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authordatdenkikniet <jcdra1@gmail.com>2023-05-05 19:21:02 +0200
committerdatdenkikniet <jcdra1@gmail.com>2023-05-11 19:20:58 +0200
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# Hardware tasks
-At its core RTIC is using a hardware interrupt controller ([ARM NVIC on cortex-m][NVIC]) to schedule and start execution of tasks. All tasks except `pre-init`, `#[init]` and `#[idle]` run as interrupt handlers.
-
-Hardware tasks are explicitly bound to interrupt handlers.
+At its core RTIC is using a hardware interrupt controller ([ARM NVIC on cortex-m][NVIC]) to schedule and start execution of tasks. All tasks except `pre-init` (a hidden "task"), `#[init]` and `#[idle]` run as interrupt handlers.
To bind a task to an interrupt, use the `#[task]` attribute argument `binds = InterruptName`. This task then becomes the interrupt handler for this hardware interrupt vector.
@@ -17,6 +15,8 @@ Beware of using interrupt vectors that are used internally by hardware features;
[pacorhal]: https://docs.rust-embedded.org/book/start/registers.html
[NVIC]: https://developer.arm.com/documentation/100166/0001/Nested-Vectored-Interrupt-Controller/NVIC-functional-description/NVIC-interrupts
+## Example
+
The example below demonstrates the use of the `#[task(binds = InterruptName)]` attribute to declare a hardware task bound to an interrupt handler.
``` rust,noplayground