book/example polish

book/en/src/by-example/delay.md

@@ -6,12 +6,13 @@ This can be achieved by instantiating a monotonic timer:
 
 ``` rust
 ...
-rtic_monotonics::make_systick_timer_queue!(TIMER);
+rtic_monotonics::make_systick_handler!();
 
 #[init]
 fn init(cx: init::Context) -> (Shared, Local) {
-    let systick = Systick::start(cx.core.SYST, 12_000_000);
-    TIMER.initialize(systick);
+    hprintln!("init");
+
+    Systick::start(cx.core.SYST, 12_000_000);
     ...
 ```
 
@@ -21,8 +22,10 @@ A *software* task can `await` the delay to expire:
 #[task]
 async fn foo(_cx: foo::Context) {
     ...
-    TIMER.delay(100.millis()).await;
+    Systick::delay(100.millis()).await;
     ...
+}
+
 ```
 
 Technically, the timer queue is implemented as a list based priority queue, where list-nodes are statically allocated as part of the underlying task `Future`. Thus, the timer queue is infallible at run-time (its size and allocation is determined at compile time).
@@ -54,8 +57,8 @@ Using the `select_biased` macro from the `futures` crate it may look like this:
 ``` rust
 // Call hal with short relative timeout using `select_biased`
 select_biased! {
-    v = hal_get(&TIMER, 1).fuse() => hprintln!("hal returned {}", v),
-    _ = TIMER.delay(200.millis()).fuse() =>  hprintln!("timeout", ), // this will finish first
+    v = hal_get(1).fuse() => hprintln!("hal returned {}", v),
+    _ = Systick::delay(200.millis()).fuse() =>  hprintln!("timeout", ), // this will finish first
 }
 ```
 
@@ -64,8 +67,8 @@ Assuming the `hal_get` will take 450ms to finish, a short timeout of 200ms will
 ``` rust
 // Call hal with long relative timeout using `select_biased`
 select_biased! {
-    v = hal_get(&TIMER, 1).fuse() => hprintln!("hal returned {}", v), // hal finish first
-    _ = TIMER.delay(1000.millis()).fuse() =>  hprintln!("timeout", ),
+    v = hal_get(1).fuse() => hprintln!("hal returned {}", v), // hal finish first
+    _ = Systick::delay(1000.millis()).fuse() =>  hprintln!("timeout", ),
 }
 ```
 
@@ -75,7 +78,7 @@ Using `select_biased` any number of futures can be combined, so its very powerfu
 
 ``` rust
 // Call hal with long relative timeout using monotonic `timeout_after`
-match TIMER.timeout_after(1000.millis(), hal_get(&TIMER, 1)).await {
+match Systick::timeout_after(1000.millis(), hal_get(1)).await {
     Ok(v) => hprintln!("hal returned {}", v),
     _ => hprintln!("timeout"),
 }
@@ -87,26 +90,26 @@ In cases you want exact control over time without drift. For this purpose we can
 
 ``` rust
 // get the current time instance
-let mut instant = TIMER.now();
+let mut instant = Systick::now();
 
 // do this 3 times
 for n in 0..3 {
-    // exact point in time without drift
+    // absolute point in time without drift
     instant += 1000.millis();
-    TIMER.delay_until(instant).await;
+    Systick::delay_until(instant).await;
 
-    // exact point it time for timeout
+    // absolute point it time for timeout
     let timeout = instant + 500.millis();
-    hprintln!("now is {:?}, timeout at {:?}", TIMER.now(), timeout);
+    hprintln!("now is {:?}, timeout at {:?}", Systick::now(), timeout);
 
-    match TIMER.timeout_at(timeout, hal_get(&TIMER, n)).await {
-        Ok(v) => hprintln!("hal returned {} at time {:?}", v, TIMER.now()),
+    match Systick::timeout_at(timeout, hal_get(n)).await {
+        Ok(v) => hprintln!("hal returned {} at time {:?}", v, Systick::now()),
         _ => hprintln!("timeout"),
     }
 }
 ```
 
-`instant = TIMER.now()` gives the baseline (i.e., the exact current point in time). We want to call `hal_get` after 1000ms relative to this exact point in time. This can be accomplished by `TIMER.delay_until(instant).await;`. We define the absolute point in time for the `timeout`, and call `TIMER.timeout_at(timeout, hal_get(&TIMER, n)).await`. For the first loop iteration `n == 0`, and the `hal_get` will take 350ms (and finishes before the timeout). For the second iteration `n == 1`, and `hal_get` will take 450ms (and again succeeds to finish before the timeout).  For the third iteration `n == 2` (`hal_get` will take 5500ms to finish). In this case we will run into a timeout.
+`instant = Systick::now()` gives the baseline (i.e., the absolute current point in time). We want to call `hal_get` after 1000ms relative to this absolute point in time. This can be accomplished by `Systick::delay_until(instant).await;`. We define the absolute point in time for the `timeout`, and call `Systick::timeout_at(timeout, hal_get(n)).await`. For the first loop iteration `n == 0`, and the `hal_get` will take 350ms (and finishes before the timeout). For the second iteration `n == 1`, and `hal_get` will take 450ms (and again succeeds to finish before the timeout).  For the third iteration `n == 2` (`hal_get` will take 5500ms to finish). In this case we will run into a timeout.
 
 
 The complete example:

rtic/examples/async-timeout.rs

@@ -61,11 +61,11 @@ mod app {
 
         // do this 3 times
         for n in 0..3 {
-            // exact point in time without drift
+            // absolute point in time without drift
             instant += 1000.millis();
             Systick::delay_until(instant).await;
 
-            // exact point it time for timeout
+            // absolute point it time for timeout
             let timeout = instant + 500.millis();
             hprintln!("now is {:?}, timeout at {:?}", Systick::now(), timeout);