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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" class="active"><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"><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="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>
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<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>
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<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
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only applies to a <code>mod</code>-item containing the RTIC application. The <code>app</code>
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attribute has a mandatory <code>device</code> argument that takes a <em>path</em> as a value.
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This must be a full path pointing to a
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<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
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newer.</p>
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<p>The <code>app</code> attribute will expand into a suitable entry point and thus replaces
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the use of the <a href="../../../api/cortex_m_rt_macros/attr.entry.html"><code>cortex_m_rt::entry</code></a> attribute.</p>
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<h2 id="an-rtic-application-example"><a class="header" href="#an-rtic-application-example">An RTIC application example</a></h2>
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<p>To give a flavour of RTIC, the following example contains commonly used features.
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In the following sections we will go through each feature in detail.</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>//! examples/common.rs
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![deny(missing_docs)]
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#![no_main]
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#![no_std]
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use panic_semihosting as _;
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#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])]
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mod app {
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use cortex_m_semihosting::{debug, hprintln};
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use systick_monotonic::*; // Implements the `Monotonic` trait
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// A monotonic timer to enable scheduling in RTIC
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#[monotonic(binds = SysTick, default = true)]
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type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
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// Resources shared between tasks
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#[shared]
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struct Shared {
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s1: u32,
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s2: i32,
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}
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// Local resources to specific tasks (cannot be shared)
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#[local]
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struct Local {
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l1: u8,
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l2: i8,
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}
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#[init]
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fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
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let systick = cx.core.SYST;
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// Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
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let mono = Systick::new(systick, 12_000_000);
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// Spawn the task `foo` directly after `init` finishes
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foo::spawn().unwrap();
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// Spawn the task `bar` 1 second after `init` finishes, this is enabled
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// by the `#[monotonic(..)]` above
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bar::spawn_after(1.secs()).unwrap();
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debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
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(
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// Initialization of shared resources
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Shared { s1: 0, s2: 1 },
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// Initialization of task local resources
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Local { l1: 2, l2: 3 },
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// Move the monotonic timer to the RTIC run-time, this enables
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// scheduling
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init::Monotonics(mono),
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)
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}
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// Background task, runs whenever no other tasks are running
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#[idle]
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fn idle(_: idle::Context) -> ! {
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loop {
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continue;
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}
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}
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// Software task, not bound to a hardware interrupt.
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// This task takes the task local resource `l1`
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// The resources `s1` and `s2` are shared between all other tasks.
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#[task(shared = [s1, s2], local = [l1])]
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fn foo(_: foo::Context) {
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// This task is only spawned once in `init`, hence this task will run
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// only once
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hprintln!("foo");
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}
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// Software task, also not bound to a hardware interrupt
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// This task takes the task local resource `l2`
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// The resources `s1` and `s2` are shared between all other tasks.
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#[task(shared = [s1, s2], local = [l2])]
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fn bar(_: bar::Context) {
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hprintln!("bar");
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// Run `bar` once per second
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bar::spawn_after(1.secs()).unwrap();
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}
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// Hardware task, bound to a hardware interrupt
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// The resources `s1` and `s2` are shared between all other tasks.
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#[task(binds = UART0, priority = 3, shared = [s1, s2])]
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fn uart0_interrupt(_: uart0_interrupt::Context) {
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// This task is bound to the interrupt `UART0` and will run
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// whenever the interrupt fires
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// Note that RTIC does NOT clear the interrupt flag, this is up to the
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// user
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hprintln!("UART0 interrupt!");
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}
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}
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<span class="boring">}</span></code></pre></pre>
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