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The hardware accelerated Rust RTOS

A concurrency framework for building real-time systems.

• Tasks as the unit of concurrency¹. Tasks can beevent triggered(fired in response to asynchronous stimuli) or spawned by the application ondemand.

• Message passing between tasks. Specifically, messages can be passed tosoftware tasks at spawn time.

• A timer queue². Software tasks can be delayed or scheduled to continue runningat 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-grainedprioritybased critical sections¹.

• Deadlock free execution guaranteed at compile time. This is a strongerguarantee than what's provided bythe standardMutexabstraction.

• Minimal scheduling overhead. The task scheduler has minimal softwarefootprint; the hardware does the bulk of the scheduling.

• Highly efficient memory usage: All the tasks share a single call stack andthere's no hard dependency on a dynamic memory allocator.

• All Cortex-M devices are fully supported.

• Most RISC-V devices are supported. Refer to the RTIC bookto learn more about RISC-V backends, their particularities, and their limitations.

• This task model is amenable to known WCET (Worst Case Execution Time) analysisand scheduling analysis techniques.

Documentation for thedevelopment version.

Join us and talk about RTIC in theMatrix room.

Weekly meeting minutes can be found over atRTIC HackMD

New features and big changes should go through the RFC process in thededicated RFC repository.

To check allRun-pass tests locally on yourthumbv6m-none-eabi orthumbv7m-none-eabi target device, run

$cargo xtask --target<your target>#ˆˆˆˆˆˆˆˆˆˆˆˆ#e.g. thumbv7m-none-eabi

This crate is based on theReal-Time For the Masses languagecreated by the Embedded Systems group atLuleå University of Technology,led byProf. Per Lindgren.

All source code (including code snippets) is licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE orhttps://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT orhttps://opensource.org/licenses/MIT)

at your option.

The written prose contained within the book is licensed under the terms of theCreative Commons CC-BY-SA v4.0 license (LICENSE-CC-BY-SA orhttps://creativecommons.org/licenses/by-sa/4.0/legalcode).

Unless you explicitly state otherwise, any contribution intentionally submittedfor inclusion in the work by you, as defined in the Apache-2.0 license, shall belicensed as above, without any additional terms or conditions.