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| -rw-r--r-- | book/en/src/SUMMARY.md | 1 | ||||
| -rw-r--r-- | book/en/src/by-example/starting_a_project.md | 5 | ||||
| -rw-r--r-- | book/en/src/internals/targets.md | 71 |
3 files changed, 76 insertions, 1 deletions
diff --git a/book/en/src/SUMMARY.md b/book/en/src/SUMMARY.md index 045036ea..853f3a53 100644 --- a/book/en/src/SUMMARY.md +++ b/book/en/src/SUMMARY.md @@ -29,6 +29,7 @@ - [v0.4.x to v0.5.x](./migration/migration_v4.md) - [RTFM to RTIC](./migration/migration_rtic.md) - [Under the hood](./internals.md) + - [Cortex-M architectures](./internals/targets.md) <!--- [Interrupt configuration](./internals/interrupt-configuration.md)--> <!--- [Non-reentrancy](./internals/non-reentrancy.md)--> <!--- [Access control](./internals/access.md)--> diff --git a/book/en/src/by-example/starting_a_project.md b/book/en/src/by-example/starting_a_project.md index c916479a..ccb0083c 100644 --- a/book/en/src/by-example/starting_a_project.md +++ b/book/en/src/by-example/starting_a_project.md @@ -1,6 +1,9 @@ # Starting a new project -A recommendation when starting a RTIC project from scratch is to follow RTIC's [`defmt-app-template`]. +A recommendation when starting a RTIC project from scratch is to +follow RTIC's [`defmt-app-template`]. + +If you are targeting ARMv6-M or ARMv8-M-base architecture, check out the section [Target Architecture](../internals/targets.md) for more information on hardware limitations to be aware of. [`defmt-app-template`]: https://github.com/rtic-rs/defmt-app-template diff --git a/book/en/src/internals/targets.md b/book/en/src/internals/targets.md new file mode 100644 index 00000000..dfb68dea --- /dev/null +++ b/book/en/src/internals/targets.md @@ -0,0 +1,71 @@ +# Target Architecture + +While RTIC can currently target all Cortex-m devices there are some key architecure differences that +users should be aware of. Namely the absence of Base Priority Mask Register (`BASEPRI`) which lends +itself exceptionally well to the hardware priority ceiling support used in RTIC, in the ARMv6-M and +ARMv8-M-base architectures, which forces RTIC to use source masking instead. For each implementation +of lock and a detailed commentary of pros and cons, see the implementation of +[lock in src/export.rs][src_export]. + +[src_export]: https://github.com/rtic-rs/cortex-m-rtic/blob/master/src/export.rs + +These differences influence how critical sections are realized, but functionality should be the same +except that ARMv6-M/ARMv8-M-base cannot have tasks with shared resources bound to exception +handlers, as these cannot be masked in hardware. + +Table 1 below shows a list of Cortex-m processors and which type of critical section they employ. + +#### *Table 1: Critical Section Implementation by Processor Architecture* + +| Processor | Architecture | Priority Ceiling | Source Masking | +| :--------- | :----------: | :--------------: | :------------: | +| Cortex-M0 | ARMv6-M | | ઙ | +| Cortex-M0+ | ARMv6-M | | ઙ | +| Cortex-M3 | ARMv7-M | ઙ | | +| Cortex-M4 | ARMv7-M | ઙ | | +| Cortex-M7 | ARMv7-M | ઙ | | +| Cortex-M23 | ARMv8-M-base | | ઙ | +| Cortex-M33 | ARMv8-M-main | ઙ | | + +## Priority Ceiling + +This implementation is covered in depth by the [Critical Sections][critical_sections] page of this book. + +## Source Masking + +Without a `BASEPRI` register which allows for directly setting a priority ceiling in the Nested +Vectored Interrupt Controller (NVIC), RTIC must instead rely on disabling (masking) interrupts. +Consider Figure 1 below, showing two tasks A and B where A has higher priority but shares a resource +with B. + +#### *Figure 1: Shared Resources and Source Masking* + +```text + ┌────────────────────────────────────────────────────────────────┐ + │ │ + │ │ +3 │ Pending Preempts │ +2 │ ↑- - -A- - - - -↓A─────────► │ +1 │ B───────────────────► - - - - B────────► │ +0 │Idle┌─────► Resumes ┌────────► │ + ├────┴────────────────────────────────────────────┴──────────────┤ + │ │ + └────────────────────────────────────────────────────────────────┴──► Time + t1 t2 t3 t4 +``` + +At time *t1*, task B locks the shared resource by selectively disabling (using the NVIC) all other +tasks which have a priority equal to or less than any task which shares resouces with B. In effect +this creates a virtual priority ceiling, miroring the `BASEPRI` approach described in the +[Critical Sections][critical_Sections] page. Task A is one such task that shares resources with +task B. At time *t2*, task A is either spawned by task B or becomes pending through an interrupt +condition, but does not yet preempt task B even though its priority is greater. This is because the +NVIC is preventing it from starting due to task A being being disabled. At time *t3*, task B +releases the lock by re-enabling the tasks in the NVIC. Because task A was pending and has a higher +priority than task B, it immediately preempts task B and is free to use the shared resource without +risk of data race conditions. At time *t4*, task A completes and returns the execution context to B. + +Since source masking relies on use of the NVIC, core exception sources such as HardFault, SVCall, +PendSV, and SysTick cannot share data with other tasks. + +[critical_sections]: https://github.com/rtic-rs/cortex-m-rtic/blob/master/book/en/src/internals/critical-sections.md |