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diff --git a/book/src/by-example/resources.md b/book/src/by-example/resources.md deleted file mode 100644 index 93332f0..0000000 --- a/book/src/by-example/resources.md +++ /dev/null @@ -1,119 +0,0 @@ -## Resources - -One of the limitations of the attributes provided by the `cortex-m-rt` crate is -that sharing data (or peripherals) between interrupts, or between an interrupt -and the `entry` function, requires a `cortex_m::interrupt::Mutex`, which -*always* requires disabling *all* interrupts to access the data. Disabling all -the interrupts is not always required for memory safety but the compiler doesn't -have enough information to optimize the access to the shared data. - -The `app` attribute has a full view of the application thus it can optimize -access to `static` variables. In RTFM we refer to the `static` variables -declared inside the `app` pseudo-module as *resources*. To access a resource the -context (`init`, `idle`, `interrupt` or `exception`) must first declare the -resource in the `resources` argument of its attribute. - -In the example below two interrupt handlers access the same resource. No `Mutex` -is required in this case because the two handlers run at the same priority and -no preemption is possible. The `SHARED` resource can only be accessed by these -two handlers. - -``` rust -{{#include ../../../examples/resource.rs}} -``` - -``` console -$ cargo run --example resource -{{#include ../../../ci/expected/resource.run}}``` - -## Priorities - -The priority of each handler can be declared in the `interrupt` and `exception` -attributes. It's not possible to set the priority in any other way because the -runtime takes ownership of the `NVIC` peripheral; it's also not possible to -change the priority of a handler / task at runtime. Thanks to this restriction -the framework has knowledge about the *static* priorities of all interrupt and -exception handlers. - -Interrupts and exceptions can have priorities in the range `1..=(1 << -NVIC_PRIO_BITS)` where `NVIC_PRIO_BITS` is a constant defined in the `device` -crate. The `idle` task has a priority of `0`, the lowest priority. - -Resources that are shared between handlers that run at different priorities -require critical sections for memory safety. The framework ensures that critical -sections are used but *only where required*: for example, no critical section is -required by the highest priority handler that has access to the resource. - -The critical section API provided by the RTFM framework (see [`Mutex`]) is -based on dynamic priorities rather than on disabling interrupts. The consequence -is that these critical sections will prevent *some* handlers, including all the -ones that contend for the resource, from *starting* but will let higher priority -handlers, that don't contend for the resource, run. - -[`Mutex`]: ../../api/rtfm/trait.Mutex.html - -In the example below we have three interrupt handlers with priorities ranging -from one to three. The two handlers with the lower priorities contend for the -`SHARED` resource. The lowest priority handler needs to [`lock`] the -`SHARED` resource to access its data, whereas the mid priority handler can -directly access its data. The highest priority handler is free to preempt -the critical section created by the lowest priority handler. - -[`lock`]: ../../api/rtfm/trait.Mutex.html#method.lock - -``` rust -{{#include ../../../examples/lock.rs}} -``` - -``` console -$ cargo run --example lock -{{#include ../../../ci/expected/lock.run}}``` - -## Late resources - -Unlike normal `static` variables, which need to be assigned an initial value -when declared, resources can be initialized at runtime. We refer to these -runtime initialized resources as *late resources*. Late resources are useful for -*moving* (as in transferring ownership) peripherals initialized in `init` into -interrupt and exception handlers. - -Late resources are declared like normal resources but that are given an initial -value of `()` (the unit value). Late resources must be initialized at the end of -the `init` function using plain assignments (e.g. `FOO = 1`). - -The example below uses late resources to stablish a lockless, one-way channel -between the `UART0` interrupt handler and the `idle` function. A single producer -single consumer [`Queue`] is used as the channel. The queue is split into -consumer and producer end points in `init` and then each end point is stored -in a different resource; `UART0` owns the producer resource and `idle` owns -the consumer resource. - -[`Queue`]: ../../api/heapless/spsc/struct.Queue.html - -``` rust -{{#include ../../../examples/late.rs}} -``` - -``` console -$ cargo run --example late -{{#include ../../../ci/expected/late.run}}``` - -## `static` resources - -`static` variables can also be used as resources. Tasks can only get `&` -(shared) references to these resources but locks are never required to access -their data. You can think of `static` resources as plain `static` variables that -can be initialized at runtime and have better scoping rules: you can control -which tasks can access the variable, instead of the variable being visible to -all the functions in the scope it was declared in. - -In the example below a key is loaded (or created) at runtime and then used from -two tasks that run at different priorities. - -``` rust -{{#include ../../../examples/static.rs}} -``` - -``` console -$ cargo run --example static -{{#include ../../../ci/expected/static.run}}``` |
