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<ol class="chapter"><li class="chapter-item expanded affix "><a href="preface.html" class="active">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"><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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<div align="center"><img width="300" height="300" src="RTIC.svg"></div>
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<div style="font-size: 6em; font-weight: bolder;" align="center">RTIC</div>
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<h1 align="center">Real-Time Interrupt-driven Concurrency</h1>
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||
<p align="center">A concurrency framework for building real-time systems</p>
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||
<h1 id="preface"><a class="header" href="#preface">Preface</a></h1>
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||
<p>This book contains user level documentation for the Real-Time Interrupt-driven Concurrency
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||
(RTIC) framework. The API reference is available <a href="../../api/">here</a>.</p>
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<p>Formerly known as Real-Time For the Masses.</p>
|
||
<!--There is a translation of this book in [Russian].-->
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<!--[Russian]: ../ru/index.html-->
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<p>This is the documentation of v1.0.x of RTIC; for the documentation of version</p>
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||
<ul>
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<li>v0.5.x go <a href="/0.5">here</a>.</li>
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<li>v0.4.x go <a href="/0.4">here</a>.</li>
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||
</ul>
|
||
<h2 id="is-rtic-an-rtos"><a class="header" href="#is-rtic-an-rtos">Is RTIC an RTOS?</a></h2>
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||
<p>A common question is whether RTIC is an RTOS or not, and depending on your background the
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||
answer may vary. From RTIC's developers point of view; RTIC is a hardware accelerated
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RTOS that utilizes the NVIC in Cortex-M MCUs to perform scheduling, rather than the more
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classical software kernel.</p>
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<p>Another common view from the community is that RTIC is a concurrency framework as there
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is no software kernel and that it relies on external HALs.</p>
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<hr />
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<p><a href="https://crates.io/crates/cortex-m-rtic"><img src="https://img.shields.io/crates/v/cortex-m-rtic" alt="crates.io" /></a>
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||
<a href="https://docs.rs/cortex-m-rtic"><img src="https://docs.rs/cortex-m-rtic/badge.svg" alt="docs.rs" /></a>
|
||
<a href="https://rtic.rs/"><img src="https://img.shields.io/badge/web-rtic.rs-red.svg?style=flat&label=book&colorB=d33847" alt="book" /></a>
|
||
<a href="https://matrix.to/#/#rtic:matrix.org"><img src="https://img.shields.io/matrix/rtic:matrix.org" alt="matrix" /></a>
|
||
<a href="https://hackmd.io/@xmis9JvZT8Gvo9lOEKyZ4Q/SkBJKsjuH"><img src="https://hackmd.io/badge.svg" alt="Meeting notes" /></a></p>
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<h2 id="features"><a class="header" href="#features">Features</a></h2>
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<ul>
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<li>
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<p><strong>Tasks</strong> as the unit of concurrency <sup class="footnote-reference"><a href="#1">1</a></sup>. Tasks can be <em>event triggered</em>
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(fired in response to asynchronous stimuli) or spawned by the application on
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demand.</p>
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</li>
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<li>
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<p><strong>Message passing</strong> between tasks. Specifically, messages can be passed to
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software tasks at spawn time.</p>
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</li>
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<li>
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<p><strong>A timer queue</strong> <sup class="footnote-reference"><a href="#2">2</a></sup>. 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.</p>
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</li>
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<li>
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<p>Support for prioritization of tasks and, thus, <strong>preemptive multitasking</strong>.</p>
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</li>
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<li>
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<p><strong>Efficient and data race free memory sharing</strong> through fine grained <em>priority
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based</em> critical sections <sup class="footnote-reference"><a href="#1">1</a></sup>.</p>
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</li>
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<li>
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<p><strong>Deadlock free execution</strong> guaranteed at compile time. This is a stronger
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guarantee than what's provided by <a href="https://doc.rust-lang.org/std/sync/struct.Mutex.html">the standard <code>Mutex</code>
