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Diffstat (limited to 'book/en/src/migration')
| -rw-r--r-- | book/en/src/migration/migration_rtic.md | 50 | ||||
| -rw-r--r-- | book/en/src/migration/migration_v2.md | 18 | ||||
| -rw-r--r-- | book/en/src/migration/migration_v2/async_tasks.md | 55 | ||||
| -rw-r--r-- | book/en/src/migration/migration_v2/complete_example.md | 169 | ||||
| -rw-r--r-- | book/en/src/migration/migration_v2/monotonics.md | 13 | ||||
| -rw-r--r-- | book/en/src/migration/migration_v2/nightly.md | 5 | ||||
| -rw-r--r-- | book/en/src/migration/migration_v2/rtic-sync.md | 9 | ||||
| -rw-r--r-- | book/en/src/migration/migration_v4.md | 247 | ||||
| -rw-r--r-- | book/en/src/migration/migration_v5.md | 372 |
9 files changed, 0 insertions, 938 deletions
diff --git a/book/en/src/migration/migration_rtic.md b/book/en/src/migration/migration_rtic.md deleted file mode 100644 index c027da3..0000000 --- a/book/en/src/migration/migration_rtic.md +++ /dev/null @@ -1,50 +0,0 @@ -# Migrating from RTFM to RTIC - -This section covers how to upgrade an application written against RTFM v0.5.x to -the same version of RTIC. This applies since the renaming of the framework as per [RFC #33]. - -**Note:** There are no code differences between RTFM v0.5.3 and RTIC v0.5.3, it is purely a name -change. - -[RFC #33]: https://github.com/rtic-rs/rfcs/pull/33 - -## `Cargo.toml` - -First, the `cortex-m-rtfm` dependency needs to be updated to -`cortex-m-rtic`. - -``` toml -[dependencies] -# change this -cortex-m-rtfm = "0.5.3" - -# into this -cortex-m-rtic = "0.5.3" -``` - -## Code changes - -The only code change that needs to be made is that any reference to `rtfm` before now need to point -to `rtic` as follows: - -``` rust -// -// Change this -// - -#[rtfm::app(/* .. */, monotonic = rtfm::cyccnt::CYCCNT)] -const APP: () = { - // ... - -}; - -// -// Into this -// - -#[rtic::app(/* .. */, monotonic = rtic::cyccnt::CYCCNT)] -const APP: () = { - // ... - -}; -``` diff --git a/book/en/src/migration/migration_v2.md b/book/en/src/migration/migration_v2.md deleted file mode 100644 index 96fa231..0000000 --- a/book/en/src/migration/migration_v2.md +++ /dev/null @@ -1,18 +0,0 @@ -# Migrating from v1.0.x to v2.0.0 - -Migrating a project from RTIC `v1.0.x` to `v2.0.0` involves the following steps: - -1. `v2.0.0` requires [`#![type_alias_impl_trait]`](https://github.com/rust-lang/rust/issues/63063) and Rust Nightly. -2. Migrating from the monotonics included in `v1.0.x` to `rtic-time` and `rtic-monotonics`, replacing `spawn_after`, `spawn_at`. -3. Software tasks are now required to be `async`, and using them correctly. -4. Understanding and using data types provided by `rtic-sync`. - -For a detailed description of the changes, refer to the subchapters. - -If you wish to see a code example of changes required, you can check out [the full example migration page](./migration_v2/complete_example.md). - -#### TL;DR (Too Long; Didn't Read) -1. Add `#![type_alias_impl_trait]` to your crate, and use `cargo +nightly`. -2. Instead of `spawn_after` and `spawn_at`, you now use the `async` functions `delay`, `delay_until` (and related) with impls provided by `rtic-monotonics`. -3. Software tasks _must_ be `async fn`s now. Not returning from a task is allowed so long as there is an `await` in the task. You can still `lock` shared resources. -4. Use `rtic_sync::Arbiter` to `await` access to a shared resource, and `rtic-channel` to communicate between tasks instead of `spawn`-ing new ones.
