diff options
| author | datdenkikniet <jcdra1@gmail.com> | 2023-04-22 21:27:26 +0200 |
|---|---|---|
| committer | datdenkikniet <jcdra1@gmail.com> | 2023-05-11 19:20:58 +0200 |
| commit | 3d97c9e431d7fcb20b1b30bc15c34ccffee03c79 (patch) | |
| tree | 6842b788361e247cc50423bee972cc7a3c6ba974 /book/en/src/migration/migration_v5.md | |
| parent | ed465b0c3b8b4c588f5cc7945af79a504f928cc8 (diff) | |
Move deprecated migration guides to deprecated folder
Diffstat (limited to 'book/en/src/migration/migration_v5.md')
| -rw-r--r-- | book/en/src/migration/migration_v5.md | 372 |
1 files changed, 0 insertions, 372 deletions
diff --git a/book/en/src/migration/migration_v5.md b/book/en/src/migration/migration_v5.md deleted file mode 100644 index 5a8fabc..0000000 --- a/book/en/src/migration/migration_v5.md +++ /dev/null @@ -1,372 +0,0 @@ -# Migrating from v0.5.x to v1.0.0 - -This section describes how to upgrade from v0.5.x to v1.0.0 of the RTIC framework. - -## `Cargo.toml` - version bump - -Change the version of `cortex-m-rtic` to `"1.0.0"`. - -## `mod` instead of `const` - -With the support of attributes on modules the `const APP` workaround is not needed. - -Change - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - [code here] -}; -``` - -into - -``` rust -#[rtic::app(/* .. */)] -mod app { - [code here] -} -``` - -Now that a regular Rust module is used it means it is possible to have custom -user code within that module. -Additionally, it means that `use`-statements for resources used in user -code must be moved inside `mod app`, or be referred to with `super`. For -example, change: - -```rust -use some_crate::some_func; - -#[rtic::app(/* .. */)] -const APP: () = { - fn func() { - some_crate::some_func(); - } -}; -``` - -into - -```rust -#[rtic::app(/* .. */)] -mod app { - use some_crate::some_func; - - fn func() { - some_crate::some_func(); - } -} -``` - -or - -```rust -use some_crate::some_func; - -#[rtic::app(/* .. */)] -mod app { - fn func() { - super::some_crate::some_func(); - } -} -``` - -## Move Dispatchers from `extern "C"` to app arguments - -Change - -``` rust -#[rtic::app(/* .. */)] -const APP: () = { - [code here] - - // RTIC requires that unused interrupts are declared in an extern block when - // using software tasks; these free interrupts will be used to dispatch the - // software tasks. - extern "C" { - fn SSI0(); - fn QEI0(); - } -}; -``` - -into - -``` rust -#[rtic::app(/* .. */, dispatchers = [SSI0, QEI0])] -mod app { - [code here] -} -``` - -This works also for ram functions, see examples/ramfunc.rs - - -## Resources structs - `#[shared]`, `#[local]` - -Previously the RTIC resources had to be in in a struct named exactly "Resources": - -``` rust -struct Resources { - // Resources defined in here -} -``` - -With RTIC v1.0.0 the resources structs are annotated similarly like -`#[task]`, `#[init]`, `#[idle]`: with the attributes `#[shared]` and `#[local]` - -``` rust -#[shared] -struct MySharedResources { - // Resources shared between tasks are defined here -} - -#[local] -struct MyLocalResources { - // Resources defined here cannot be shared between tasks; each one is local to a single task -} -``` - -These structs can be freely named by the developer. - -## `shared` and `local` arguments in `#[task]`s - -In v1.0.0 resources are split between `shared` resources and `local` resources. -`#[task]`, `#[init]` and `#[idle]` no longer have a `resources` argument; they must now use the `shared` and `local` arguments. - -In v0.5.x: - -``` rust -struct Resources { - local_to_b: i64, - shared_by_a_and_b: i64, -} - -#[task(resources = [shared_by_a_and_b])] -fn a(_: a::Context) {} - -#[task(resources = [shared_by_a_and_b, local_to_b])] -fn b(_: b::Context) {} -``` - -In v1.0.0: - -``` rust -#[shared] -struct Shared { - shared_by_a_and_b: i64, -} - -#[local] -struct Local { - local_to_b: i64, -} - -#[task(shared = [shared_by_a_and_b])] -fn a(_: a::Context) {} - -#[task(shared = [shared_by_a_and_b], local = [local_to_b])] -fn b(_: b::Context) {} -``` - -## Symmetric locks - -Now RTIC utilizes symmetric locks, this means that the `lock` method need -to be used for all `shared` resource access. -In old code one could do the following as the high priority -task has exclusive access to the resource: - -``` rust -#[task(priority = 2, resources = [r])] -fn foo(cx: foo::Context) { - cx.resources.r = /* ... */; -} - -#[task(resources = [r])] -fn bar(cx: bar::Context) { - cx.resources.r.lock(|r| r = /* ... */); -} -``` - -And with symmetric locks one needs to use locks in both tasks: - -``` rust -#[task(priority = 2, shared = [r])] -fn foo(cx: foo::Context) { - cx.shared.r.lock(|r| r = /* ... */); -} - -#[task(shared = [r])] -fn bar(cx: bar::Context) { - cx.shared.r.lock(|r| r = /* ... */); -} -``` - -Note that the performance does not change thanks to LLVM's optimizations which optimizes away unnecessary locks. - -## Lock-free resource access - -In RTIC 0.5 resources shared by tasks running at the same priority could be accessed *without* the `lock` API. -This is still possible in 1.0: the `#[shared]` resource must be annotated with the field-level `#[lock_free]` attribute. - -v0.5 code: - -``` rust -struct Resources { - counter: u64, -} - -#[task(resources = [counter])] -fn a(cx: a::Context) { - *cx.resources.counter += 1; -} - -#[task(resources = [counter])] -fn b(cx: b::Context) { - *cx.resources.counter += 1; -} -``` - -v1.0 code: - -``` rust -#[shared] -struct Shared { - #[lock_free] - counter: u64, -} - -#[task(shared = [counter])] -fn a(cx: a::Context) { - *cx.shared.counter += 1; -} - -#[task(shared = [counter])] -fn b(cx: b::Context) { - *cx.shared.counter += 1; -} -``` - -## no `static mut` transform - -`static mut` variables are no longer transformed to safe `&'static mut` references. -Instead of that syntax, use the `local` argument in `#[init]`. - -v0.5.x code: - -``` rust -#[init] -fn init(_: init::Context) { - static mut BUFFER: [u8; 1024] = [0; 1024]; - let buffer: &'static mut [u8; 1024] = BUFFER; -} -``` - -v1.0.0 code: - -``` rust -#[init(local = [ - buffer: [u8; 1024] = [0; 1024] -// type ^^^^^^^^^^^^ ^^^^^^^^^ initial value -])] -fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { - let buffer: &'static mut [u8; 1024] = cx.local.buffer; - - (Shared {}, Local {}, init::Monotonics()) -} -``` - -## Init always returns late resources - -In order to make the API more symmetric the #[init]-task always returns a late resource. - -From this: - -``` rust -#[rtic::app(device = lm3s6965)] -const APP: () = { - #[init] - fn init(_: init::Context) { - rtic::pend(Interrupt::UART0); - } - - // [more code] -}; -``` - -to this: - -``` rust -#[rtic::app(device = lm3s6965)] -mod app { - #[shared] - struct MySharedResources {} - - #[local] - struct MyLocalResources {} - - #[init] - fn init(_: init::Context) -> (MySharedResources, MyLocalResources, init::Monotonics) { - rtic::pend(Interrupt::UART0); - - (MySharedResources, MyLocalResources, init::Monotonics()) - } - - // [more code] -} -``` - -## Spawn from anywhere - -With the new spawn/spawn_after/spawn_at interface, -old code requiring the context `cx` for spawning such as: - -``` rust -#[task(spawn = [bar])] -fn foo(cx: foo::Context) { - cx.spawn.bar().unwrap(); -} - -#[task(schedule = [bar])] -fn bar(cx: bar::Context) { - cx.schedule.foo(/* ... */).unwrap(); -} -``` - -Will now be written as: - -``` rust -#[task] -fn foo(_c: foo::Context) { - bar::spawn().unwrap(); -} - -#[task] -fn bar(_c: bar::Context) { - // Takes a Duration, relative to “now” - let spawn_handle = foo::spawn_after(/* ... */); -} - -#[task] -fn bar(_c: bar::Context) { - // Takes an Instant - let spawn_handle = foo::spawn_at(/* ... */); -} -``` - -Thus the requirement of having access to the context is dropped. - -Note that the attributes `spawn`/`schedule` in the task definition are no longer needed. - ---- - -## Additions - -### Extern tasks - -Both software and hardware tasks can now be defined external to the `mod app`. -Previously this was possible only by implementing a trampoline calling out the task implementation. - -See examples `examples/extern_binds.rs` and `examples/extern_spawn.rs`. - -This enables breaking apps into multiple files. |
