Real-Time Interrupt-driven Concurrency (RTIC) framework for ARM Cortex-M microcontrollers
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cortex-m-rtfm

Real Time For the Masses (Cortex-M edition)

Manual

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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 dual licensed as above, without any additional terms or conditions.