Real-Time Interrupt-driven Concurrency
The hardware accelerated Rust RTOS
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 delayed or scheduled to continue running
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 a stronger
guarantee than what's provided by the standardMutex
abstraction.
-
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.
User documentation
Documentation for the development version.
API reference
Community provided examples repo
Chat
Join us and talk about RTIC in the Matrix room.
Weekly meeting minutes can be found over at RTIC HackMD
Contributing
New features and big changes should go through the RFC process in the
dedicated RFC repository.
Running tests locally
To check all Run-pass tests locally on your thumbv6m-none-eabi or thumbv7m-none-eabi target device, run
$ cargo xtask --target <your target>
# ˆˆˆˆˆˆˆˆˆˆˆˆ
# e.g. thumbv7m-none-eabi
Acknowledgments
This crate is based on the Real-Time For the Masses language
created by the Embedded Systems group at Luleå University of Technology,
led by Prof. Per Lindgren.
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 or
https://www.apache.org/licenses/LICENSE-2.0) - MIT license (LICENSE-MIT or
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 or
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.