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Diffstat (limited to 'book/en/src/by-example/app.md')
| -rw-r--r-- | book/en/src/by-example/app.md | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/book/en/src/by-example/app.md b/book/en/src/by-example/app.md index 4262391..ab6f452 100644 --- a/book/en/src/by-example/app.md +++ b/book/en/src/by-example/app.md @@ -26,15 +26,16 @@ required). This initialization function will be the first part of the application to run. The `init` function will run *with interrupts disabled* and has exclusive access -to Cortex-M and, optionally, device specific peripherals through the `core` and -`device` fields of `init::Context`. +to Cortex-M where the `bare_metal::CriticalSection` token is available as `cs`. +And optionally, device specific peripherals through the `core` and `device` fields +of `init::Context`. `static mut` variables declared at the beginning of `init` will be transformed into `&'static mut` references that are safe to access. [`rtic::Peripherals`]: ../../api/rtic/struct.Peripherals.html -The example below shows the types of the `core` and `device` fields and +The example below shows the types of the `core`, `device` and `cs` fields, and showcases safe access to a `static mut` variable. The `device` field is only available when the `peripherals` argument is set to `true` (it defaults to `false`). @@ -48,7 +49,8 @@ process. ``` console $ cargo run --example init -{{#include ../../../../ci/expected/init.run}}``` +{{#include ../../../../ci/expected/init.run}} +``` ## `idle` @@ -79,7 +81,8 @@ in LLVM which miss-optimizes empty loops to a `UDF` instruction in release mode. ``` console $ cargo run --example idle -{{#include ../../../../ci/expected/idle.run}}``` +{{#include ../../../../ci/expected/idle.run}} +``` ## Hardware tasks @@ -100,7 +103,8 @@ mut` variables are safe to use within a hardware task. ``` console $ cargo run --example hardware -{{#include ../../../../ci/expected/hardware.run}}``` +{{#include ../../../../ci/expected/hardware.run}} +``` So far all the RTIC applications we have seen look no different than the applications one can write using only the `cortex-m-rt` crate. From this point @@ -132,7 +136,8 @@ The following example showcases the priority based scheduling of tasks. ``` console $ cargo run --example preempt -{{#include ../../../../ci/expected/preempt.run}}``` +{{#include ../../../../ci/expected/preempt.run}} +``` Note that the task `gpiob` does *not* preempt task `gpioc` because its priority is the *same* as `gpioc`'s. However, once `gpioc` terminates the execution of |