\ No newline at end of file diff --git a/book/en/src/migration/migration_v2/async_tasks.md b/book/en/src/migration/migration_v2/async_tasks.md deleted file mode 100644 index 54e0893..0000000 --- a/book/en/src/migration/migration_v2/async_tasks.md +++ /dev/null @@ -1,55 +0,0 @@ -# Using `async` softare tasks. - -There have been a few changes to software tasks. They are outlined below. - -### Software tasks must now be `async`. - -All software tasks are now required to be `async`. - -#### Required changes. - -All of the tasks in your project that do not bind to an interrupt must now be an `async fn`. For example: - -``` rust -#[task( - local = [ some_resource ], - shared = [ my_shared_resource ], - priority = 2 -)] -fn my_task(cx: my_task::Context) { - cx.local.some_resource.do_trick(); - cx.shared.my_shared_resource.lock(|s| s.do_shared_thing()); -} -``` - -becomes - -``` rust -#[task( - local = [ some_resource ], - shared = [ my_shared_resource ], - priority = 2 -)] -async fn my_task(cx: my_task::Context) { - cx.local.some_resource.do_trick(); - cx.shared.my_shared_resource.lock(|s| s.do_shared_thing()); -} -``` - -## Software tasks may now run forever - -The new `async` software tasks are allowed to run forever, on one precondition: **there must be an `await` within the infinite loop of the task**. An example of such a task: - -``` rust -#[task(local = [ my_channel ] )] -async fn my_task_that_runs_forever(cx: my_task_that_runs_forever::Context) { - loop { - let value = cx.local.my_channel.recv().await; - do_something_with_value(value); - } -} -``` - -## `spawn_after` and `spawn_at` have been removed. - -As discussed in the [Migrating to `rtic-monotonics`](./monotonics.md) chapter, `spawn_after` and `spawn_at` are no longer available.
\ No newline at end of file diff --git a/book/en/src/migration/migration_v2/complete_example.md b/book/en/src/migration/migration_v2/complete_example.md deleted file mode 100644 index b68f1ef..0000000 --- a/book/en/src/migration/migration_v2/complete_example.md +++ /dev/null @@ -1,169 +0,0 @@ -# A complete example of migration - -Below you can find the code for the implementation of the `stm32f3_blinky` example for v1.0.x and for v2.0.0. Further down, a diff is displayed. - -# v1.0.X - -```rust -#![deny(unsafe_code)] -#![deny(warnings)] -#![no_main] -#![no_std] - -use panic_rtt_target as _; -use rtic::app; -use rtt_target::{rprintln, rtt_init_print}; -use stm32f3xx_hal::gpio::{Output, PushPull, PA5}; -use stm32f3xx_hal::prelude::*; -use systick_monotonic::{fugit::Duration, Systick}; - -#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])] -mod app { - use super::*; - - #[shared] - struct Shared {} - - #[local] - struct Local { - led: PA5<Output<PushPull>>, - state: bool, - } - - #[monotonic(binds = SysTick, default = true)] - type MonoTimer = Systick<1000>; - - #[init] - fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { - // Setup clocks - let mut flash = cx.device.FLASH.constrain(); - let mut rcc = cx.device.RCC.constrain(); - - let mono = Systick::new(cx.core.SYST, 36_000_000); - - rtt_init_print!(); - rprintln!("init"); - - let _clocks = rcc - .cfgr - .use_hse(8.MHz()) - .sysclk(36.MHz()) - .pclk1(36.MHz()) - .freeze(&mut flash.acr); - - // Setup LED - let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb); - let mut led = gpioa - .pa5 - .into_push_pull_output(&mut gpioa.moder, &mut gpioa.otyper); - led.set_high().unwrap(); - - // Schedule the blinking task - blink::spawn_after(Duration::<u64, 1, 1000>::from_ticks(1000)).unwrap(); - - ( - Shared {}, - Local { led, state: false }, - init::Monotonics(mono), - ) - } - - #[task(local = [led, state])] - fn blink(cx: blink::Context) { - rprintln!