mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-12-26 11:59:33 +01:00
328 lines
14 KiB
HTML
328 lines
14 KiB
HTML
<!DOCTYPE HTML>
|
|
<html lang="en" class="light sidebar-visible" dir="ltr">
|
|
<head>
|
|
<!-- Book generated using mdBook -->
|
|
<meta charset="UTF-8">
|
|
<title>The app - Real-Time Interrupt-driven Concurrency</title>
|
|
|
|
|
|
<!-- Custom HTML head -->
|
|
|
|
<meta name="description" content="">
|
|
<meta name="viewport" content="width=device-width, initial-scale=1">
|
|
<meta name="theme-color" content="#ffffff">
|
|
|
|
<link rel="icon" href="../favicon.svg">
|
|
<link rel="shortcut icon" href="../favicon.png">
|
|
<link rel="stylesheet" href="../css/variables.css">
|
|
<link rel="stylesheet" href="../css/general.css">
|
|
<link rel="stylesheet" href="../css/chrome.css">
|
|
<link rel="stylesheet" href="../css/print.css" media="print">
|
|
|
|
<!-- Fonts -->
|
|
<link rel="stylesheet" href="../FontAwesome/css/font-awesome.css">
|
|
<link rel="stylesheet" href="../fonts/fonts.css">
|
|
|
|
<!-- Highlight.js Stylesheets -->
|
|
<link rel="stylesheet" href="../highlight.css">
|
|
<link rel="stylesheet" href="../tomorrow-night.css">
|
|
<link rel="stylesheet" href="../ayu-highlight.css">
|
|
|
|
<!-- Custom theme stylesheets -->
|
|
|
|
|
|
<!-- Provide site root to javascript -->
|
|
<script>
|
|
var path_to_root = "../";
|
|
var default_theme = window.matchMedia("(prefers-color-scheme: dark)").matches ? "navy" : "light";
|
|
</script>
|
|
<!-- Start loading toc.js asap -->
|
|
<script src="../toc.js"></script>
|
|
</head>
|
|
<body>
|
|
<div id="body-container">
|
|
<!-- Work around some values being stored in localStorage wrapped in quotes -->
|
|
<script>
|
|
try {
|
|
var theme = localStorage.getItem('mdbook-theme');
|
|
var sidebar = localStorage.getItem('mdbook-sidebar');
|
|
|
|
if (theme.startsWith('"') && theme.endsWith('"')) {
|
|
localStorage.setItem('mdbook-theme', theme.slice(1, theme.length - 1));
|
|
}
|
|
|
|
if (sidebar.startsWith('"') && sidebar.endsWith('"')) {
|
|
localStorage.setItem('mdbook-sidebar', sidebar.slice(1, sidebar.length - 1));
|
|
}
|
|
} catch (e) { }
|
|
</script>
|
|
|
|
<!-- Set the theme before any content is loaded, prevents flash -->
|
|
<script>
|
|
var theme;
|
|
try { theme = localStorage.getItem('mdbook-theme'); } catch(e) { }
|
|
if (theme === null || theme === undefined) { theme = default_theme; }
|
|
const html = document.documentElement;
|
|
html.classList.remove('light')
|
|
html.classList.add(theme);
|
|
html.classList.add("js");
|
|
</script>
|
|
|
|
<input type="checkbox" id="sidebar-toggle-anchor" class="hidden">
|
|
|
|
<!-- Hide / unhide sidebar before it is displayed -->
|
|
<script>
|
|
var sidebar = null;
|
|
var sidebar_toggle = document.getElementById("sidebar-toggle-anchor");
|
|
if (document.body.clientWidth >= 1080) {
|
|
try { sidebar = localStorage.getItem('mdbook-sidebar'); } catch(e) { }
|
|
sidebar = sidebar || 'visible';
|
|
} else {
|
|
sidebar = 'hidden';
|
|
}
|
|
sidebar_toggle.checked = sidebar === 'visible';
|
|
html.classList.remove('sidebar-visible');
|
|
html.classList.add("sidebar-" + sidebar);
|
|
</script>
|
|
|
|
<nav id="sidebar" class="sidebar" aria-label="Table of contents">
|
|
<!-- populated by js -->
|
|
<mdbook-sidebar-scrollbox class="sidebar-scrollbox"></mdbook-sidebar-scrollbox>
|
|
<noscript>
|
|
<iframe class="sidebar-iframe-outer" src="../toc.html"></iframe>
|
|
</noscript>
|
|
<div id="sidebar-resize-handle" class="sidebar-resize-handle">
|
|
<div class="sidebar-resize-indicator"></div>
|
|
</div>
|
|
</nav>
|
|
|
|
<div id="page-wrapper" class="page-wrapper">
|
|
|
|
<div class="page">
|
|
<div id="menu-bar-hover-placeholder"></div>
|
|
<div id="menu-bar" class="menu-bar sticky">
|
|
<div class="left-buttons">
|
|
<label id="sidebar-toggle" class="icon-button" for="sidebar-toggle-anchor" title="Toggle Table of Contents" aria-label="Toggle Table of Contents" aria-controls="sidebar">