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abstraction</a>.</p>
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</li>
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||
</ul>
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<ul>
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<li>
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<p><strong>Minimal scheduling overhead</strong>. The task scheduler has minimal software
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footprint; the hardware does the bulk of the scheduling.</p>
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</li>
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<li>
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<p><strong>Highly efficient memory usage</strong>: All the tasks share a single call stack and
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there's no hard dependency on a dynamic memory allocator.</p>
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</li>
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<li>
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<p><strong>All Cortex-M devices are fully supported</strong>.</p>
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</li>
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<li>
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<p>This task model is amenable to known WCET (Worst Case Execution Time) analysis
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and scheduling analysis techniques.</p>
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</li>
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</ul>
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<h3 id="crate-cortex-m-06-vs-07-in-rtic-05x"><a class="header" href="#crate-cortex-m-06-vs-07-in-rtic-05x">Crate <code>cortex-m</code> 0.6 vs 0.7 in RTIC 0.5.x</a></h3>
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<p>The crate <code>cortex-m</code> 0.7 started using trait <code>InterruptNumber</code> for interrupts instead of <code>Nr</code> from <code>bare-metal</code>. In order to preserve backwards compatibility, RTIC 0.5.x will keep using <code>cortex-m</code> 0.6 by default. <code>cortex-m</code> 0.7 can be enabled using the feature <code>cortex-m-7</code> and disabling default features:</p>
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||
<pre><code>cortex-m-rtic = { version = "0.5.8", default-features = false, features = ["cortex-m-7"] }
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||
</code></pre>
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||
<p>RTIC 1.0.0 already uses <code>cortex-m</code> 0.7 by default.</p>
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||
<h2 id="user-documentation"><a class="header" href="#user-documentation"><a href="https://rtic.rs">User documentation</a></a></h2>
|
||
<p>Documentation for the <a href="https://rtic.rs/dev">development version</a>.</p>
|
||
<h2 id="api-reference"><a class="header" href="#api-reference"><a href="https://rtic.rs/stable/api/">API reference</a></a></h2>
|
||
<h2 id="community-provided-examples-repo"><a class="header" href="#community-provided-examples-repo"><a href="https://github.com/rtic-rs/rtic-examples">Community provided examples repo</a></a></h2>
|
||
<h2 id="chat"><a class="header" href="#chat">Chat</a></h2>
|
||
<p>Join us and talk about RTIC in the <a href="https://matrix.to/#/#rtic:matrix.org">Matrix room</a>.</p>
|
||
<p>Weekly meeting notes can be found over at <a href="https://hackmd.io/@xmis9JvZT8Gvo9lOEKyZ4Q/SkBJKsjuH">HackMD</a></p>
|
||
<h2 id="contributing"><a class="header" href="#contributing">Contributing</a></h2>
|
||
<p>New features and big changes should go through the RFC process in the
|
||
<a href="https://github.com/rtic-rs/rfcs">dedicated RFC repository</a>.</p>
|
||
<h2 id="running-tests-locally"><a class="header" href="#running-tests-locally">Running tests locally</a></h2>
|
||
<p>To check all <code>Run-pass tests</code> locally on your <code>thumbv6m-none-eabi</code> or <code>thumbv7m-none-eabi</code> target device, run</p>
|
||
<pre><code class="language-console">$ cargo xtask --target <your target>
|
||
# ˆˆˆˆˆˆˆˆˆˆˆˆ
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||
# e.g. thumbv7m-none-eabi
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||
</code></pre>
|
||
<h2 id="acknowledgments"><a class="header" href="#acknowledgments">Acknowledgments</a></h2>
|
||
<p>This crate is based on the <a href="http://www.rtfm-lang.org/">Real-Time For the Masses language</a>
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||
created by the Embedded Systems group at <a href="https://www.ltu.se/?l=en">Luleå University of Technology</a>,
|
||
led by <a href="https://www.ltu.se/staff/p/pln-1.11258?l=en">Prof. Per Lindgren</a>.</p>
|
||
<h2 id="references"><a class="header" href="#references">References</a></h2>
|
||
<div class="footnote-definition" id="1"><sup class="footnote-definition-label">1</sup>
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||
<p>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.</p>
|
||
</div>
|
||
<div class="footnote-definition" id="2"><sup class="footnote-definition-label">2</sup>
|
||
<p>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.</p>
|
||
</div>
|
||
<h2 id="license"><a class="header" href="#license">License</a></h2>
|
||
<p>All source code (including code snippets) is licensed under either of</p>
|
||
<ul>
|
||
<li>Apache License, Version 2.0 (<a href="LICENSE-APACHE">LICENSE-APACHE</a> or
|
||
<a href="https://www.apache.org/licenses/LICENSE-2.0">https://www.apache.org/licenses/LICENSE-2.0</a>)</li>
|
||
<li>MIT license (<a href="LICENSE-MIT">LICENSE-MIT</a> or
|
||
<a href="https://opensource.org/licenses/MIT">https://opensource.org/licenses/MIT</a>)</li>
|
||
</ul>
|
||
<p>at your option.</p>
|
||
<p>The written prose contained within the book is licensed under the terms of the
|
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