Merge #1321

1321: executor: add Pender, rework Cargo features. r=Dirbaio a=Dirbaio

This introduces a `Pender` struct with enum cases for thread-mode, interrupt-mode and
custom callback executors. This avoids calls through function pointers when using only
the thread or interrupt executors. Faster, and friendlier to `cargo-call-stack`.

`embassy-executor` now has `arch-xxx` Cargo features to select the arch and to enable
the builtin executors (thread and interrupt).

Co-authored-by: Dario Nieuwenhuis <dirbaio@dirbaio.net>

docs/modules/ROOT/examples/basic/Cargo.toml

@@ -6,7 +6,7 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.1.0", path = "../../../../../embassy-executor", features = ["defmt", "nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../../embassy-executor", features = ["defmt", "nightly", "integrated-timers", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.1.0", path = "../../../../../embassy-time", features = ["defmt", "nightly"] }
 embassy-nrf = { version = "0.1.0", path = "../../../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "nightly"] }
 

docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml

@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
 embassy-stm32 = { version = "0.1.0", features = ["stm32l475vg", "memory-x", "exti"], default-features = false  }
-embassy-executor = { version = "0.1.0", default-features = false, features = ["nightly"] }
+embassy-executor = { version = "0.1.0", default-features = false, features = ["nightly", "arch-cortex-m", "executor-thread"] }
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

embassy-cortex-m/src/executor.rs

@@ -1,116 +0,0 @@
-//! Executor specific to cortex-m devices.
-
-use core::cell::UnsafeCell;
-use core::mem::MaybeUninit;
-
-use atomic_polyfill::{AtomicBool, Ordering};
-use cortex_m::interrupt::InterruptNumber;
-use cortex_m::peripheral::NVIC;
-pub use embassy_executor::*;
-
-#[derive(Clone, Copy)]
-struct N(u16);
-unsafe impl cortex_m::interrupt::InterruptNumber for N {
-    fn number(self) -> u16 {
-        self.0
-    }
-}
-
-fn pend_by_number(n: u16) {
-    cortex_m::peripheral::NVIC::pend(N(n))
-}
-
-/// Interrupt mode executor.
-///
-/// This executor runs tasks in interrupt mode. The interrupt handler is set up
-/// to poll tasks, and when a task is woken the interrupt is pended from software.
-///
-/// This allows running async tasks at a priority higher than thread mode. One
-/// use case is to leave thread mode free for non-async tasks. Another use case is
-/// to run multiple executors: one in thread mode for low priority tasks and another in
-/// interrupt mode for higher priority tasks. Higher priority tasks will preempt lower
-/// priority ones.
-///
-/// It is even possible to run multiple interrupt mode executors at different priorities,
-/// by assigning different priorities to the interrupts. For an example on how to do this,
-/// See the 'multiprio' example for 'embassy-nrf'.
-///
-/// To use it, you have to pick an interrupt that won't be used by the hardware.
-/// Some chips reserve some interrupts for this purpose, sometimes named "software interrupts" (SWI).
-/// If this is not the case, you may use an interrupt from any unused peripheral.
-///
-/// It is somewhat more complex to use, it's recommended to use the thread-mode
-/// [`Executor`] instead, if it works for your use case.
-pub struct InterruptExecutor {
-    started: AtomicBool,
-    executor: UnsafeCell<MaybeUninit<raw::Executor>>,
-}
-
-unsafe impl Send for InterruptExecutor {}
-unsafe impl Sync for InterruptExecutor {}
-
-impl InterruptExecutor {
-    /// Create a new, not started `InterruptExecutor`.
-    #[inline]
-    pub const fn new() -> Self {
-        Self {
-            started: AtomicBool::new(false),
-            executor: UnsafeCell::new(MaybeUninit::uninit()),
-        }
-    }
-
-    /// Executor interrupt callback.
-    ///
-    /// # Safety
-    ///
-    /// You MUST call this from the interrupt handler, and from nowhere else.
-    pub unsafe fn on_interrupt(&'static self) {
-        let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
-        executor.poll();
-    }
-
-    /// Start the executor.
-    ///
-    /// This initializes the executor, enables the interrupt, and returns.
-    /// The executor keeps running in the background through the interrupt.
-    ///
-    /// This returns a [`SendSpawner`] you can use to spawn tasks on it. A [`SendSpawner`]
-    /// is returned instead of a [`Spawner`](embassy_executor::Spawner) because the executor effectively runs in a
-    /// different "thread" (the interrupt), so spawning tasks on it is effectively
-    /// sending them.
-    ///
-    /// To obtain a [`Spawner`](embassy_executor::Spawner) for this executor, use [`Spawner::for_current_executor()`](embassy_executor::Spawner::for_current_executor()) from
-    /// a task running in it.
-    ///
-    /// # Interrupt requirements
-    ///
-    /// You must write the interrupt handler yourself, and make it call [`on_interrupt()`](Self::on_interrupt).
-    ///
-    /// This method already enables (unmasks) the interrupt, you must NOT do it yourself.
-    ///
-    /// You must set the interrupt priority before calling this method. You MUST NOT
-    /// do it after.
-    ///
-    pub fn start(&'static self, irq: impl InterruptNumber) -> SendSpawner {
-        if self
-            .started
-            .compare_exchange(false, true, Ordering::Acquire, Ordering::Relaxed)
-            .is_err()
-        {
-            panic!("InterruptExecutor::start() called multiple times on the same executor.");
-        }
-
-        unsafe {
-            (&mut *self.executor.get()).as_mut_ptr().write(raw::Executor::new(
-                |ctx| pend_by_number(ctx as u16),
-                irq.number() as *mut (),
-            ))
-        }
-
-        let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
-
-        unsafe { NVIC::unmask(irq) }
-
-        executor.spawner().make_send()
-    }
-}

