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-# Timer queue
-
-When the `timer-queue` feature is enabled the RTFM framework includes a *global
-timer queue* that applications can use to *schedule* software tasks to run at
-some time in the future.
-
-> **NOTE**: The timer-queue feature can't be enabled when the target is
-> `thumbv6m-none-eabi` because there's no timer queue support for ARMv6-M. This
-> may change in the future.
-
-> **NOTE**: When the `timer-queue` feature is enabled you will *not* be able to
-> use the `SysTick` exception as a hardware task because the runtime uses it to
-> implement the global timer queue.
-
-To be able to schedule a software task the name of the task must appear in the
-`schedule` argument of the context attribute. When scheduling a task the
-[`Instant`] at which the task should be executed must be passed as the first
-argument of the `schedule` invocation.
-
-[`Instant`]: ../../api/rtfm/struct.Instant.html
-
-The RTFM runtime includes a monotonic, non-decreasing, 32-bit timer which can be
-queried using the `Instant::now` constructor. A [`Duration`] can be added to
-`Instant::now()` to obtain an `Instant` into the future. The monotonic timer is
-disabled while `init` runs so `Instant::now()` always returns the value
-`Instant(0 /* clock cycles */)`; the timer is enabled right before the
-interrupts are re-enabled and `idle` is executed.
-
-[`Duration`]: ../../api/rtfm/struct.Duration.html
-
-The example below schedules two tasks from `init`: `foo` and `bar`. `foo` is
-scheduled to run 8 million clock cycles in the future. Next, `bar` is scheduled
-to run 4 million clock cycles in the future. `bar` runs before `foo` since it
-was scheduled to run first.
-
-> **IMPORTANT**: The examples that use the `schedule` API or the `Instant`
-> abstraction will **not** properly work on QEMU because the Cortex-M cycle
-> counter functionality has not been implemented in `qemu-system-arm`.
-
-``` rust
-{{#include ../../../examples/schedule.rs}}
-```
-
-Running the program on real hardware produces the following output in the console:
-
-``` text
-{{#include ../../../ci/expected/schedule.run}}
-```
-
-## Periodic tasks
-
-Software tasks have access to the `Instant` at which they were scheduled to run
-through the `scheduled` variable. This information and the `schedule` API can be
-used to implement periodic tasks as shown in the example below.
-
-``` rust
-{{#include ../../../examples/periodic.rs}}
-```
-
-This is the output produced by the example. Note that there is zero drift /
-jitter even though `schedule.foo` was invoked at the *end* of `foo`. Using
-`Instant::now` instead of `scheduled` would have resulted in drift / jitter.
-
-``` text
-{{#include ../../../ci/expected/periodic.run}}
-```
-
-## Baseline
-
-For the tasks scheduled from `init` we have exact information about their
-`scheduled` time. For hardware tasks there's no `scheduled` time because these
-tasks are asynchronous in nature. For hardware tasks the runtime provides a
-`start` time, which indicates the time at which the task handler started
-executing.
-
-Note that `start` is **not** equal to the arrival time of the event that fired
-the task. Depending on the priority of the task and the load of the system the
-`start` time could be very far off from the event arrival time.
-
-What do you think will be the value of `scheduled` for software tasks that are
-*spawned* instead of scheduled? The answer is that spawned tasks inherit the
-*baseline* time of the context that spawned it. The baseline of hardware tasks
-is `start`, the baseline of software tasks is `scheduled` and the baseline of
-`init` is `start = Instant(0)`. `idle` doesn't really have a baseline but tasks
-spawned from it will use `Instant::now()` as their baseline time.
-
-The example below showcases the different meanings of the *baseline*.
-
-``` rust
-{{#include ../../../examples/baseline.rs}}
-```
-
-Running the program on real hardware produces the following output in the console:
-
-``` text
-{{#include ../../../ci/expected/baseline.run}}
-```