# Change Log All notable changes to this project will be documented in this file. This project adheres to [Semantic Versioning](http://semver.org/). For each category, *Added*, *Changed*, *Fixed* add new entries at the top! ## [Unreleased] ## [v2.1.1] - 2024-03-13 ### Fixed - **Soundness fix:** `thumbv6` was subject to race in source mask. ## [v2.1.0] - 2024-02-27 ### Added - Unstable support for ESP32-C3 ### Fixed - **Soundness fix:** `thumbv7` was subject to priority inversion. - **Soundness fix:** Monotonics did not wait long enough in `Duration` based delays. This is not directly a change for `rtic`, but required bumping the minimal version of `rtic-monotonics`. ### Changed - RTIC v2 now works on stable. ## [v2.0.1] - 2023-07-25 ### Added - Allow `#[init]` and `#[idle]` to be defined externally ### Fixed - Support new TAIT syntax requirement. ### Changed - `cortex-m` set as an optional dependency - Moved `cortex-m`-related utilities from `rtic/lib.rs` to `rtic/export.rs` - Make async task priorities start at 0, instead of 1, to always start at the lowest priority ## [v2.0.0] - 2023-05-31 - v2 is a massive change, refer to the book for more details ## [v1.1.4] - 2023-02-26 ### Added - CFG: Support #[cfg] on HW task, cleanup for SW tasks - CFG: Slightly improved support for #[cfg] on Monotonics - CI: Check examples also for thumbv8.{base,main} - Allow custom `link_section` attributes for late resources ### Fixed - Attempt to handle docs generation enabling `deny(missing_docs)` - Book: Editorial review - Use native GHA rustup and cargo - Distinguish between thumbv8m.base and thumbv8m.main for basepri usage. ### Changed - Updated dev-dependency cortex-m-semihosting to v0.5 - CI: Updated to setup-python@v4 - CI: Updated to checkout@v3 - Tuned redirect message for rtic.rs/meeting ## [v1.1.3] - 2022-06-23 ### Added ### Fixed - Bump cortex-m-rtic-macros to 1.1.5 - fix ci: use SYST::PTR #### cortex-m-rtic-macros v1.1.5 - 2022-06-23 - Bump rtic-syntax to 1.0.2 #### cortex-m-rtic-macros v1.1.4 - 2022-05-24 - Fix macros to Rust 2021 #### cortex-m-rtic-macros v1.1.3 - 2022-05-24 - Fix clash with defmt ### Changed ## [v1.1.2] - 2022-05-09 ### Added ### Fixed - Generation of masks for the source masking scheduling for thumbv6 ### Changed ## [v1.1.1] - 2022-04-13 - YANKED ### Added ### Fixed - Fixed `marcro` version ### Changed ## [v1.1.0] - 2022-04-13 - YANKED ### 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 - Support for NVIC based SPR based scheduling for armv6m. - 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 all except `must_use` lints from clippy::pedantic - 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 - Match rtic-syntax Analysis-struct updates from https://github.com/rtic-rs/rtic-syntax/pull/61 ## [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. [PR 400]: https://github.com/rtic-rs/cortex-m-rtic/pull/400 - [breaking-change] [PR 399] Locking resources are now always required to achieve a symmetric UI. [PR 399]: https://github.com/rtic-rs/cortex-m-rtic/pull/399 - [breaking-change] [PR 390] Rework whole spawn/schedule, support `foo::spawn( ... )`, `foo::schedule( ... )`. [PR 390]: https://github.com/rtic-rs/cortex-m-rtic/pull/390 - [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. [PR 368]: https://github.com/rtic-rs/cortex-m-rtic/pull/368 [PR 372]: https://github.com/rtic-rs/cortex-m-rtic/pull/372 [PR 355]: https://github.com/rtic-rs/cortex-m-rtic/pull/355 ## [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. [RFC 155]: https://github.com/rtic-rs/cortex-m-rtic/issues/155 - [breaking-change] [RFC 147] "all functions must be safe" has been implemented. [RFC 147]: https://github.com/rtic-rs/cortex-m-rtic/issues/147 - 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. [PR #140]: https://github.com/rtic-rs/cortex-m-rtic/pull/140 ## [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: [RFC 128]: https://github.com/rtic-rs/cortex-m-rtic/issues/128 ``` rust // 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 - The RTIC book has been translated to Russian. You can find the translation online at https://japaric.github.io/cortex-m-rtic/book/ru/ - `Duration` now implements the `Default` trait. ### 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. [`Singleton`]: https://docs.rs/owned-singleton/0.1.0/owned_singleton/ ### 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 [Unreleased]: https://github.com/rtic-rs/rtic/compare/v2.0.1...HEAD [v2.0.1]: https://github.com/rtic-rs/rtic/compare/v2.0.0...v2.0.1 [v2.0.0]: https://github.com/rtic-rs/rtic/compare/v1.1.4...v2.0.0 [v1.1.4]: https://github.com/rtic-rs/rtic/compare/v1.1.3...v1.1.4 [v1.1.3]: https://github.com/rtic-rs/rtic/compare/v1.1.2...v1.1.3 [v1.1.2]: https://github.com/rtic-rs/rtic/compare/v1.1.1...v1.1.2 [v1.1.1]: https://github.com/rtic-rs/rtic/compare/v1.1.0...v1.1.1 [v1.1.0]: https://github.com/rtic-rs/rtic/compare/v1.0.0...v1.1.0 [v1.0.0]: https://github.com/rtic-rs/rtic/compare/v0.6.0-rc.4...v1.0.0 [v0.6.0-rc.4]: https://github.com/rtic-rs/rtic/compare/v0.6.0-rc.3...v0.6.0-rc.4 [v0.6.0-rc.3]: https://github.com/rtic-rs/rtic/compare/v0.6.0-rc.2...v0.6.0-rc.3 [v0.6.0-rc.2]: https://github.com/rtic-rs/rtic/compare/v0.6.0-rc.1...v0.6.0-rc.2 [v0.6.0-rc.1]: https://github.com/rtic-rs/rtic/compare/v0.6.0-rc.0...v0.6.0-rc.1 [v0.6.0-rc.0]: https://github.com/rtic-rs/rtic/compare/v0.6.0-alpha.5...v0.6.0-rc.0 [v0.6.0-alpha.5]: https://github.com/rtic-rs/rtic/compare/v0.6.0-alpha.4...v0.6.0-alpha.5 [v0.6.0-alpha.4]: https://github.com/rtic-rs/rtic/compare/v0.6.0-alpha.3...v0.6.0-alpha.4 [v0.6.0-alpha.3]: https://github.com/rtic-rs/rtic/compare/v0.6.0-alpha.2...v0.6.0-alpha.3 [v0.6.0-alpha.2]: https://github.com/rtic-rs/rtic/compare/v0.6.0-alpha.1...v0.6.0-alpha.2 [v0.6.0-alpha.1]: https://github.com/rtic-rs/rtic/compare/v0.6.0-alpha.0...v0.6.0-alpha.1 [v0.6.0-alpha.0]: https://github.com/rtic-rs/rtic/compare/v0.5.5...v0.6.0-alpha.0 [v0.5.x unreleased]: https://github.com/rtic-rs/rtic/compare/v0.5.8...v0.5.x [v0.5.9]: https://github.com/rtic-rs/rtic/compare/v0.5.8...v0.5.9 [v0.5.8]: https://github.com/rtic-rs/rtic/compare/v0.5.7...v0.5.8 [v0.5.7]: https://github.com/rtic-rs/rtic/compare/v0.5.6...v0.5.7 [v0.5.6]: https://github.com/rtic-rs/rtic/compare/v0.5.5...v0.5.6 [v0.5.5]: https://github.com/rtic-rs/rtic/compare/v0.5.4...v0.5.5 [v0.5.4]: https://github.com/rtic-rs/rtic/compare/v0.5.3...v0.5.4 [v0.5.3]: https://github.com/rtic-rs/rtic/compare/v0.5.2...v0.5.3 [v0.5.2]: https://github.com/rtic-rs/rtic/compare/v0.5.1...v0.5.2 [v0.5.1]: https://github.com/rtic-rs/rtic/compare/v0.5.0...v0.5.1 [v0.5.0]: https://github.com/rtic-rs/rtic/compare/v0.4.3...v0.5.0 [v0.4.3]: https://github.com/rtic-rs/rtic/compare/v0.4.2...v0.4.3 [v0.4.2]: https://github.com/rtic-rs/rtic/compare/v0.4.1...v0.4.2 [v0.4.1]: https://github.com/rtic-rs/rtic/compare/v0.4.0...v0.4.1 [v0.4.0]: https://github.com/rtic-rs/rtic/compare/v0.3.4...v0.4.0 [v0.3.4]: https://github.com/rtic-rs/rtic/compare/v0.3.3...v0.3.4 [v0.3.3]: https://github.com/rtic-rs/rtic/compare/v0.3.2...v0.3.3 [v0.3.2]: https://github.com/rtic-rs/rtic/compare/v0.3.1...v0.3.2 [v0.3.1]: https://github.com/rtic-rs/rtic/compare/v0.3.0...v0.3.1 [v0.3.0]: https://github.com/rtic-rs/rtic/compare/v0.2.2...v0.3.0 [v0.2.2]: https://github.com/rtic-rs/rtic/compare/v0.2.1...v0.2.2 [v0.2.1]: https://github.com/rtic-rs/rtic/compare/v0.2.0...v0.2.1 [v0.2.0]: https://github.com/rtic-rs/rtic/compare/v0.1.1...v0.2.0 [v0.1.1]: https://github.com/rtic-rs/rtic/compare/v0.1.0...v0.1.1