rtic/book/en/src/internals/targets.md

# Target Architecture

While RTIC can currently target all Cortex-m devices there are some key architecure differences that 
users should be aware. Namely the absence of hardware priority ceiling (BASEPRI) support in the 
ARMv6-M and ARMv8-M-base architectures requires a few tweaks from RTIC to deliver the same 
features. These differences result in two flavors of critical sections: priority ceiling, and source 
masking. 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      |                  |     &#2713     |
| Cortex-M0+ | ARMv6-M      |                  |     &#2713     |
| Cortex-M3  | ARMv7-M      |      &#2713      |                |
| Cortex-M4  | ARMv7-M      |      &#2713      |                |
| Cortex-M23 | ARMv8-M-base |                  |     &#2713     |
| Cortex-M33 | ARMv8-M-main |      &#2713      |                |
| Cortex-M7  | ARMv7-M      |      &#2713      |                |

## Priority Ceiling

This implementation is covered in depth by Chapter 4.5 of this book.

## Source Masking

Since there is no hardware support for a priority ceiling, RTIC must instead rely on the Nested 
Vectored Interrupt Controller (NVIC) present in the core architecture. 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 all other tasks which share 
the resource using the NVIC. In effect this raisis the virtual priority ceiling. 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 it's priority is 
greater. This is because the NVIC is preventing it from starting due to task A's source mask 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.