majiayu000 Embedded Domain
Layer 3: Domain Constraints
Domain Constraints → Design Implications
| Domain Rule | Design Constraint | Rust Implication |
|---|---|---|
| No heap | Stack allocation | heapless, no Box/Vec |
| No std | Core only | #![no_std] |
| Real-time | Predictable timing | No dynamic alloc |
| Resource limited | Minimal memory | Static buffers |
| Hardware safety | Safe peripheral access | HAL + ownership |
| Interrupt safe | No blocking in ISR | Atomic, critical sections |
Critical Constraints
No Dynamic Allocation
RULE: Cannot use heap (no allocator)
WHY: Deterministic memory, no OOM
RUST: heapless::Vec<T, N>, arrays
Interrupt Safety
RULE: Shared state must be interrupt-safe
WHY: ISR can preempt at any time
RUST: Mutex<RefCell<T>> + critical section
Hardware Ownership
RULE: Peripherals must have clear ownership
WHY: Prevent conflicting access
RUST: HAL takes ownership, singletons
Trace Down ↓
From constraints to design (Layer 2):
"Need no_std compatible data structures"
↓ m02-resource: heapless collections
↓ Static sizing: heapless::Vec<T, N>
"Need interrupt-safe state"
↓ m03-mutability: Mutex<RefCell<Option<T>>>
↓ m07-concurrency: Critical sections
"Need peripheral ownership"
↓ m01-ownership: Singleton pattern
↓ m12-lifecycle: RAII for hardware
Layer Stack
| Layer | Examples | Purpose |
|---|---|---|
| PAC | stm32f4, esp32c3 | Register access |
| HAL | stm32f4xx-hal | Hardware abstraction |
| Framework | RTIC, Embassy | Concurrency |
| Traits | embedded-hal | Portable drivers |
Framework Comparison
| Framework | Style | Best For |
|---|---|---|
| RTIC | Priority-based | Interrupt-driven apps |
| Embassy | Async | Complex state machines |
| Bare metal | Manual | Simple apps |
Key Crates
| Purpose | Crate |
|---|---|
| Runtime (ARM) | cortex-m-rt |
| Panic handler | panic-halt, panic-probe |
| Collections | heapless |
| HAL traits | embedded-hal |
| Logging | defmt |
| Flash/debug | probe-run |
Design Patterns
| Pattern | Purpose | Implementation |
|---|---|---|
| no_std setup | Bare metal | #![no_std] + #![no_main] |
| Entry point | Startup | #[entry] or embassy |
| Static state | ISR access | Mutex<RefCell<Option<T>>> |
| Fixed buffers | No heap | heapless::Vec<T, N> |
Code Pattern: Static Peripheral
#![no_std]
#![no_main]
use cortex_m::interrupt::{self, Mutex};
use core::cell::RefCell;
static LED: Mutex<RefCell<Option<Led>>> = Mutex::new(RefCell::new(None));
#[entry]
fn main() -> ! {
let dp = pac::Peripherals::take().unwrap();
let led = Led::new(dp.GPIOA);
interrupt::free(|cs| {
LED.borrow(cs).replace(Some(led));
});
loop {
interrupt::free(|cs| {
if let Some(led) = LED.borrow(cs).borrow_mut().as_mut() {
led.toggle();
}
});
}
}
Common Mistakes
| Mistake | Domain Violation | Fix |
|---|---|---|
| Using Vec | Heap allocation | heapless::Vec |
| No critical section | Race with ISR | Mutex + interrupt::free |
| Blocking in ISR | Missed interrupts | Defer to main loop |
| Unsafe peripheral | Hardware conflict | HAL ownership |
Trace to Layer 1
| Constraint | Layer 2 Pattern | Layer 1 Implementation |
|---|---|---|
| No heap | Static collections | heapless::Vec<T, N> |
| ISR safety | Critical sections | Mutex<RefCell> |
| Hardware ownership | Singleton | take().unwrap() |
| no_std | Core-only | #![no_std], #![no_main] |
Related Skills
| When | See |
|---|---|
| Static memory | m02-resource |
| Interior mutability | m03-mutability |
| Interrupt patterns | m07-concurrency |
| Unsafe for hardware | unsafe-checker |