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author | 2020-10-15 16:42:30 +0000 | |
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committer | 2020-10-15 16:42:30 +0000 | |
commit | 355cb82d0693fe108ac28ec8a0d77e8aab4e6e06 (patch) | |
tree | 67c0eadf6d8a98a2691b816d46a5103d159d6bbc /examples/schedule.rs | |
parent | f9303cef1cf5b2d57d26e7667289fbdccf959ea8 (diff) | |
parent | 6808cc7cdf1512a7b10dd43f268f430a676c606e (diff) | |
download | rtic-355cb82d0693fe108ac28ec8a0d77e8aab4e6e06.tar.gz rtic-355cb82d0693fe108ac28ec8a0d77e8aab4e6e06.tar.zst rtic-355cb82d0693fe108ac28ec8a0d77e8aab4e6e06.zip |
Merge #390
390: Spawn and schedule from anywhere r=AfoHT a=korken89
This PR moves RTIC to the spawn and schedule from anywhere syntax.
Notable changes:
* We do no longer support non-`Send` types.
* Some extra code is generated as any task may spawn/schedule any task. However Rust/LLVM does a great job optimizing away non used instantiations (no real code-size difference observed).
* Worst case priority inversion has increased, but it is now predictable.
Upsides:
* With this we should be able to support async/await.
* RTIC tasks can now be callbacks (spawned and scheduled).
* RTIC tasks can be stored.
Needs the following PR to land first: https://github.com/rtic-rs/rtic-syntax/pull/34
The following now works:
```rust
#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
mod app {
#[init]
fn init(mut cx: init::Context) -> init::LateResources {
// Init stuff...
// New spawn syntax
foo::spawn().unwrap();
// New schedule syntax
bar::schedule(now + 4_000_000.cycles()).unwrap();
init::LateResources {}
}
#[task]
fn foo(_: foo::Context) {}
#[task]
fn bar(_: bar::Context) {}
extern "C" {
fn SSI0();
}
}
```
Co-authored-by: Per Lindgren <per.lindgren@ltu.se>
Co-authored-by: Emil Fresk <emil.fresk@gmail.com>
Diffstat (limited to 'examples/schedule.rs')
-rw-r--r-- | examples/schedule.rs | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/examples/schedule.rs b/examples/schedule.rs index 7e6adc1a..fa67a566 100644 --- a/examples/schedule.rs +++ b/examples/schedule.rs @@ -13,7 +13,7 @@ use rtic::cyccnt::{Instant, U32Ext as _}; // NOTE: does NOT work on QEMU! #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)] mod app { - #[init(schedule = [foo, bar])] + #[init()] fn init(mut cx: init::Context) -> init::LateResources { // Initialize (enable) the monotonic timer (CYCCNT) cx.core.DCB.enable_trace(); @@ -28,10 +28,10 @@ mod app { hprintln!("init @ {:?}", now).unwrap(); // Schedule `foo` to run 8e6 cycles (clock cycles) in the future - cx.schedule.foo(now + 8_000_000.cycles()).unwrap(); + foo::schedule(now + 8_000_000.cycles()).unwrap(); // Schedule `bar` to run 4e6 cycles in the future - cx.schedule.bar(now + 4_000_000.cycles()).unwrap(); + bar::schedule(now + 4_000_000.cycles()).unwrap(); init::LateResources {} } |