-m-7"] }
|
||
```
|
||
|
||
RTIC 1.0.0 already uses `cortex-m` 0.7 by default.
|
||
|
||
## [User documentation](https://rtic.rs)
|
||
|
||
Documentation for the [development version](https://rtic.rs/dev).
|
||
|
||
## [API reference](https://rtic.rs/stable/api/)
|
||
|
||
## [Community provided examples repo][examples]
|
||
|
||
[examples]: https://github.com/rtic-rs/rtic-examples
|
||
|
||
## Chat
|
||
|
||
Join us and talk about RTIC in the [Matrix room][matrix-room].
|
||
|
||
Weekly meeting notes can be found over at [HackMD][hackmd]
|
||
|
||
[matrix-room]: https://matrix.to/#/#rtic:matrix.org
|
||
[hackmd]: https://hackmd.io/@xmis9JvZT8Gvo9lOEKyZ4Q/SkBJKsjuH
|
||
|
||
## Contributing
|
||
|
||
New features and big changes should go through the RFC process in the
|
||
[dedicated RFC repository][rfcs].
|
||
|
||
[rfcs]: https://github.com/rtic-rs/rfcs
|
||
|
||
## Running tests locally
|
||
|
||
To check all `Run-pass tests` locally on your `thumbv6m-none-eabi` or `thumbv7m-none-eabi` target device, run
|
||
|
||
```console
|
||
$ cargo xtask --target <your target>
|
||
# ˆˆˆˆˆˆˆˆˆˆˆˆ
|
||
# e.g. thumbv7m-none-eabi
|
||
```
|
||
|
||
## Acknowledgments
|
||
|
||
This crate is based on the [Real-Time For the Masses language][rtfm-lang]
|
||
created by the Embedded Systems group at [Luleå University of Technology][ltu],
|
||
led by [Prof. Per Lindgren][perl].
|
||
|
||
[rtfm-lang]: http://www.rtfm-lang.org/
|
||
[ltu]: https://www.ltu.se/?l=en
|
||
[perl]: https://www.ltu.se/staff/p/pln-1.11258?l=en
|
||
|
||
## References
|
||
|
||
[^1]: 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.
|
||
|
||
[^2]: 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.
|
||
|
||
## License
|
||
|
||
All source code (including code snippets) is licensed under either of
|
||
|
||
- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
|
||
[https://www.apache.org/licenses/LICENSE-2.0][L1])
|
||
- MIT license ([LICENSE-MIT](LICENSE-MIT) or
|
||
[https://opensource.org/licenses/MIT][L2])
|
||
|
||
[L1]: https://www.apache.org/licenses/LICENSE-2.0
|
||
[L2]: 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](LICENSE-CC-BY-SA) or
|
||
[https://creativecommons.org/licenses/by-sa/4.0/legalcode][L3]).
|
||
|
||
[L3]: 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.
|