embassy-cortex-m/src/lib.rs

@@ -5,6 +5,6 @@
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
 
-pub mod executor;
+pub use embassy_executor as executor;
 pub mod interrupt;
 pub mod peripheral;

embassy-executor/Cargo.toml

@@ -31,9 +31,22 @@ flavors = [
 features = ["std", "nightly", "defmt"]
 
 [features]
-default = []
+
-std = ["critical-section/std"]
+# Architecture
-wasm = ["dep:wasm-bindgen", "dep:js-sys"]
+_arch = [] # some arch was picked
+arch-std = ["_arch", "critical-section/std"]
+arch-cortex-m = ["_arch", "dep:cortex-m"]
+arch-xtensa = ["_arch"]
+arch-riscv32 = ["_arch"]
+arch-wasm = ["_arch", "dep:wasm-bindgen", "dep:js-sys"]
+
+# Enable creating a `Pender` from an arbitrary function pointer callback.
+pender-callback = []
+
+# Enable the thread-mode executor (using WFE/SEV in Cortex-M, WFI in other embedded archs)
+executor-thread = []
+# Enable the interrupt-mode executor (available in Cortex-M only)
+executor-interrupt = []
 
 # Enable nightly-only features
 nightly = []
@@ -55,9 +68,11 @@ embassy-macros  = { version = "0.1.0", path = "../embassy-macros" }
 embassy-time  = { version = "0.1.0", path = "../embassy-time", optional = true}
 atomic-polyfill = "1.0.1"
 critical-section = "1.1"
-cfg-if = "1.0.0"
 static_cell = "1.0"
 
-# WASM dependencies
+# arch-cortex-m dependencies
+cortex-m = { version = "0.7.6", optional = true }
+
+# arch-wasm dependencies
 wasm-bindgen = { version = "0.2.82", optional = true }
 js-sys = { version = "0.3", optional = true }

embassy-executor/src/arch/cortex_m.rs

@@ -1,29 +1,45 @@
-use core::arch::asm;
+#[cfg(feature = "executor-thread")]
-use core::marker::PhantomData;
+pub use thread::*;
-use core::ptr;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::arch::asm;
+    use core::marker::PhantomData;
 
-use super::{raw, Spawner};
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_cortex_m as main;
 
-/// Thread mode executor, using WFE/SEV.
+    use crate::raw::{Pender, PenderInner};
-///
+    use crate::{raw, Spawner};
-/// This is the simplest and most common kind of executor. It runs on
+
-/// thread mode (at the lowest priority level), and uses the `WFE` ARM instruction
+    #[derive(Copy, Clone)]
-/// to sleep when it has no more work to do. When a task is woken, a `SEV` instruction
+    pub(crate) struct ThreadPender;
-/// is executed, to make the `WFE` exit from sleep and poll the task.
+
-///
+    impl ThreadPender {
-/// This executor allows for ultra low power consumption for chips where `WFE`
+        pub(crate) fn pend(self) {
-/// triggers low-power sleep without extra steps. If your chip requires extra steps,
+            unsafe { core::arch::asm!("sev") }
-/// you may use [`raw::Executor`] directly to program custom behavior.
+        }
-pub struct Executor {
+    }
+
+    /// Thread mode executor, using WFE/SEV.
+    ///
+    /// This is the simplest and most common kind of executor. It runs on
+    /// thread mode (at the lowest priority level), and uses the `WFE` ARM instruction
+    /// to sleep when it has no more work to do. When a task is woken, a `SEV` instruction
+    /// is executed, to make the `WFE` exit from sleep and poll the task.
+    ///
+    /// This executor allows for ultra low power consumption for chips where `WFE`
+    /// triggers low-power sleep without extra steps. If your chip requires extra steps,
+    /// you may use [`raw::Executor`] directly to program custom behavior.
+    pub struct Executor {
         inner: raw::Executor,
         not_send: PhantomData<*mut ()>,
-}
+    }
 
