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Change Log

All notable changes to this project will be documented in this file. This project adheres to Semantic Versioning.

For each category, Added, Changed, Fixed add new entries at the top!

Unreleased

Added

  • Improve how CHANGELOG.md merges are handled
  • If current $stable and master version matches, dev-book redirects to $stable book
  • During deploy stage, merge master branch into current stable IFF cargo package version matches
  • Rework branch structure, release/vVERSION
  • Cargo clippy in CI
  • Use rust-cache Github Action
  • CI changelog entry enforcer
  • examples/periodic-at.rs, an example of a periodic timer without accumulated drift.
  • examples/periodic-at2.rs, an example of a periodic process with two tasks, with offset timing. Here we depict two alternative usages of the timer type, explicit and trait based.
  • book: Update Monotonic tips.

Fixed

  • Re-export rtic_core::prelude as rtic::mutex::prelude to allow glob imports + Clippy
  • Fix dated migration docs for spawn
  • Remove obsolete action-rs tool-cache
  • Force mdBook to return error codes
  • Readded missing ramfunc output to book

Changed

  • Try to detect target-dir for rtic-expansion.rs

v1.0.0 - 2021-12-25

Changed

  • Bump RTIC dependencies also updated to v1.0.0
  • Edition 2021
  • Change default idle behaviour to be NOP instead of WFI

v0.6.0-rc.4 - 2021-11-09

  • Updated to use the new generic Monotonic trait

v0.6.0-rc.3 - 2021-11-08

Fixed

v0.6.0-rc.2 - 2021-09-28

  • Fixed issue with cortex_m being used by the codegen instead of using the rtic::export::... which could make an app not compile if Systick is used and the user did not have the cortex-m crate as a dependency

v0.6.0-rc.1 - 2021-09-27

  • Documentation updates
  • Monotonic handlers default to maximum priority instead of minimum (to follow RTIC 0.5)
  • Better support for rust-analyzer

v0.5.9 - 2021-09-27

  • Removed the cortex-m-rt dependency
  • Docs updates

v0.5.8 - 2021-08-19

  • Feature flag was added to support cortex-m v0.7.x
  • MSRV raised to 1.38.

v0.6.0-alpha.5 - 2021-07-09

Changed

  • The new resources syntax is implemented.

v0.5.7 - 2021-07-05

  • Backport: "you must enable the rt feature" compile time detection

v0.6.0-alpha.4 - 2021-05-27

Fixed

  • Fixed codegen structure to not have issues with local paths
  • Default paths for monotonics now work properly
  • New embedded-time version to 0.11

v0.6.0-alpha.3 - 2021-0X-XX

  • Lost in the ether...

v0.6.0-alpha.2 - 2021-04-08

Added

  • Cancel and reschedule support to the monotonics

Fixed

  • UB in spawn_at
  • #[cfg] and other attributes now work on hardware tasks
  • Type aliases now work in mod app

Changed

  • The access to monotonic static methods was for example MyMono::now(), and is now monotonics::MyMono::now()

v0.6.0-alpha.1 - 2021-03-04

Added

  • Support for multi-locks, see examples/multilock.rs for syntax.
  • New monotonic syntax and support, see #[monotonic]

v0.5.6 - 2021-03-03

  • Security Use latest security patched heapless

v0.6.0-alpha.0 - 2020-11-14

Added

  • Allow annotating resources to activate special resource locking behaviour.

    • #[lock_free], there might be several tasks with the same priority accessing the resource without critical section.
    • #[task_local], there must be only one task, similar to a task local resource, but (optionally) set-up by init. This is similar to move.

  • Improved ergonomics allowing separation of task signatures to actual implementation in extern block extern "Rust" { #[task(..)] fn t(..); }.

Changed

  • [breaking-change] PR 400 Move dispatchers from extern block to app argument.
  • [breaking-change] PR 399 Locking resources are now always required to achieve a symmetric UI.
  • [breaking-change] PR 390 Rework whole spawn/schedule, support foo::spawn( ... ), foo::schedule( ... ).

  • [breaking-change] PR 368 struct Resources changed to attribute #[resources] on a struct.

