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cortex-m/executor: don't use the owned interrupts system.

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Preparation for #1224.
This commit is contained in:
Dario Nieuwenhuis
2023-02-27 01:08:16 +01:00
parent 711ce10145
commit 4dfa32b1e0
6 changed files with 152 additions and 85 deletions
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32
examples/nrf52840/src/bin/multiprio.rs
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@ -57,11 +57,14 @@
#![no_main]
#![feature(type_alias_impl_trait)]
use core::mem;
use cortex_m::peripheral::NVIC;
use cortex_m_rt::entry;
use defmt::{info, unwrap};
use embassy_nrf::executor::{Executor, InterruptExecutor};
use embassy_nrf::interrupt;
use embassy_nrf::interrupt::InterruptExt;
use embassy_nrf::pac::Interrupt;
use embassy_time::{Duration, Instant, Timer};
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
@ -108,28 +111,35 @@ async fn run_low() {
}
}
static EXECUTOR_HIGH: StaticCell<InterruptExecutor<interrupt::SWI1_EGU1>> = StaticCell::new();
static EXECUTOR_MED: StaticCell<InterruptExecutor<interrupt::SWI0_EGU0>> = StaticCell::new();
static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
#[interrupt]
unsafe fn SWI1_EGU1() {
EXECUTOR_HIGH.on_interrupt()
}
#[interrupt]
unsafe fn SWI0_EGU0() {
EXECUTOR_MED.on_interrupt()
}
#[entry]
fn main() -> ! {
info!("Hello World!");
let _p = embassy_nrf::init(Default::default());
let mut nvic: NVIC = unsafe { mem::transmute(()) };
// High-priority executor: SWI1_EGU1, priority level 6
let irq = interrupt::take!(SWI1_EGU1);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.init(InterruptExecutor::new(irq));
let spawner = executor.start();
unsafe { nvic.set_priority(Interrupt::SWI1_EGU1, 6 << 5) };
let spawner = EXECUTOR_HIGH.start(Interrupt::SWI1_EGU1);
unwrap!(spawner.spawn(run_high()));
// Medium-priority executor: SWI0_EGU0, priority level 7
let irq = interrupt::take!(SWI0_EGU0);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.init(InterruptExecutor::new(irq));
let spawner = executor.start();
unsafe { nvic.set_priority(Interrupt::SWI0_EGU0, 7 << 5) };
let spawner = EXECUTOR_MED.start(Interrupt::SWI0_EGU0);
unwrap!(spawner.spawn(run_med()));
// Low priority executor: runs in thread mode, using WFE/SEV

2
examples/stm32f0/Cargo.toml
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@ -15,5 +15,5 @@ panic-probe = "0.3"
embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["defmt"] }
embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "integrated-timers"] }
embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "memory-x", "stm32f091rc", "time-driver-any", "exti"] }
embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "memory-x", "stm32f091rc", "time-driver-any", "exti", "unstable-pac"] }
static_cell = "1.0"

32
examples/stm32f0/src/bin/priority.rs → examples/stm32f0/src/bin/multiprio.rs
View File

@ -57,11 +57,14 @@
#![no_main]
#![feature(type_alias_impl_trait)]
use core::mem;
use cortex_m::peripheral::NVIC;
use cortex_m_rt::entry;
use defmt::*;
use embassy_stm32::executor::{Executor, InterruptExecutor};
use embassy_stm32::interrupt;
use embassy_stm32::interrupt::InterruptExt;
use embassy_stm32::pac::Interrupt;
use embassy_time::{Duration, Instant, Timer};
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
@ -108,27 +111,34 @@ async fn run_low() {
}
}
static EXECUTOR_HIGH: StaticCell<InterruptExecutor<interrupt::USART1>> = StaticCell::new();
static EXECUTOR_MED: StaticCell<InterruptExecutor<interrupt::USART2>> = StaticCell::new();
static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
#[interrupt]
unsafe fn USART1() {
EXECUTOR_HIGH.on_interrupt()
}
#[interrupt]
unsafe fn USART2() {
EXECUTOR_MED.on_interrupt()
}
#[entry]
fn main() -> ! {
// Initialize and create handle for devicer peripherals
let _p = embassy_stm32::init(Default::default());
let mut nvic: NVIC = unsafe { mem::transmute(()) };
// High-priority executor: USART1, priority level 6
let irq = interrupt::take!(USART1);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.init(InterruptExecutor::new(irq));
let spawner = executor.start();
unsafe { nvic.set_priority(Interrupt::USART1, 6 << 4) };
let spawner = EXECUTOR_HIGH.start(Interrupt::USART1);
unwrap!(spawner.spawn(run_high()));
// Medium-priority executor: USART2, priority level 7
let irq = interrupt::take!(USART2);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.init(InterruptExecutor::new(irq));
let spawner = executor.start();
unsafe { nvic.set_priority(Interrupt::USART2, 7 << 4) };
let spawner = EXECUTOR_MED.start(Interrupt::USART2);
unwrap!(spawner.spawn(run_med()));
// Low priority executor: runs in thread mode, using WFE/SEV