-impl Executor {
+    impl Executor {
         /// Create a new Executor.
         pub fn new() -> Self {
             Self {
-            inner: raw::Executor::new(|_| unsafe { asm!("sev") }, ptr::null_mut()),
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
                 not_send: PhantomData,
             }
         }
@@ -56,4 +72,138 @@ impl Executor {
                 };
             }
         }
+    }
+}
+
+#[cfg(feature = "executor-interrupt")]
+pub use interrupt::*;
+#[cfg(feature = "executor-interrupt")]
+mod interrupt {
+    use core::cell::UnsafeCell;
+    use core::mem::MaybeUninit;
+
+    use atomic_polyfill::{AtomicBool, Ordering};
+    use cortex_m::interrupt::InterruptNumber;
+    use cortex_m::peripheral::NVIC;
+
+    use crate::raw::{self, Pender, PenderInner};
+
+    #[derive(Clone, Copy)]
+    pub(crate) struct InterruptPender(u16);
+
+    impl InterruptPender {
+        pub(crate) fn pend(self) {
+            // STIR is faster, but is only available in v7 and higher.
+            #[cfg(not(armv6m))]
+            {
+                let mut nvic: cortex_m::peripheral::NVIC = unsafe { core::mem::transmute(()) };
+                nvic.request(self);
+            }
+
+            #[cfg(armv6m)]
+            cortex_m::peripheral::NVIC::pend(self);
+        }
+    }
+
+    unsafe impl cortex_m::interrupt::InterruptNumber for InterruptPender {
+        fn number(self) -> u16 {
+            self.0
+        }
+    }
+
+    /// Interrupt mode executor.
+    ///
+    /// This executor runs tasks in interrupt mode. The interrupt handler is set up
+    /// to poll tasks, and when a task is woken the interrupt is pended from software.
+    ///
+    /// This allows running async tasks at a priority higher than thread mode. One
+    /// use case is to leave thread mode free for non-async tasks. Another use case is
+    /// to run multiple executors: one in thread mode for low priority tasks and another in
+    /// interrupt mode for higher priority tasks. Higher priority tasks will preempt lower
+    /// priority ones.
+    ///
+    /// It is even possible to run multiple interrupt mode executors at different priorities,
+    /// by assigning different priorities to the interrupts. For an example on how to do this,
+    /// See the 'multiprio' example for 'embassy-nrf'.
+    ///
+    /// To use it, you have to pick an interrupt that won't be used by the hardware.
+    /// Some chips reserve some interrupts for this purpose, sometimes named "software interrupts" (SWI).
+    /// If this is not the case, you may use an interrupt from any unused peripheral.
+    ///
+    /// It is somewhat more complex to use, it's recommended to use the thread-mode
+    /// [`Executor`] instead, if it works for your use case.
+    pub struct InterruptExecutor {
+        started: AtomicBool,
+        executor: UnsafeCell<MaybeUninit<raw::Executor>>,
+    }
+
+    unsafe impl Send for InterruptExecutor {}
+    unsafe impl Sync for InterruptExecutor {}
+
+    impl InterruptExecutor {
+        /// Create a new, not started `InterruptExecutor`.
+        #[inline]
+        pub const fn new() -> Self {
+            Self {
+                started: AtomicBool::new(false),
+                executor: UnsafeCell::new(MaybeUninit::uninit()),
+            }
+        }
+
+        /// Executor interrupt callback.
+        ///
+        /// # Safety
+        ///
+        /// You MUST call this from the interrupt handler, and from nowhere else.
+        pub unsafe fn on_interrupt(&'static self) {
+            let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+            executor.poll();
+        }
+
+        /// Start the executor.
+        ///
+        /// This initializes the executor, enables the interrupt, and returns.
+        /// The executor keeps running in the background through the interrupt.
+        ///
+        /// This returns a [`SendSpawner`] you can use to spawn tasks on it. A [`SendSpawner`]
+        /// is returned instead of a [`Spawner`](embassy_executor::Spawner) because the executor effectively runs in a
+        /// different "thread" (the interrupt), so spawning tasks on it is effectively
+        /// sending them.
+        ///
+        /// To obtain a [`Spawner`](embassy_executor::Spawner) for this executor, use [`Spawner::for_current_executor()`](embassy_executor::Spawner::for_current_executor()) from
+        /// a task running in it.
+        ///
+        /// # Interrupt requirements
+        ///
+        /// You must write the interrupt handler yourself, and make it call [`on_interrupt()`](Self::on_interrupt).
+        ///
+        /// This method already enables (unmasks) the interrupt, you must NOT do it yourself.
+        ///
+        /// You must set the interrupt priority before calling this method. You MUST NOT
+        /// do it after.
+        ///
+        pub fn start(&'static self, irq: impl InterruptNumber) -> crate::SendSpawner {
+            if self
+                .started
+                .compare_exchange(false, true, Ordering::Acquire, Ordering::Relaxed)
+                .is_err()
+            {
+                panic!("InterruptExecutor::start() called multiple times on the same executor.");
+            }
+
+            unsafe {
+                (&mut *self.executor.get())
+                    .as_mut_ptr()
+                    .write(raw::Executor::new(Pender(PenderInner::Interrupt(InterruptPender(
+                        irq.number(),
+                    )))))
+            }
+
+            let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+
+            unsafe { NVIC::unmask(irq) }
+
+            executor.spawner().make_send()
+        }
+    }
 }