  • [breaking-change] PR 368 Mod over const, instead of const APP: () = { use mod app {.

  • [breaking-change] PR 372 Init function always return LateResources for a symmetric API.

  • PR 355 Multi-core support was removed to reduce overall complexity.

v0.5.5 - 2020-08-27

  • Includes the previous soundness fix.
  • Fixes wrong use of the cortex_m crate which can cause some projects to stop compiling.

v0.5.4 - 2020-08-26 - YANKED

  • Soundness fix in RTIC, it was previously possible to get the cortex_m::Peripherals more than once, causing UB.

v0.5.3 - 2020-06-12

  • Added migration guide from cortex-m-rtfm to cortex-m-rtic
  • No code changes, only a version compatibility release with cortex-m-rtfm to ease the transition for users.

v0.5.2 - 2020-06-11

  • Using safe DWT interface
  • Using GitHub Actions now
  • Improved CI speed
  • Now main can be used as function name
  • Fixed so one can cfg-out resources when using a newer compiler

v0.5.1 - 2019-11-19

  • Fixed arithmetic wrapping bug in src/cyccntr.rs elapsed and duration could cause an internal overflow trap on subtraction in debug mode.

  • Fixed bug in SysTick implementation where the SysTick could be disabled by accident

v0.5.0 - 2019-11-14

Added

  • Experimental support for homogeneous and heterogeneous multi-core microcontrollers has been added. Support is gated behind the homogeneous and heterogeneous Cargo features.

Changed

  • [breaking-change] RFC 155 "explicit Context parameter" has been implemented.
  • [breaking-change] RFC 147 "all functions must be safe" has been implemented.

  • All the queues internally used by the framework now use AtomicU8 indices instead of AtomicUsize; this reduces the static memory used by the framework.

  • [breaking-change] when the capacity argument is omitted, the capacity of the task is assumed to be 1. Before, a reasonable (but hard to predict) capacity was computed based on the number of spawn references the task had.

  • [breaking-change] resources that are appear as exclusive references (&mut-) no longer appear behind the Exclusive newtype.

  • [breaking-change] the timer-queue Cargo feature has been removed. The schedule API can be used without enabling any Cargo feature.

  • [breaking-change] when the schedule API is used the type of init::Context.core changes from cortex_m::Peripherals to rtic::Peripherals. The fields of rtic::Peripherals do not change when Cargo features are enabled.

  • [breaking-change] the monotonic timer used to implement the schedule API is now user configurable via the #[app(monotonic = ..)] argument. IMPORTANT: it is now the responsibility of the application author to configure and initialize the chosen monotonic timer during the #[init] phase.

  • [breaking-change] the peripherals field is not include in init::Context by default. One must opt-in using the #[app(peripherals = ..)] argument.

  • [breaking-change] the #[exception] and #[interrupt] attributes have been removed. Hardware tasks are now declared using the #[task(binds = ..)] attribute.

  • [breaking-change] the syntax to declare resources has changed. Instead of using a static [mut] variable for each resource, all resources must be declared in a Resources structure.

Removed

  • [breaking-change] the integration with the owned_singleton crate has been removed. You can use heapless::Pool instead of alloc_singleton.

  • [breaking-change] late resources can no longer be initialized using the assign syntax. init::LateResources is the only method to initialize late resources. See PR #140 for more details.

v0.4.3 - 2019-04-21

Changed

  • Checking that the specified priorities are supported by the target device is now done at compile time.

Fixed

  • Building this crate with the "nightly" feature and a recent compiler has been fixed.

v0.4.2 - 2019-02-27

Added

  • Duration now has an as_cycles method to get the number of clock cycles contained in it.

  • An opt-in "nightly" feature that reduces static memory usage, shortens initialization time and reduces runtime overhead has been added. To use this feature you need a nightly compiler!

  • RFC 128 has been implemented. The exception and interrupt have gained a binds argument that lets you give the handler an arbitrary name. For example:

// on v0.4.1 you had to write
#[interrupt]
fn USART0() { .. }

// on v0.4.2 you can write
#[interrupt(binds = USART0)]
fn on_new_frame() { .. }

Changed

  • Builds are now reproducible. cargo build; cargo clean; cargo build will produce binaries that are exactly the same (after objcopy -O ihex). This wasn't the case before because we used randomly generated identifiers for memory safety but now all the randomness is gone.

