Crate rtic_monotonics

In-tree implementations of the rtic_time::Monotonic (reexported) trait for timers & clocks found on commonly used microcontrollers.

If you are using a microcontroller where CAS operations are not available natively, you might have to enable the critical-section or unsafe-assume-single-core feature of the portable-atomic dependency yourself for this dependency to compile.

To enable the implementations, you must enable a feature for the specific MCU you’re targeting.

Cortex-M Systick

The systick monotonic works on all cortex-M parts, and requires that the feature cortex-m-systick is enabled.

RP2040

The RP2040 monotonics require that the rp2040 feature is enabled.

i.MX RT

The i.MX RT monotonics require that the feature imxrt_gpt1 or imxrt_gpt2 is enabled.

nRF

nRF monotonics require that one of the available nrf52* features is enabled.

All implementations of timers for the nRF52 family are documented here. Monotonics that are not available on all parts in this family will have an Available on crate features X only tag, describing what parts do support that monotonic. Monotonics without an Available on crate features X only tag are available on any nrf52* feature.

ATSAMD

Monotonics for the ATSAMD family of parts using the real time clock (RTC) are provided in the atsamd-hal crate with the rtic feature enabled.

Priority of interrupt handlers

The priority of timer interrupts are based on RTIC_ASYNC_MAX_LOGICAL_PRIO generated by RTIC. It is calculated to be 1 less than the maximum hardware task priority (to not have impact on hardware tasks), or, if no hardware task is available, is set to the maximum priority in the system.

Re-exports

pub use fugit;

pub use rtic_time;

Modules

imxrt

Monotonic implementations for i.MX RT’s GPT peripherals.

nrf

Monotonic implementations for the nRF series of MCUs.

rp2040

Monotonic implementation for RP2040’s Timer peripheral.

stm32

Monotonic implementations for STM32 chips.

systick

Monotonic based on Cortex-M SysTick. Note: this implementation is inefficient as it ticks and generates interrupts at a constant rate.

Macros

imxrt_gpt1_monotonic

Create a GPT1 based monotonic and register the GPT1 interrupt for it.

imxrt_gpt2_monotonic

Create a GPT2 based monotonic and register the GPT2 interrupt for it.

nrf_rtc0_monotonic

Create an RTC0 based monotonic and register the RTC0 interrupt for it.

nrf_rtc1_monotonic

Create an RTC1 based monotonic and register the RTC1 interrupt for it.

nrf_rtc2_monotonic

Create an RTC2 based monotonic and register the RTC2 interrupt for it.

nrf_timer0_monotonic

Create an Timer0 based monotonic and register the TIMER0 interrupt for it.

nrf_timer1_monotonic

Create an Timer1 based monotonic and register the TIMER1 interrupt for it.

nrf_timer2_monotonic

Create an Timer2 based monotonic and register the TIMER2 interrupt for it.

nrf_timer3_monotonic

Create an Timer3 based monotonic and register the TIMER3 interrupt for it.

nrf_timer4_monotonic

Create an Timer4 based monotonic and register the TIMER4 interrupt for it.

rp2040_timer_monotonic

Create an RP2040 timer based monotonic and register the necessary interrupt for it.

stm32_tim2_monotonic

Create a TIM2 based monotonic and register the TIM2 interrupt for it.

stm32_tim3_monotonic

Create a TIM3 based monotonic and register the TIM3 interrupt for it.

stm32_tim4_monotonic

Create a TIM4 based monotonic and register the TIM4 interrupt for it.

stm32_tim5_monotonic

Create a TIM5 based monotonic and register the TIM5 interrupt for it.

stm32_tim15_monotonic

Create a TIM15 based monotonic and register the TIM15 interrupt for it.

systick_monotonic

Create a Systick based monotonic and register the Systick interrupt for it.

Structs

TimeoutError

This indicates that there was a timeout.

Traits

Monotonic

A monotonic clock / counter definition.

TimerQueueBackend

A backend definition for a monotonic clock/counter.

TimerQueueBasedMonotonic

A Monotonic that is backed by the TimerQueue.