embassy-executor/src/arch/riscv32.rs

@@ -1,30 +1,40 @@
-use core::marker::PhantomData;
+#[cfg(feature = "executor-interrupt")]
-use core::ptr;
+compile_error!("`executor-interrupt` is not supported with `arch-riscv32`.");
-use core::sync::atomic::{AtomicBool, Ordering};
 
-use super::{raw, Spawner};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::marker::PhantomData;
+    use core::sync::atomic::{AtomicBool, Ordering};
 
-/// global atomic used to keep track of whether there is work to do since sev() is not available on RISCV
+    use crate::raw::{Pender, PenderInner};
-///
+    use crate::{raw, Spawner};
-static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
 
-/// RISCV32 Executor
+    #[derive(Copy, Clone)]
-pub struct Executor {
+    pub(crate) struct ThreadPender;
+
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            SIGNAL_WORK_THREAD_MODE.store(true, core::sync::atomic::Ordering::SeqCst);
+        }
+    }
+
+    /// global atomic used to keep track of whether there is work to do since sev() is not available on RISCV
+    static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+
+    /// RISCV32 Executor
+    pub struct Executor {
         inner: raw::Executor,
         not_send: PhantomData<*mut ()>,
-}
+    }
 
-impl Executor {
+    impl Executor {
         /// Create a new Executor.
         pub fn new() -> Self {
             Self {
-            // use Signal_Work_Thread_Mode as substitute for local interrupt register
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
-            inner: raw::Executor::new(
-                |_| {
-                    SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
-                },
-                ptr::null_mut(),
-            ),
                 not_send: PhantomData,
             }
         }
@@ -70,4 +80,5 @@ impl Executor {
                 }
             }
         }
+    }
 }

embassy-executor/src/arch/std.rs

@@ -1,27 +1,42 @@
-use std::marker::PhantomData;
+#[cfg(feature = "executor-interrupt")]
-use std::sync::{Condvar, Mutex};
+compile_error!("`executor-interrupt` is not supported with `arch-std`.");
 
-use super::{raw, Spawner};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use std::marker::PhantomData;
+    use std::sync::{Condvar, Mutex};
 
-/// Single-threaded std-based executor.
+    #[cfg(feature = "nightly")]
-pub struct Executor {
+    pub use embassy_macros::main_std as main;
+
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
+
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender(&'static Signaler);
+
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            self.0.signal()
+        }
+    }
+
+    /// Single-threaded std-based executor.
+    pub struct Executor {
         inner: raw::Executor,
         not_send: PhantomData<*mut ()>,
         signaler: &'static Signaler,
-}
+    }
 
-impl Executor {
+    impl Executor {
         /// Create a new Executor.
         pub fn new() -> Self {
             let signaler = &*Box::leak(Box::new(Signaler::new()));
             Self {
-            inner: raw::Executor::new(
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender(signaler)))),
-                |p| unsafe {
-                    let s = &*(p as *const () as *const Signaler);
-                    s.signal()
-                },
-                signaler as *const _ as _,
-            ),
                 not_send: PhantomData,
                 signaler,
             }
@@ -53,14 +68,14 @@ impl Executor {
                 self.signaler.wait()
             }
         }
-}
+    }
 
-struct Signaler {
+    struct Signaler {
         mutex: Mutex<bool>,
         condvar: Condvar,
-}
+    }
 