36
examples/stm32f3/src/bin/multiprio.rs
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@ -57,11 +57,14 @@
#![no_main]
#![feature(type_alias_impl_trait)]
use core::mem;
use cortex_m::peripheral::NVIC;
use cortex_m_rt::entry;
use defmt::*;
use embassy_stm32::executor::{Executor, InterruptExecutor};
use embassy_stm32::interrupt;
use embassy_stm32::interrupt::InterruptExt;
use embassy_stm32::pac::Interrupt;
use embassy_time::{Duration, Instant, Timer};
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
@ -108,28 +111,35 @@ async fn run_low() {
}
}
static EXECUTOR_HIGH: StaticCell<InterruptExecutor<interrupt::UART4>> = StaticCell::new();
static EXECUTOR_MED: StaticCell<InterruptExecutor<interrupt::UART5>> = StaticCell::new();
static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
#[interrupt]
unsafe fn UART4() {
EXECUTOR_HIGH.on_interrupt()
}
#[interrupt]
unsafe fn UART5() {
EXECUTOR_MED.on_interrupt()
}
#[entry]
fn main() -> ! {
info!("Hello World!");
let _p = embassy_stm32::init(Default::default());
let mut nvic: NVIC = unsafe { mem::transmute(()) };
// High-priority executor: SWI1_EGU1, priority level 6
let irq = interrupt::take!(UART4);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.init(InterruptExecutor::new(irq));
let spawner = executor.start();
// High-priority executor: UART4, priority level 6
unsafe { nvic.set_priority(Interrupt::UART4, 6 << 4) };
let spawner = EXECUTOR_HIGH.start(Interrupt::UART4);
unwrap!(spawner.spawn(run_high()));
// Medium-priority executor: SWI0_EGU0, priority level 7
let irq = interrupt::take!(UART5);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.init(InterruptExecutor::new(irq));
let spawner = executor.start();
// Medium-priority executor: UART5, priority level 7
unsafe { nvic.set_priority(Interrupt::UART5, 7 << 4) };
let spawner = EXECUTOR_MED.start(Interrupt::UART5);
unwrap!(spawner.spawn(run_med()));
// Low priority executor: runs in thread mode, using WFE/SEV

36
examples/stm32f4/src/bin/multiprio.rs
View File

@ -57,11 +57,14 @@
#![no_main]
#![feature(type_alias_impl_trait)]
use core::mem;
use cortex_m::peripheral::NVIC;
use cortex_m_rt::entry;
use defmt::*;
use embassy_stm32::executor::{Executor, InterruptExecutor};
use embassy_stm32::interrupt;
use embassy_stm32::interrupt::InterruptExt;
use embassy_stm32::pac::Interrupt;
use embassy_time::{Duration, Instant, Timer};
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
@ -108,28 +111,35 @@ async fn run_low() {
}
}
static EXECUTOR_HIGH: StaticCell<InterruptExecutor<interrupt::UART4>> = StaticCell::new();
static EXECUTOR_MED: StaticCell<InterruptExecutor<interrupt::UART5>> = StaticCell::new();
static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
#[interrupt]
unsafe fn UART4() {
EXECUTOR_HIGH.on_interrupt()
}
#[interrupt]
unsafe fn UART5() {
EXECUTOR_MED.on_interrupt()
}
#[entry]
fn main() -> ! {
info!("Hello World!");
let _p = embassy_stm32::init(Default::default());
let mut nvic: NVIC = unsafe { mem::transmute(()) };
// High-priority executor: SWI1_EGU1, priority level 6
let irq = interrupt::take!(UART4);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.init(InterruptExecutor::new(irq));
let spawner = executor.start();
// High-priority executor: UART4, priority level 6
unsafe { nvic.set_priority(Interrupt::UART4, 6 << 4) };
let spawner = EXECUTOR_HIGH.start(Interrupt::UART4);
unwrap!(spawner.spawn(run_high()));
// Medium-priority executor: SWI0_EGU0, priority level 7
let irq = interrupt::take!(UART5);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.init(InterruptExecutor::new(irq));
let spawner = executor.start();
// Medium-priority executor: UART5, priority level 7
unsafe { nvic.set_priority(Interrupt::UART5, 7 << 4) };
let spawner = EXECUTOR_MED.start(Interrupt::UART5);
unwrap!(spawner.spawn(run_med()));
// Low priority executor: runs in thread mode, using WFE/SEV