|
|
<i class="fa fa-bars"></i>
|
|
</label>
|
|
<button id="theme-toggle" class="icon-button" type="button" title="Change theme" aria-label="Change theme" aria-haspopup="true" aria-expanded="false" aria-controls="theme-list">
|
|
<i class="fa fa-paint-brush"></i>
|
|
</button>
|
|
<ul id="theme-list" class="theme-popup" aria-label="Themes" role="menu">
|
|
<li role="none"><button role="menuitem" class="theme" id="light">Light</button></li>
|
|
<li role="none"><button role="menuitem" class="theme" id="rust">Rust</button></li>
|
|
<li role="none"><button role="menuitem" class="theme" id="coal">Coal</button></li>
|
|
<li role="none"><button role="menuitem" class="theme" id="navy">Navy</button></li>
|
|
<li role="none"><button role="menuitem" class="theme" id="ayu">Ayu</button></li>
|
|
</ul>
|
|
<button id="search-toggle" class="icon-button" type="button" title="Search. (Shortkey: s)" aria-label="Toggle Searchbar" aria-expanded="false" aria-keyshortcuts="S" aria-controls="searchbar">
|
|
<i class="fa fa-search"></i>
|
|
</button>
|
|
</div>
|
|
|
|
<h1 class="menu-title">Real-Time Interrupt-driven Concurrency</h1>
|
|
|
|
<div class="right-buttons">
|
|
<a href="../print.html" title="Print this book" aria-label="Print this book">
|
|
<i id="print-button" class="fa fa-print"></i>
|
|
</a>
|
|
<a href="https://github.com/rtic-rs/cortex-m-rtic" title="Git repository" aria-label="Git repository">
|
|
<i id="git-repository-button" class="fa fa-github"></i>
|
|
</a>
|
|
|
|
</div>
|
|
</div>
|
|
|
|
<div id="search-wrapper" class="hidden">
|
|
<form id="searchbar-outer" class="searchbar-outer">
|
|
<input type="search" id="searchbar" name="searchbar" placeholder="Search this book ..." aria-controls="searchresults-outer" aria-describedby="searchresults-header">
|
|
</form>
|
|
<div id="searchresults-outer" class="searchresults-outer hidden">
|
|
<div id="searchresults-header" class="searchresults-header"></div>
|
|
<ul id="searchresults">
|
|
</ul>
|
|
</div>
|
|
</div>
|
|
|
|
<!-- Apply ARIA attributes after the sidebar and the sidebar toggle button are added to the DOM -->
|
|
<script>
|
|
document.getElementById('sidebar-toggle').setAttribute('aria-expanded', sidebar === 'visible');
|
|
document.getElementById('sidebar').setAttribute('aria-hidden', sidebar !== 'visible');
|
|
Array.from(document.querySelectorAll('#sidebar a')).forEach(function(link) {
|
|
link.setAttribute('tabIndex', sidebar === 'visible' ? 0 : -1);
|
|
});
|
|
</script>
|
|
|
|
<div id="content" class="content">
|
|
<main>
|
|
<h1 id="the-app-attribute-and-an-rtic-application"><a class="header" href="#the-app-attribute-and-an-rtic-application">The <code>#[app]</code> attribute and an RTIC application</a></h1>
|
|
<h2 id="requirements-on-the-app-attribute"><a class="header" href="#requirements-on-the-app-attribute">Requirements on the <code>app</code> attribute</a></h2>
|
|
<p>All RTIC applications use the <a href="../../../api/cortex_m_rtic_macros/attr.app.html"><code>app</code></a> attribute (<code>#[app(..)]</code>). This attribute
|
|
only applies to a <code>mod</code>-item containing the RTIC application. The <code>app</code>
|
|
attribute has a mandatory <code>device</code> argument that takes a <em>path</em> as a value.
|
|
This must be a full path pointing to a
|
|
<em>peripheral access crate</em> (PAC) generated using <a href="https://crates.io/crates/svd2rust"><code>svd2rust</code></a> <strong>v0.14.x</strong> or
|
|
newer.</p>
|
|
<p>The <code>app</code> attribute will expand into a suitable entry point and thus replaces
|
|
the use of the <a href="../../../api/cortex_m_rt_macros/attr.entry.html"><code>cortex_m_rt::entry</code></a> attribute.</p>
|
|
<h2 id="an-rtic-application-example"><a class="header" href="#an-rtic-application-example">An RTIC application example</a></h2>
|
|
<p>To give a flavour of RTIC, the following example contains commonly used features.