-impl Signaler {
+    impl Signaler {
         fn new() -> Self {
             Self {
                 mutex: Mutex::new(false),
@@ -81,4 +96,5 @@ impl Signaler {
             *signaled = true;
             self.condvar.notify_one();
         }
+    }
 }

embassy-executor/src/arch/wasm.rs

@@ -1,46 +1,59 @@
-use core::marker::PhantomData;
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-wasm`.");
 
-use js_sys::Promise;
+#[cfg(feature = "executor-thread")]
-use wasm_bindgen::prelude::*;
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
 
-use super::raw::util::UninitCell;
+    use core::marker::PhantomData;
-use super::raw::{self};
-use super::Spawner;
 
-/// WASM executor, wasm_bindgen to schedule tasks on the JS event loop.
+    #[cfg(feature = "nightly")]
-pub struct Executor {
+    pub use embassy_macros::main_wasm as main;
+    use js_sys::Promise;
+    use wasm_bindgen::prelude::*;
+
+    use crate::raw::util::UninitCell;
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
+
+    /// WASM executor, wasm_bindgen to schedule tasks on the JS event loop.
+    pub struct Executor {
         inner: raw::Executor,
         ctx: &'static WasmContext,
         not_send: PhantomData<*mut ()>,
-}
+    }
 
-pub(crate) struct WasmContext {
+    pub(crate) struct WasmContext {
         promise: Promise,
         closure: UninitCell<Closure<dyn FnMut(JsValue)>>,
-}
+    }
 
-impl WasmContext {
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender(&'static WasmContext);
+
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            let _ = self.0.promise.then(unsafe { self.0.closure.as_mut() });
+        }
+    }
+
+    impl WasmContext {
         pub fn new() -> Self {
             Self {
                 promise: Promise::resolve(&JsValue::undefined()),
                 closure: UninitCell::uninit(),
             }
         }
-}
+    }
 
-impl Executor {
+    impl Executor {
         /// Create a new Executor.
         pub fn new() -> Self {
             let ctx = &*Box::leak(Box::new(WasmContext::new()));
-        let inner = raw::Executor::new(
-            |p| unsafe {
-                let ctx = &*(p as *const () as *const WasmContext);
-                let _ = ctx.promise.then(ctx.closure.as_mut());
-            },
-            ctx as *const _ as _,
-        );
             Self {
-            inner,
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender(ctx)))),
                 not_send: PhantomData,
                 ctx,
             }
@@ -71,4 +84,5 @@ impl Executor {
                 init(self.inner.spawner());
             }
         }
+    }
 }

embassy-executor/src/arch/xtensa.rs

@@ -1,30 +1,40 @@
-use core::marker::PhantomData;
+#[cfg(feature = "executor-interrupt")]
-use core::ptr;
+compile_error!("`executor-interrupt` is not supported with `arch-xtensa`.");
-use core::sync::atomic::{AtomicBool, Ordering};
 
-use super::{raw, Spawner};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::marker::PhantomData;
+    use core::sync::atomic::{AtomicBool, Ordering};
 
-/// global atomic used to keep track of whether there is work to do since sev() is not available on Xtensa
+    use crate::raw::{Pender, PenderInner};
-///
+    use crate::{raw, Spawner};
-static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
 
-/// Xtensa Executor
+    #[derive(Copy, Clone)]
-pub struct Executor {
+    pub(crate) struct ThreadPender;
+
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            SIGNAL_WORK_THREAD_MODE.store(true, core::sync::atomic::Ordering::SeqCst);
+        }
+    }
+
+    /// global atomic used to keep track of whether there is work to do since sev() is not available on Xtensa
+    static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+
+    /// Xtensa Executor
+    pub struct Executor {
         inner: raw::Executor,
         not_send: PhantomData<*mut ()>,
-}
+    }
 
-impl Executor {
+    impl Executor {
         /// Create a new Executor.
         pub fn new() -> Self {
             Self {
-            // use Signal_Work_Thread_Mode as substitute for local interrupt register
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
-            inner: raw::Executor::new(
-                |_| {
-                    SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
-                },
-                ptr::null_mut(),
-            ),
                 not_send: PhantomData,
             }
         }
@@ -71,4 +81,5 @@ impl Executor {
                 }
             }
         }
+    }
 }

embassy-executor/src/lib.rs

@@ -1,5 +1,5 @@
-#![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)]
+#![cfg_attr(not(any(feature = "arch-std", feature = "arch-wasm")), no_std)]
-#![cfg_attr(all(feature = "nightly", target_arch = "xtensa"), feature(asm_experimental_arch))]
+#![cfg_attr(all(feature = "nightly", feature = "arch-xtensa"), feature(asm_experimental_arch))]
 #![allow(clippy::new_without_default)]
 #![doc = include_str!("../README.md")]
 #![warn(missing_docs)]
@@ -10,47 +10,43 @@ pub(crate) mod fmt;
 #[cfg(feature = "nightly")]
 pub use embassy_macros::task;
 
