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diff --git a/book/en/src/by-example/tips/monotonic_impl.md b/book/en/src/by-example/tips/monotonic_impl.md new file mode 100644 index 0000000..9f88c19 --- /dev/null +++ b/book/en/src/by-example/tips/monotonic_impl.md @@ -0,0 +1,25 @@ +# Implementing a `Monotonic` timer for scheduling + +The framework is flexible because it can use any timer which has compare-match and optionally supporting overflow interrupts for scheduling. The single requirement to make a timer usable with RTIC is implementing the `rtic-time::Monotonic` trait. + +For RTIC 1.0 and 2.0 we instead assume the user has a time library, e.g. [`fugit`], as the basis for all time-based operations when implementing `Monotonic`. These libraries make it much easier to correctly implement the `Monotonic` trait, allowing the use of almost any timer in the system for scheduling. + +The trait documents the requirements for each method. There are reference implementations available in [`rtic-monotonics`] that can be used for inspriation. + +- [`Systick based`], runs at a fixed interrupt (tick) rate - with some overhead but simple and provides support for large time spans +- [`RP2040 Timer`], a "proper" implementation with support for waiting for long periods without interrupts. Clearly demonstrates how to use the `TimerQueue` to handle scheduling. +- [`nRF52 timers`] implements monotonic & Timer Queue for the RTC and normal timers in nRF52's + +## Contributing + +Contributing new implementations of `Monotonic` can be done in multiple ways: +* Implement the trait behind a feature flag in [`rtic-monotonics`], and create a PR for them to be included in the main RTIC repository. This way, the implementations of are in-tree, and RTIC can guarantee their correctness, and can update them in the case of a new release. +* Implement the changes in an external repository. + +[`rtic-monotonics`]: https://github.com/rtic-rs/rtic/tree/master/rtic-monotonics/ +[`rtic_time::Monotonic`]: https://docs.rs/rtic_time/ +[`fugit`]: https://docs.rs/fugit/ +[`Systick based`]: https://github.com/rtic-monotonics +[`rtic-monotonics`]: https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics +[`RP2040 Timer`]: https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics/src/rp2040.rs +[`nRF52 timers`]: https://github.com/rtic-rs/rtic/blob/master/rtic-monotonics/src/nrf.rs
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