|
|
In the following sections we will go through each feature in detail.</p>
|
|
<pre><pre class="playground"><code class="language-rust"><span class="boring">#![allow(unused)]
|
|
</span><span class="boring">fn main() {
|
|
</span>//! examples/common.rs
|
|
|
|
#![deny(unsafe_code)]
|
|
#![deny(warnings)]
|
|
#![deny(missing_docs)]
|
|
#![no_main]
|
|
#![no_std]
|
|
|
|
use panic_semihosting as _;
|
|
|
|
#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])]
|
|
mod app {
|
|
use cortex_m_semihosting::{debug, hprintln};
|
|
use systick_monotonic::*; // Implements the `Monotonic` trait
|
|
|
|
// A monotonic timer to enable scheduling in RTIC
|
|
#[monotonic(binds = SysTick, default = true)]
|
|
type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
|
|
|
|
// Resources shared between tasks
|
|
#[shared]
|
|
struct Shared {
|
|
s1: u32,
|
|
s2: i32,
|
|
}
|
|
|
|
// Local resources to specific tasks (cannot be shared)
|
|
#[local]
|
|
struct Local {
|
|
l1: u8,
|
|
l2: i8,
|
|
}
|
|
|
|
#[init]
|
|
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
|
|
let systick = cx.core.SYST;
|
|
|
|
// Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
|
|
let mono = Systick::new(systick, 12_000_000);
|
|
|
|
// Spawn the task `foo` directly after `init` finishes
|
|
foo::spawn().unwrap();
|
|
|
|
// Spawn the task `bar` 1 second after `init` finishes, this is enabled
|
|
// by the `#[monotonic(..)]` above
|
|
bar::spawn_after(1.secs()).unwrap();
|
|
|
|
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
|
|
|
|
(
|
|
// Initialization of shared resources
|
|
Shared { s1: 0, s2: 1 },
|
|
// Initialization of task local resources
|
|
Local { l1: 2, l2: 3 },
|
|
// Move the monotonic timer to the RTIC run-time, this enables
|
|
// scheduling
|
|
init::Monotonics(mono),
|
|
)
|
|
}
|
|
|
|
// Background task, runs whenever no other tasks are running
|
|
#[idle]
|
|
fn idle(_: idle::Context) -> ! {
|
|
loop {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
// Software task, not bound to a hardware interrupt.
|
|
// This task takes the task local resource `l1`
|
|
// The resources `s1` and `s2` are shared between all other tasks.
|
|
#[task(shared = [s1, s2], local = [l1])]
|
|
fn foo(_: foo::Context) {
|
|
// This task is only spawned once in `init`, hence this task will run
|
|
// only once
|
|
|
|
hprintln!("foo");
|
|
}
|
|
|
|
// Software task, also not bound to a hardware interrupt
|
|
// This task takes the task local resource `l2`
|
|
// The resources `s1` and `s2` are shared between all other tasks.
|
|
#[task(shared = [s1, s2], local = [l2])]
|
|
fn bar(_: bar::Context) {
|
|
hprintln!("bar");
|
|
|
|
// Run `bar` once per second
|
|
bar::spawn_after(1.secs()).unwrap();
|
|
}
|
|
|
|
// Hardware task, bound to a hardware interrupt
|
|
// The resources `s1` and `s2` are shared between all other tasks.
|
|
#[task(binds = UART0, priority = 3, shared = [s1, s2])]
|
|
fn uart0_interrupt(_: uart0_interrupt::Context) {
|
|
// This task is bound to the interrupt `UART0` and will run
|
|
// whenever the interrupt fires
|
|
|
|
// Note that RTIC does NOT clear the interrupt flag, this is up to the
|
|
// user
|
|
|
|
hprintln!("UART0 interrupt!");
|
|
}
|
|
}
|
|
<span class="boring">}</span></code></pre></pre>
|
|
|
|
</main>
|
|
|
|
<nav class="nav-wrapper" aria-label="Page navigation">
|
|
<!-- Mobile navigation buttons -->
|
|
<a rel="prev" href="../by-example.html" class="mobile-nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
|
|
<i class="fa fa-angle-left"></i>
|
|
</a>
|
|
|
|
<a rel="next prefetch" href="../by-example/resources.html" class="mobile-nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
|
|
<i class="fa fa-angle-right"></i>
|
|
</a>
|
|
|
|
<div style="clear: both"></div>
|
|
</nav>
|
|
</div>
|
|
</div>
|
|
|
|
<nav class="nav-wide-wrapper" aria-label="Page navigation">
|
|
<a rel="prev" href="../by-example.html" class="nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
|
|
<i class="fa fa-angle-left"></i>
|
|
</a>
|
|
|
|
<a rel="next prefetch" href="../by-example/resources.html" class="nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
|
|
<i class="fa fa-angle-right"></i>
|
|
</a>
|
|
</nav>
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<script>
|
|
window.playground_copyable = true;
|
|
</script>
|
|
|
|
|
|
<script src="../elasticlunr.min.js"></script>
|
|
<script src="../mark.min.js"></script>
|
|
<script src="../searcher.js"></script>
|
|
|
|
<script src="../clipboard.min.js"></script>
|
|
<script src="../highlight.js"></script>
|
|
<script src="../book.js"></script>
|
|
|
|
<!-- Custom JS scripts -->
|
|
|
|
|
|
</div>
|
|
</body>
|
|
</html>
|