-cfg_if::cfg_if! {
+macro_rules! check_at_most_one {
-    if #[cfg(cortex_m)] {
+    (@amo [$($feats:literal)*] [] [$($res:tt)*]) => {
-        #[path="arch/cortex_m.rs"]
+        #[cfg(any($($res)*))]
-        mod arch;
+        compile_error!(concat!("At most one of these features can be enabled at the same time:", $(" `", $feats, "`",)*));
-        pub use arch::*;
+    };
-        #[cfg(feature = "nightly")]
+    (@amo $feats:tt [$curr:literal $($rest:literal)*] [$($res:tt)*]) => {
-        pub use embassy_macros::main_cortex_m as main;
+        check_at_most_one!(@amo $feats [$($rest)*] [$($res)* $(all(feature=$curr, feature=$rest),)*]);
-    }
+    };
-    else if #[cfg(target_arch="riscv32")] {
+    ($($f:literal),*$(,)?) => {
-        #[path="arch/riscv32.rs"]
+        check_at_most_one!(@amo [$($f)*] [$($f)*] []);
-        mod arch;
+    };
-        pub use arch::*;
-        #[cfg(feature = "nightly")]
-        pub use embassy_macros::main_riscv as main;
-    }
-    else if #[cfg(all(target_arch="xtensa", feature = "nightly"))] {
-        #[path="arch/xtensa.rs"]
-        mod arch;
-        pub use arch::*;
-    }
-    else if #[cfg(feature="wasm")] {
-        #[path="arch/wasm.rs"]
-        mod arch;
-        pub use arch::*;
-        #[cfg(feature = "nightly")]
-        pub use embassy_macros::main_wasm as main;
-    }
-    else if #[cfg(feature="std")] {
-        #[path="arch/std.rs"]
-        mod arch;
-        pub use arch::*;
-        #[cfg(feature = "nightly")]
-        pub use embassy_macros::main_std as main;
-    }
 }
+check_at_most_one!("arch-cortex-m", "arch-riscv32", "arch-xtensa", "arch-std", "arch-wasm",);
 
+#[cfg(feature = "_arch")]
+#[cfg_attr(feature = "arch-cortex-m", path = "arch/cortex_m.rs")]
+#[cfg_attr(feature = "arch-riscv32", path = "arch/riscv32.rs")]
+#[cfg_attr(feature = "arch-xtensa", path = "arch/xtensa.rs")]
+#[cfg_attr(feature = "arch-std", path = "arch/std.rs")]
+#[cfg_attr(feature = "arch-wasm", path = "arch/wasm.rs")]
+mod arch;
+
+#[cfg(feature = "_arch")]
+pub use arch::*;
+
+pub mod raw;
+
+mod spawner;
+pub use spawner::*;
+
+/// Implementation details for embassy macros.
+/// Do not use. Used for macros and HALs only. Not covered by semver guarantees.
 #[doc(hidden)]
-/// Implementation details for embassy macros. DO NOT USE.
+pub mod _export {
-pub mod export {
     #[cfg(feature = "rtos-trace")]
     pub use rtos_trace::trace;
+    pub use static_cell::StaticCell;
 
     /// Expands the given block of code when `embassy-executor` is compiled with
     /// the `rtos-trace-interrupt` feature.
@@ -70,14 +66,3 @@ pub mod export {
         ($($tt:tt)*) => {};
     }
 }
-
-pub mod raw;
-
-mod spawner;
-pub use spawner::*;
-
-/// Do not use. Used for macros and HALs only. Not covered by semver guarantees.
-#[doc(hidden)]
-pub mod _export {
-    pub use static_cell::StaticCell;
-}

embassy-executor/src/raw/mod.rs

@@ -19,7 +19,6 @@ use core::marker::PhantomData;
 use core::mem;
 use core::pin::Pin;
 use core::ptr::NonNull;
-use core::sync::atomic::AtomicPtr;
 use core::task::{Context, Poll};
 
 use atomic_polyfill::{AtomicU32, Ordering};
@@ -290,10 +289,60 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
     }
 }
 