Fixed

  • Fixed a non_camel_case_types warning that showed up when using a recent nightly.

  • Fixed a bug that allowed you to enter the capacity and priority arguments in the task attribute more than once. Now all arguments can only be stated once in the list, as it should be.

v0.4.1 - 2019-02-12

Added

Changed

  • [breaking-change] [soundness-fix] init can not contain any early return as that would result in late resources not being initialized and thus undefined behavior.

  • Use an absolute link to the book so it works when landing from crates.io documentation page

  • The initialization function can now be written as fn init() -> init::LateResources when late resources are used. This is preferred over the old fn init() form. See the section on late resources (resources chapter) in the book for more details.

Fixed

  • #[interrupt] and #[exception] no longer produce warnings on recent nightlies.

v0.4.0 - 2018-11-03 - YANKED

Yanked due to a soundness issue in init; the issue has been mostly fixed in v0.4.1.

Changed

  • This crate now compiles on stable 1.31.

  • [breaking-change] The app! macro has been transformed into an attribute. See the documentation for details.

  • [breaking-change] Applications that use this library must be written using the 2018 edition.

  • [breaking-change] The Resource trait has been renamed to Mutex. Resource.claim_mut has been renamed to Mutex.lock and its signature has changed (no Threshold token is required).

  • [breaking-change] The name of the library has changed to rtic. The package name is still cortex-m-rtic.

  • [breaking-change] cortex_m_rtic::set_pending has been renamed to rtic::pend.

Added

  • Software tasks, which can be immediately spawn and scheduled to run in the future.

  • Instant and Duration API.

  • Integration with the Singleton abstraction.

Removed

  • [breaking-change] The Threshold token has been removed.

  • [breaking-change] The bkpt and wfi re-exports have been removed.

  • [breaking-change] rtic::atomic has been removed.

v0.3.4 - 2018-08-27

Changed

  • The documentation link to point to GH pages.

v0.3.3 - 2018-08-24

Fixed

  • Compilation with latest nightly

v0.3.2 - 2018-04-16

Added

  • Span information to error messages

Changed

  • Some non fatal error messages have become warning messages. For example, specifying an empty list of resources now produces a warning instead of a hard error.

v0.3.1 - 2018-01-16

Fixed

  • Documentation link

v0.3.0 - 2018-01-15

Added

  • [feat] &'static mut references can be safely created by assigning resources to init. See the init.resources section of the app! macro documentation and the safe-static-mut-ref example for details.

Changed

  • [breaking-change] svd2rust dependency has been bumped to v0.12.0

  • [breaking-change] resources assigned to tasks, or to idle, that were not declared in the top resources field generate compiler errors. Before these were assumed to be peripherals, that's no longer the case.

  • [breaking-change] the layout of init::Peripherals has changed. This struct now has two fields: core and device. The value of the core field is a struct that owns all the core peripherals of the device and the value of the device field is a struct that owns all the device specific peripherals of the device.

v0.2.2 - 2017-11-22

Added

  • Support for runtime initialized resources ("late" resources).

v0.2.1 - 2017-07-29

Fixed

  • Link to app! macro documentation.

v0.2.0 - 2017-07-29

Added

  • The app! macro, a macro to declare the tasks and resources of an application.

  • The Resource trait, which is used to write generic code that deals with resources.

  • Support for system handlers like SYS_TICK.

Changed

  • [breaking-change] The signature of the atomic function has changed.

  • [breaking-change] The threshold token has become a concrete type and lost its raise method.

Removed

  • [breaking-change] The tasks! and peripherals! macros.

  • [breaking-change] The ceiling and priority tokens.

  • [breaking-change] The Local, Resource and Peripheral structs.

  • [breaking-change] The traits related to type level integers.

v0.1.1 - 2017-06-05

Changed

  • peripherals!: The register_block field is now optional

v0.1.0 - 2017-05-09

  • Initial release