1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
|
# Real Time For the Masses
A concurrency framework for building real time systems.
## Features
- **Tasks** as the unit of concurrency [^1]. Tasks can be *event triggered*
(fired in response to asynchronous stimuli) or spawned by the application on
demand.
- **Message passing** between tasks. Specifically, messages can be passed to
software tasks at spawn time.
- **A timer queue** [^2]. Software tasks can be scheduled to run at some time
in the future. This feature can be used to implement periodic tasks.
- Support for prioritization of tasks and, thus, **preemptive multitasking**.
- **Efficient and data race free memory sharing** through fine grained *priority
based* critical sections [^1].
- **Deadlock free execution** guaranteed at compile time. This is an stronger
guarantee than what's provided by [the standard `Mutex`
abstraction][std-mutex].
[std-mutex]: https://doc.rust-lang.org/std/sync/struct.Mutex.html
- **Minimal scheduling overhead**. The task scheduler has minimal software
footprint; the hardware does the bulk of the scheduling.
- **Highly efficient memory usage**: All the tasks share a single call stack and
there's no hard dependency on a dynamic memory allocator.
- **All Cortex-M devices are fully supported**.
- This task model is amenable to known WCET (Worst Case Execution Time) analysis
and scheduling analysis techniques. (Though we haven't yet developed Rust
friendly tooling for that.)
## Requirements
- Rust 1.36.0+
- Applications must be written using the 2018 edition.
## [User documentation](https://japaric.github.io/rtfm5/book/en)
## [API reference](https://japaric.github.io/rtfm5/api/rtfm/index.html)
## Acknowledgments
This crate is based on [the RTFM language][rtfm-lang] created by the Embedded
Systems group at [Luleå University of Technology][ltu], led by [Prof. Per
Lindgren][per].
[rtfm-lang]: http://www.rtfm-lang.org/
[ltu]: https://www.ltu.se/?l=en
[per]: https://www.ltu.se/staff/p/pln-1.11258?l=en
## References
[^1]: Eriksson, J., Häggström, F., Aittamaa, S., Kruglyak, A., & Lindgren, P.
(2013, June). Real-time for the masses, step 1: Programming API and static
priority SRP kernel primitives. In Industrial Embedded Systems (SIES), 2013
8th IEEE International Symposium on (pp. 110-113). IEEE.
[^2]: Lindgren, P., Fresk, E., Lindner, M., Lindner, A., Pereira, D., & Pinho,
L. M. (2016). Abstract timers and their implementation onto the arm cortex-m
family of mcus. ACM SIGBED Review, 13(1), 48-53.
## License
All source code (including code snippets) is licensed under either of
- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
[https://www.apache.org/licenses/LICENSE-2.0][L1])
- MIT license ([LICENSE-MIT](LICENSE-MIT) or
[https://opensource.org/licenses/MIT][L2])
[L1]: https://www.apache.org/licenses/LICENSE-2.0
[L2]: https://opensource.org/licenses/MIT
at your option.
The written prose contained within the book is licensed under the terms of the
Creative Commons CC-BY-SA v4.0 license ([LICENSE-CC-BY-SA](LICENSE-CC-BY-SA) or
[https://creativecommons.org/licenses/by-sa/4.0/legalcode][L3]).
[L3]: https://creativecommons.org/licenses/by-sa/4.0/legalcode
### Contribution
Unless you explicitly state otherwise, any contribution intentionally submitted
for inclusion in the work by you, as defined in the Apache-2.0 license, shall be
licensed as above, without any additional terms or conditions.
|