+#[derive(Clone, Copy)]
+pub(crate) enum PenderInner {
+    #[cfg(feature = "executor-thread")]
+    Thread(crate::arch::ThreadPender),
+    #[cfg(feature = "executor-interrupt")]
+    Interrupt(crate::arch::InterruptPender),
+    #[cfg(feature = "pender-callback")]
+    Callback { func: fn(*mut ()), context: *mut () },
+}
+
+unsafe impl Send for PenderInner {}
+unsafe impl Sync for PenderInner {}
+
+/// Platform/architecture-specific action executed when an executor has pending work.
+///
+/// When a task within an executor is woken, the `Pender` is called. This does a
+/// platform/architecture-specific action to signal there is pending work in the executor.
+/// When this happens, you must arrange for [`Executor::poll`] to be called.
+///
+/// You can think of it as a waker, but for the whole executor.
+pub struct Pender(pub(crate) PenderInner);
+
+impl Pender {
+    /// Create a `Pender` that will call an arbitrary function pointer.
+    ///
+    /// # Arguments
+    ///
+    /// - `func`: The function pointer to call.
+    /// - `context`: Opaque context pointer, that will be passed to the function pointer.
+    #[cfg(feature = "pender-callback")]
+    pub fn new_from_callback(func: fn(*mut ()), context: *mut ()) -> Self {
+        Self(PenderInner::Callback {
+            func,
+            context: context.into(),
+        })
+    }
+}
+
+impl Pender {
+    pub(crate) fn pend(&self) {
+        match self.0 {
+            #[cfg(feature = "executor-thread")]
+            PenderInner::Thread(x) => x.pend(),
+            #[cfg(feature = "executor-interrupt")]
+            PenderInner::Interrupt(x) => x.pend(),
+            #[cfg(feature = "pender-callback")]
+            PenderInner::Callback { func, context } => func(context),
+        }
+    }
+}
+
 pub(crate) struct SyncExecutor {
     run_queue: RunQueue,
-    signal_fn: fn(*mut ()),
+    pender: Pender,
-    signal_ctx: AtomicPtr<()>,
 
     #[cfg(feature = "integrated-timers")]
     pub(crate) timer_queue: timer_queue::TimerQueue,
@@ -302,16 +351,13 @@ pub(crate) struct SyncExecutor {
 }
 
 impl SyncExecutor {
-    pub(crate) fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
+    pub(crate) fn new(pender: Pender) -> Self {
         #[cfg(feature = "integrated-timers")]
         let alarm = unsafe { unwrap!(driver::allocate_alarm()) };
-        #[cfg(feature = "integrated-timers")]
-        driver::set_alarm_callback(alarm, signal_fn, signal_ctx);
 
         Self {
             run_queue: RunQueue::new(),
-            signal_fn,
+            pender,
-            signal_ctx: AtomicPtr::new(signal_ctx),
 
             #[cfg(feature = "integrated-timers")]
             timer_queue: timer_queue::TimerQueue::new(),
@@ -332,10 +378,16 @@ impl SyncExecutor {
         trace::task_ready_begin(task.as_ptr() as u32);
 
         if self.run_queue.enqueue(cs, task) {
-            (self.signal_fn)(self.signal_ctx.load(Ordering::Relaxed))
+            self.pender.pend();
         }
     }
 
+    #[cfg(feature = "integrated-timers")]
+    fn alarm_callback(ctx: *mut ()) {
+        let this: &Self = unsafe { &*(ctx as *const Self) };
+        this.pender.pend();
+    }
+
     pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
         task.header().executor.set(Some(self));
 
