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-rw-r--r--book/en/src/by-example.md2
-rw-r--r--rtic-macros/src/syntax/parse.rs7
-rw-r--r--rtic-monotonics/src/rp2040.rs2
-rw-r--r--rtic-monotonics/src/systick.rs2
-rw-r--r--rtic/CHANGELOG.md2
-rw-r--r--rtic/examples/async-delay.rs2
-rw-r--r--rtic/examples/async-task.rs4
-rw-r--r--rtic/examples/async-timeout.rs2
-rw-r--r--rtic/examples/common.rs4
-rw-r--r--rtic/examples/destructure.rs4
-rw-r--r--rtic/examples/locals.rs4
-rw-r--r--rtic/examples/not-sync.rs4
-rw-r--r--rtic/examples/static.rs2
13 files changed, 24 insertions, 17 deletions
diff --git a/book/en/src/by-example.md b/book/en/src/by-example.md
index a2e5b278..e5cf67a0 100644
--- a/book/en/src/by-example.md
+++ b/book/en/src/by-example.md
@@ -7,7 +7,7 @@ All examples in this part of the book are accessible at the
The examples are runnable on QEMU (emulating a Cortex M3 target),
thus no special hardware required to follow along.
-[repoexamples]: https://github.com/rtic-rs/rtic/tree/master/examples
+[repoexamples]: https://github.com/rtic-rs/rtic/tree/master/rtic/examples
## Running an example
diff --git a/rtic-macros/src/syntax/parse.rs b/rtic-macros/src/syntax/parse.rs
index 72eeeaf6..823bd82e 100644
--- a/rtic-macros/src/syntax/parse.rs
+++ b/rtic-macros/src/syntax/parse.rs
@@ -289,11 +289,13 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
// Handle comma: ,
let _: Token![,] = content.parse()?;
}
- let priority = priority.unwrap_or(1);
let shared_resources = shared_resources.unwrap_or_default();
let local_resources = local_resources.unwrap_or_default();
Ok(if let Some(binds) = binds {
+ // Hardware tasks can't run at anything lower than 1
+ let priority = priority.unwrap_or(1);
+
if priority == 0 {
return Err(parse::Error::new(
prio_span.unwrap(),
@@ -308,6 +310,9 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
local_resources,
})
} else {
+ // Software tasks start at idle priority
+ let priority = priority.unwrap_or(0);
+
Either::Right(SoftwareTaskArgs {
priority,
shared_resources,
diff --git a/rtic-monotonics/src/rp2040.rs b/rtic-monotonics/src/rp2040.rs
index 6aa66ce0..9d2f4f35 100644
--- a/rtic-monotonics/src/rp2040.rs
+++ b/rtic-monotonics/src/rp2040.rs
@@ -138,7 +138,7 @@ impl embedded_hal_async::delay::DelayUs for Timer {
/// Register the Timer interrupt for the monotonic.
#[macro_export]
-macro_rules! make_rp2040_monotonic_handler {
+macro_rules! create_rp2040_monotonic_token {
() => {{
#[no_mangle]
#[allow(non_snake_case)]
diff --git a/rtic-monotonics/src/systick.rs b/rtic-monotonics/src/systick.rs
index b228e204..f4345d43 100644
--- a/rtic-monotonics/src/systick.rs
+++ b/rtic-monotonics/src/systick.rs
@@ -156,7 +156,7 @@ impl embedded_hal_async::delay::DelayUs for Systick {
/// Register the Systick interrupt for the monotonic.
#[macro_export]
-macro_rules! make_systick_handler {
+macro_rules! create_systick_token {
() => {{
#[no_mangle]
#[allow(non_snake_case)]
diff --git a/rtic/CHANGELOG.md b/rtic/CHANGELOG.md
index d1722781..920980cf 100644
--- a/rtic/CHANGELOG.md
+++ b/rtic/CHANGELOG.md
@@ -13,6 +13,8 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
### Changed
+- Make async task priorities start at 0, instead of 1, to always start at the lowest priority
+
## [v1.1.4] - 2023-02-26
### Added
diff --git a/rtic/examples/async-delay.rs b/rtic/examples/async-delay.rs
index 7b3667b0..cdffa620 100644
--- a/rtic/examples/async-delay.rs
+++ b/rtic/examples/async-delay.rs
@@ -24,7 +24,7 @@ mod app {
fn init(cx: init::Context) -> (Shared, Local) {
hprintln!("init");
- let systick_token = rtic_monotonics::make_systick_handler!();
+ let systick_token = rtic_monotonics::create_systick_token!();
Systick::start(cx.core.SYST, 12_000_000, systick_token);
foo::spawn().ok();
diff --git a/rtic/examples/async-task.rs b/rtic/examples/async-task.rs
index b70151a2..1ca18021 100644
--- a/rtic/examples/async-task.rs
