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104 lines
3.9 KiB
Markdown
104 lines
3.9 KiB
Markdown
# Real Time For the Masses
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A concurrency framework for building real time systems.
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**IMPORTANT** This crate is currently in pre-release (beta) state . We reserve
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the right to make breaking changes in the syntax or to patch memory safety holes
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before the v0.4.0 release, which is planned for 2018-12-07. When v0.4.0 is
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released *all the pre-releases will be yanked*. If you run into a panic message
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or an unhelpful error message (e.g. misleading span), or if something doesn't
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behave the way you expect please open [an issue]!
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[an issue]: https://github.com/japaric/cortex-m-rtfm/issues
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## Features
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- **Tasks** as the unit of concurrency [^1]. Tasks can be *event triggered*
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(fired in response to asynchronous stimuli) or spawned by the application on
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demand.
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- **Message passing** between tasks. Specifically, messages can be passed to
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software tasks at spawn time.
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- **A timer queue** [^2]. Software tasks can be scheduled to run at some time
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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
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based* critical sections [^1].
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- **Deadlock free execution** guaranteed at compile time. This is an stronger
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guarantee than what's provided by [the standard `Mutex`
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abstraction][std-mutex].
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[std-mutex]: https://doc.rust-lang.org/std/sync/struct.Mutex.html
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- **Minimal scheduling overhead**. The task scheduler has minimal software
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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
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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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- This task model is amenable to known WCET (Worst Case Execution Time) analysis
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and scheduling analysis techniques. (Though we haven't yet developed Rust
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friendly tooling for that.)
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## Requirements
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- Rust 1.31.0+
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- Applications must be written using the 2018 edition.
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## [User documentation](https://japaric.github.io/cortex-m-rtfm/book/index.html)
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## [API reference](https://japaric.github.io/cortex-m-rtfm/api/rtfm/index.html)
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## Acknowledgments
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This crate is based on [the RTFM language][rtfm-lang] created by the Embedded
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Systems group at [Luleå University of Technology][ltu], led by [Prof. Per
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Lindgren][per].
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[rtfm-lang]: http://www.rtfm-lang.org/
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[ltu]: https://www.ltu.se/?l=en
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[per]: https://www.ltu.se/staff/p/pln-1.11258?l=en
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## References
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[^1]: Eriksson, J., Häggström, F., Aittamaa, S., Kruglyak, A., & Lindgren, P.
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(2013, June). Real-time for the masses, step 1: Programming API and static
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priority SRP kernel primitives. In Industrial Embedded Systems (SIES), 2013
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8th IEEE International Symposium on (pp. 110-113). IEEE.
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[^2]: Lindgren, P., Fresk, E., Lindner, M., Lindner, A., Pereira, D., & Pinho,
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L. M. (2016). Abstract timers and their implementation onto the arm cortex-m
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family of mcus. ACM SIGBED Review, 13(1), 48-53.
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## License
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All source code (including code snippets) is licensed under either of
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- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
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[https://www.apache.org/licenses/LICENSE-2.0][L1])
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- MIT license ([LICENSE-MIT](LICENSE-MIT) or
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[https://opensource.org/licenses/MIT][L2])
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[L1]: https://www.apache.org/licenses/LICENSE-2.0
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[L2]: https://opensource.org/licenses/MIT
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at your option.
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The written prose contained within the book is licensed under the terms of the
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Creative Commons CC-BY-SA v4.0 license ([LICENSE-CC-BY-SA](LICENSE-CC-BY-SA) or
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[https://creativecommons.org/licenses/by-sa/4.0/legalcode][L3]).
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[L3]: https://creativecommons.org/licenses/by-sa/4.0/legalcode
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### Contribution
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Unless you explicitly state otherwise, any contribution intentionally submitted
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for inclusion in the work by you, as defined in the Apache-2.0 license, shall be
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licensed as above, without any additional terms or conditions.
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