("blink"); - if *cx.local.state { - cx.local.led.set_high().unwrap(); - *cx.local.state = false; - } else { - cx.local.led.set_low().unwrap(); - *cx.local.state = true; - } - blink::spawn_after(Duration::<u64, 1, 1000>::from_ticks(1000)).unwrap(); - } -} - -``` - -# V2.0.0 - -``` rust -{{ #include ../../../../../examples/stm32f3_blinky/src/main.rs }} -``` - -## A diff between the two projects - -_Note_: This diff may not be 100% accurate, but it displays the important changes. - -``` diff -#![no_main] - #![no_std] -+#![feature(type_alias_impl_trait)] - - use panic_rtt_target as _; - use rtic::app; - use stm32f3xx_hal::gpio::{Output, PushPull, PA5}; - use stm32f3xx_hal::prelude::*; --use systick_monotonic::{fugit::Duration, Systick}; -+use rtic_monotonics::Systick; - - #[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])] - mod app { -@@ -20,16 +21,14 @@ mod app { - state: bool, - } - -- #[monotonic(binds = SysTick, default = true)] -- type MonoTimer = Systick<1000>; -- - #[init] - fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) { - // Setup clocks - let mut flash = cx.device.FLASH.constrain(); - let mut rcc = cx.device.RCC.constrain(); - -- let mono = Systick::new(cx.core.SYST, 36_000_000); -+ let mono_token = rtic_monotonics::create_systick_token!(); -+ let mono = Systick::new(cx.core.SYST, 36_000_000, mono_token); - - let _clocks = rcc - .cfgr -@@ -46,7 +45,7 @@ mod app { - led.set_high().unwrap(); - - // Schedule the blinking task -- blink::spawn_after(Duration::<u64, 1, 1000>::from_ticks(1000)).unwrap(); -+ blink::spawn().unwrap(); - - ( - Shared {}, -@@ -56,14 +55,18 @@ mod app { - } - - #[task(local = [led, state])] -- fn blink(cx: blink::Context) { -- rprintln!("blink"); -- if *cx.local.state { -- cx.local.led.set_high().unwrap(); -- *cx.local.state = false; -- } else { -- cx.local.led.set_low().unwrap(); -- *cx.local.state = true; -- blink::spawn_after(Duration::<u64, 1, 1000>::from_ticks(1000)).unwrap(); -- } -+ async fn blink(cx: blink::Context) { -+ loop { -+ // A task is now allowed to run forever, provided that -+ // there is an `await` somewhere in the loop. -+ SysTick::delay(1000.millis()).await; -+ rprintln!("blink"); -+ if *cx.local.state { -+ cx.local.led.set_high().unwrap(); -+ *cx.local.state = false; -+ } else { -+ cx.local.led.set_low().unwrap(); -+ *cx.local.state = true; -+ } -+ } -+ } - } -```
\ No newline at end of file diff --git a/book/en/src/migration/migration_v2/monotonics.md b/book/en/src/migration/migration_v2/monotonics.md deleted file mode 100644 index a8b0dba..0000000 --- a/book/en/src/migration/migration_v2/monotonics.md +++ /dev/null @@ -1,13 +0,0 @@ -# Migrating to `rtic-monotonics` - -In previous versions of `rtic`, monotonics were an integral, tightly coupled part of the `#[rtic::app]`. In this new version, [`rtic-monotonics`] provides them in a more decoupled way. - -The `#[monotonic]` attribute is no longer used. Instead, you use a `create_X_token` from [`rtic-monotonics`]. An invocation of this macro returns an interrupt registration token, which can be used to construct an instance of your desired monotonic. - -`spawn_after` and `spawn_at` are no longer available. Instead, you use the async functions `delay` and `delay_until` provided by ipmlementations of the `rtic_time::Monotonic` trait, available through [`rtic-monotonics`]. - -Check out the [code example](./complete_example.md) for an overview of the required changes. - -For more information on current monotonic implementations, see [the `rtic-monotonics` documentation](https://docs.rs/rtic-monotonics), and [the examples](https://github.com/rtic-rs/rtic/tree/master/examples). - -[`rtic-monotonics`]: ghttps://github.com/rtic/rtic-monotonics
\ No newline at end of file diff --git a/book/en/src/migration/migration_v2/nightly.md b/book/en/src/migration/migration_v2/nightly.md deleted file mode 100644 index 09f6e33..0000000 --- a/book/en/src/migration/migration_v2/nightly.md +++ /dev/null @@ -1,5 +0,0 @@ -# RTIC now requires Rust Nightly - -The new `async` features require that you use a nightly compiler, and that the feature `type_alias_impl_trait` is enabled for your applications. - -To enable this feature, you must add the line `#![type_alias_impl_trait]` to the root file of your project, on the lines below or above where `#![no_std]` and `#![no_main]` are defined.