+++ b/rtic/examples/async-task.rs
@@ -53,13 +53,13 @@ mod app {
hprintln!("hello from hw");
}
- #[task(shared = [a])]
+ #[task(shared = [a], priority = 1)]
async fn async_task(cx: async_task::Context) {
let async_task::SharedResources { a: _, .. } = cx.shared;
hprintln!("hello from async");
}
- #[task]
+ #[task(priority = 1)]
async fn async_task_args(_cx: async_task_args::Context, a: u32, b: i32) {
hprintln!("hello from async with args a: {}, b: {}", a, b);
}
diff --git a/rtic/examples/async-timeout.rs b/rtic/examples/async-timeout.rs
index e07e9c6f..7690408e 100644
--- a/rtic/examples/async-timeout.rs
+++ b/rtic/examples/async-timeout.rs
@@ -27,7 +27,7 @@ mod app {
fn init(cx: init::Context) -> (Shared, Local) {
hprintln!("init");
- let systick_token = rtic_monotonics::make_systick_handler!();
+ let systick_token = rtic_monotonics::create_systick_token!();
Systick::start(cx.core.SYST, 12_000_000, systick_token);
foo::spawn().ok();
diff --git a/rtic/examples/common.rs b/rtic/examples/common.rs
index ed6cb7dd..27ad0ad9 100644
--- a/rtic/examples/common.rs
+++ b/rtic/examples/common.rs
@@ -62,7 +62,7 @@ mod app {
}
// `local_to_foo` can only be accessed from this context
- #[task(local = [local_to_foo])]
+ #[task(local = [local_to_foo], priority = 1)]
async fn foo(cx: foo::Context) {
let local_to_foo = cx.local.local_to_foo;
*local_to_foo += 1;
@@ -74,7 +74,7 @@ mod app {
}
// `local_to_bar` can only be accessed from this context
- #[task(local = [local_to_bar])]
+ #[task(local = [local_to_bar], priority = 1)]
async fn bar(cx: bar::Context) {
let local_to_bar = cx.local.local_to_bar;
*local_to_bar += 1;
diff --git a/rtic/examples/destructure.rs b/rtic/examples/destructure.rs
index b5d564bc..dd1633c0 100644
--- a/rtic/examples/destructure.rs
+++ b/rtic/examples/destructure.rs
@@ -38,7 +38,7 @@ mod app {
}
// Direct destructure
- #[task(shared = [&a, &b, &c])]
+ #[task(shared = [&a, &b, &c], priority = 1)]
async fn foo(cx: foo::Context) {
let a = cx.shared.a;
let b = cx.shared.b;
@@ -48,7 +48,7 @@ mod app {
}
// De-structure-ing syntax
- #[task(shared = [&a, &b, &c])]
+ #[task(shared = [&a, &b, &c], priority = 1)]
async fn bar(cx: bar::Context) {
let bar::SharedResources { a, b, c, .. } = cx.shared;
diff --git a/rtic/examples/locals.rs b/rtic/examples/locals.rs
index 2408f90c..f01027cf 100644
--- a/rtic/examples/locals.rs
+++ b/rtic/examples/locals.rs
@@ -62,7 +62,7 @@ mod app {
}
// `local_to_foo` can only be accessed from this context
- #[task(local = [local_to_foo])]
+ #[task(local = [local_to_foo], priority = 1)]
async fn foo(cx: foo::Context) {
let local_to_foo = cx.local.local_to_foo;
*local_to_foo += 1;
@@ -74,7 +74,7 @@ mod app {
}
// `local_to_bar` can only be accessed from this context
- #[task(local = [local_to_bar])]
+ #[task(local = [local_to_bar], priority = 1)]
async fn bar(cx: bar::Context) {
let local_to_bar = cx.local.local_to_bar;
*local_to_bar += 1;
diff --git a/rtic/examples/not-sync.rs b/rtic/examples/not-sync.rs
index cd6b0bf5..1a798642 100644
--- a/rtic/examples/not-sync.rs
+++ b/rtic/examples/not-sync.rs
@@ -54,13 +54,13 @@ mod app {
loop {}
}
- #[task(shared = [&shared])]
+ #[task(shared = [&shared], priority = 1)]
async fn foo(c: foo::Context) {
let shared: &NotSync = c.shared.shared;
hprintln!("foo a {}", shared.data);
}
- #[task(shared = [&shared])]
+ #[task(shared = [&shared], priority = 1)]
async fn bar(c: bar::Context) {
let shared: &NotSync = c.shared.shared;
hprintln!("bar a {}", shared.data);
diff --git a/rtic/examples/static.rs b/rtic/examples/static.rs
index a98e2e5e..aa39940e 100644
--- a/rtic/examples/static.rs
+++ b/rtic/examples/static.rs
@@ -51,7 +51,7 @@ mod app {
}
}
- #[task(local = [p, state: u32 = 0])]
+ #[task(local = [p, state: u32 = 0], priority = 1)]
async fn foo(c: foo::Context) {
*c.local.state += 1;
generated by cgit v1.2.3 (git 2.39.1) at 2025-08-06 08:41:24 +0000