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| author | bors[bot] <26634292+bors[bot]@users.noreply.github.com> | 2023-01-25 20:11:17 +0000 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-01-25 20:11:17 +0000 |
| commit | a5e18cd5294870be824f90bdd1d586586c37a153 (patch) | |
| tree | 0f9a7f77be32c1438582ccafcb45837fa949f38a /book/en/src/by-example/monotonic.md | |
| parent | 3240fb332a7b1b17333ac1c589b303909bde1dc9 (diff) | |
| parent | 04189cc6844d7d43305a57464713defb5a46d85c (diff) | |
Merge #686
686: Book: Editorial review r=korken89 a=AfoHT
Continuation of https://github.com/rtic-rs/cortex-m-rtic/pull/618
Better late than never...
A big thanks to `@jvanderk` !
Co-authored-by: John van der Koijk <33966414+jvanderk@users.noreply.github.com>
Diffstat (limited to 'book/en/src/by-example/monotonic.md')
| -rw-r--r-- | book/en/src/by-example/monotonic.md | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/book/en/src/by-example/monotonic.md b/book/en/src/by-example/monotonic.md index 094bd5d..3a23681 100644 --- a/book/en/src/by-example/monotonic.md +++ b/book/en/src/by-example/monotonic.md @@ -1,7 +1,7 @@ # Monotonic & spawn_{at/after} The understanding of time is an important concept in embedded systems, and to be able to run tasks -based on time is useful. For this use-case the framework provides the static methods +based on time is essential. The framework provides the static methods `task::spawn_after(/* duration */)` and `task::spawn_at(/* specific time instant */)`. `spawn_after` is more commonly used, but in cases where it's needed to have spawns happen without drift or to a fixed baseline `spawn_at` is available. @@ -43,10 +43,14 @@ $ cargo run --target thumbv7m-none-eabi --example schedule {{#include ../../../../ci/expected/schedule.run}} ``` +A key requirement of a Monotonic is that it must deal gracefully with +hardware timer overruns. + ## Canceling or rescheduling a scheduled task Tasks spawned using `task::spawn_after` and `task::spawn_at` returns a `SpawnHandle`, which allows canceling or rescheduling of the task scheduled to run in the future. + If `cancel` or `reschedule_at`/`reschedule_after` returns an `Err` it means that the operation was too late and that the task is already sent for execution. The following example shows this in action: |