\ No newline at end of file diff --git a/book/en/src/migration/migration_v2/rtic-sync.md b/book/en/src/migration/migration_v2/rtic-sync.md deleted file mode 100644 index fefde03..0000000 --- a/book/en/src/migration/migration_v2/rtic-sync.md +++ /dev/null @@ -1,9 +0,0 @@ -# Using `rtic-sync` - -`rtic-sync` provides primitives that can be used for message passing and resource sharing in async context. - -The important structs are: -* The `Arbiter`, which allows you to await access to a shared resource in async contexts without using `lock`. -* `Channel`, which allows you to communicate between tasks (both `async` and non-`async`). - -For more information on these structs, see the [`rtic-sync` docs](https://docs.rs/rtic-sync)
\ No newline at end of file diff --git a/book/en/src/migration/migration_v4.md b/book/en/src/migration/migration_v4.md deleted file mode 100644 index d1a7ebe..0000000 --- a/book/en/src/migration/migration_v4.md +++ /dev/null @@ -1,247 +0,0 @@ -# Migrating from v0.4.x to v0.5.0 - -This section covers how to upgrade an application written against RTFM v0.4.x to -the version v0.5.0 of the framework. - -## Project name change RTFM -> RTIC - -With release [v0.5.2][rtic0.5.2] the name was change to Real-Time Interrupt-driven Concurrency - -All occurrences of `RTFM` needs to change to `RTIC`. - -See [migration guide RTFM to RTIC](./migration_rtic.md) - -[rtic0.5.2]: https://crates.io/crates/cortex-m-rtic/0.5.2 - -## `Cargo.toml` - -Change the version of `cortex-m-rtfm` to -`"0.5.0"`, change `rtfm` to `rtic`. -Remove the `timer-queue` feature. - -``` toml -[dependencies.cortex-m-rtfm] -# change this -version = "0.4.3" - -# into this -[dependencies.cortex-m-rtic] -version = "0.5.0" - -# and remove this Cargo feature -features = ["timer-queue"] -# ^^^^^^^^^^^^^ -``` - -## `Context` argument - -All functions inside the `#[rtfm::app]` item need to take as first argument a -`Context` structure. This `Context` type will contain the variables that were -magically injected into the scope of the function by version v0.4.x of the -framework: `resources`, `spawn`, `schedule` -- these variables will become -fields of the `Context` structure. Each function within the `#[rtfm::app]` item -gets a different `Context` type. - -``` rust -#[rtfm::app(/* .. */)] -const APP: () = { - // change this - #[task(resources = [x], spawn = [a], schedule = [b])] - fn foo() { - resources.x.lock(|x| /* .. */); - spawn.a(message); - schedule.b(baseline); - } - - // into this - #[task(resources = [x], spawn = [a], schedule = [b])] - fn foo(mut cx: foo::Context) { - // ^^^^^^^^^^^^^^^^^^^^ - - cx.resources.x.lock(|x| /* .. */); - // ^^^ - - cx.spawn.a(message); - // ^^^ - - cx.schedule.b(message, baseline); - // ^^^ - } - - // change this - #[init] - fn init() { - // .. - } - - // into this - #[init] - fn init(cx: init::Context) { - // ^^^^^^^^^^^^^^^^^ - // .. - } - - // .. -}; -``` - -## Resources - -The syntax used to declare resources has changed from `static mut` -variables to a `struct Resources`. - -``` rust -#[rtfm::app(/* .. */)] -const APP: () = { - // change this - static mut X: u32 = 0; - static mut Y: u32 = (); // late resource - - // into this - struct Resources { - #[init(0)] // <- initial value - X: u32, // NOTE: we suggest changing the naming style to `snake_case` - - Y: u32, // late resource - } - - // .. -}; -``` - -## Device peripherals - -If your application was accessing the device peripherals in `#[init]` through -the `device` variable then you'll need to add `peripherals = true` to the -`#[rtfm::app]` attribute to continue to access the device peripherals through -the `device` field of the `init::Context` structure. - -Change this: - -``` rust -#[rtfm::app(/* .. */)] -const APP: () = { - #[init] - fn init() { - device.SOME_PERIPHERAL.write(something); - } - - // .. -}; -``` - -Into this: - -``` rust -#[rtfm::app(/* .. */, peripherals = true)] -// ^^^^^^^^^^^^^^^^^^ -const APP: () = { - #[init] - fn init(cx: init::Context) { - // ^^^^^^^^^^^^^^^^^ - cx.device.SOME_PERIPHERAL.write(something); - // ^^^ - } - - // .. -}; -``` - -## `#[interrupt]` and `#[exception]` - -Remove the attributes `#[interrupt]` and `#[exception]`. -To declare hardware tasks in v0.5.x use the `#[task]` -attribute with the `binds` argument instead. - -Change this: - -``` rust -#[rtfm::app(/* .. */)] -const APP: () = { - // hardware tasks - #[exception] - fn SVCall() { /* .. */ } - - #[interrupt] - fn UART0() { /* .. */ } - - // software task - #[task] - fn foo() { /* .. */ } - - // .. -}; -``` - -Into this: - -``` rust -#[rtfm::app(/* .. */)] -const APP: () = { - #[task(binds = SVCall)] - // ^^^^^^^^^^^^^^ - fn svcall(cx: svcall::Context) { /* .. */ } - // ^^^^^^ we suggest you use a `snake_case` name here - - #[task(binds = UART0)] - // ^^^^^^^^^^^^^ - fn uart0(cx: uart0::Context) { /* .. */ } - - #[task] - fn foo(cx: foo::Context) { /* .. */ } - - // .. -}; -``` - -## `schedule` - -The `schedule` API no longer requires the `timer-queue` cargo feature. -To use the `schedule` API one must first define the monotonic timer the -runtime will use using the `monotonic` argument of the `#[rtfm::app]` attribute. -To continue using the cycle counter (CYCCNT) as the monotonic timer, -and match the behavior of version v0.4.x, add the `monotonic = rtfm::cyccnt::CYCCNT` -argument to the `#[rtfm::app]` attribute. - -Also, the `Duration` and `Instant` types and the `U32Ext` trait moved -into the `rtfm::cyccnt` module. -This module is only available on ARMv7-M+ devices. -The removal of the `timer-queue` also brings back the `DWT` peripheral -inside the core peripherals struct, if `DWT` is required, -ensure it is enabled by the application inside `init`. - -Change this: - -``` rust -use rtfm::{Duration, Instant, U32Ext}; - -#[rtfm::app(/* .. */)] -const APP: () = { - #[task(schedule = [b])] - fn a() { - // .. - } -}; -``` - -Into this: - -``` rust -use rtfm::cyccnt::{Duration, Instant, U32Ext}; -// ^^^^^^^^ - -#[rtfm::app(/* .. */, monotonic = rtfm::cyccnt::CYCCNT)] -// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -const APP: () = { - #[init] - fn init(cx: init::Context) { - cx.core.DWT.enable_cycle_counter(); - // optional, configure the DWT run without a debugger connected - cx.core.DCB.enable_trace(); - } - #[task(schedule = [b])] - fn a(cx: a::Context) { - // .. - } -}; -``` 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. |