@@ -351,6 +403,9 @@ impl SyncExecutor {
     ///
     /// Same as [`Executor::poll`], plus you must only call this on the thread this executor was created.
     pub(crate) unsafe fn poll(&'static self) {
+        #[cfg(feature = "integrated-timers")]
+        driver::set_alarm_callback(self.alarm, Self::alarm_callback, self as *const _ as *mut ());
+
         #[allow(clippy::never_loop)]
         loop {
             #[cfg(feature = "integrated-timers")]
@@ -417,14 +472,14 @@ impl SyncExecutor {
 ///
 /// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
 ///   that "want to run").
-/// - You must supply a `signal_fn`. The executor will call it to notify you it has work
+/// - You must supply a [`Pender`]. The executor will call it to notify you it has work
 ///   to do. You must arrange for `poll()` to be called as soon as possible.
 ///
-/// `signal_fn` can be called from *any* context: any thread, any interrupt priority
+/// The [`Pender`] can be called from *any* context: any thread, any interrupt priority
 /// level, etc. It may be called synchronously from any `Executor` method call as well.
 /// You must deal with this correctly.
 ///
-/// In particular, you must NOT call `poll` directly from `signal_fn`, as this violates
+/// In particular, you must NOT call `poll` directly from the pender callback, as this violates
 /// the requirement for `poll` to not be called reentrantly.
 #[repr(transparent)]
 pub struct Executor {
@@ -437,15 +492,15 @@ impl Executor {
     pub(crate) unsafe fn wrap(inner: &SyncExecutor) -> &Self {
         mem::transmute(inner)
     }
+
     /// Create a new executor.
     ///
-    /// When the executor has work to do, it will call `signal_fn` with
+    /// When the executor has work to do, it will call the [`Pender`].
-    /// `signal_ctx` as argument.
     ///
-    /// See [`Executor`] docs for details on `signal_fn`.
+    /// See [`Executor`] docs for details on `Pender`.
-    pub fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
+    pub fn new(pender: Pender) -> Self {
         Self {
-            inner: SyncExecutor::new(signal_fn, signal_ctx),
+            inner: SyncExecutor::new(pender),
             _not_sync: PhantomData,
         }
     }
@@ -468,16 +523,16 @@ impl Executor {
     /// This loops over all tasks that are queued to be polled (i.e. they're
     /// freshly spawned or they've been woken). Other tasks are not polled.
     ///
-    /// You must call `poll` after receiving a call to `signal_fn`. It is OK
+    /// You must call `poll` after receiving a call to the [`Pender`]. It is OK
-    /// to call `poll` even when not requested by `signal_fn`, but it wastes
+    /// to call `poll` even when not requested by the `Pender`, but it wastes
     /// energy.
     ///
     /// # Safety
     ///
     /// You must NOT call `poll` reentrantly on the same executor.
     ///
-    /// In particular, note that `poll` may call `signal_fn` synchronously. Therefore, you
+    /// In particular, note that `poll` may call the `Pender` synchronously. Therefore, you
-    /// must NOT directly call `poll()` from your `signal_fn`. Instead, `signal_fn` has to
+    /// must NOT directly call `poll()` from the `Pender` callback. Instead, the callback has to
     /// somehow schedule for `poll()` to be called later, at a time you know for sure there's
     /// no `poll()` already running.
     pub unsafe fn poll(&'static self) {

embassy-macros/src/macros/cortex_m_interrupt_take.rs

@@ -10,12 +10,12 @@ pub fn run(name: syn::Ident) -> Result<TokenStream, TokenStream> {
     let (isr_enter, isr_exit) = (
         quote! {
             ::embassy_executor::rtos_trace_interrupt! {
-                ::embassy_executor::export::trace::isr_enter();
+                ::embassy_executor::_export::trace::isr_enter();
             }
         },
         quote! {
             ::embassy_executor::rtos_trace_interrupt! {
-                ::embassy_executor::export::trace::isr_exit();
+                ::embassy_executor::_export::trace::isr_exit();
             }
         },
     );

examples/boot/application/nrf/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly"] }
 embassy-nrf = { version = "0.1.0", path = "../../../../embassy-nrf", features = ["time-driver-rtc1", "gpiote", "nightly"] }
 embassy-boot = { version = "0.1.0", path = "../../../../embassy-boot/boot" }

examples/boot/application/rp/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly"] }
 embassy-rp = { version = "0.1.0", path = "../../../../embassy-rp", features = ["time-driver", "unstable-traits", "nightly"] }
 embassy-boot-rp = { version = "0.1.0", path = "../../../../embassy-boot/rp" }

examples/boot/application/stm32f3/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32f303re", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32" }

examples/boot/application/stm32f7/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32f767zi", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32" }

examples/boot/application/stm32h7/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32h743zi", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32" }

examples/boot/application/stm32l0/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l072cz", "time-driver-any", "exti", "memory-x"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32" }

examples/boot/application/stm32l1/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l151cb-a", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32" }

examples/boot/application/stm32l4/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l475vg", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32" }

examples/boot/application/stm32wl/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32wl55jc-cm4", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32" }

examples/nrf-rtos-trace/Cargo.toml

@@ -17,7 +17,7 @@ log = [
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../embassy-sync" }
-embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features=["rtos-trace", "rtos-trace-interrupt", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "rtos-trace", "rtos-trace-interrupt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time" }
 embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac"] }
 

examples/nrf52840/Cargo.toml

@@ -12,7 +12,7 @@ nightly = ["embassy-executor/nightly", "embassy-nrf/nightly", "embassy-net/night
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
 embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"], optional = true }

examples/nrf5340/Cargo.toml

@@ -9,7 +9,7 @@ embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = [
     "defmt",
 ] }
-embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = [
+embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", 
     "nightly",
     "defmt",
     "integrated-timers",

examples/rp/Cargo.toml

@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver", "pio", "critical-section-impl"] }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }

examples/std/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["log"] }
-embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["log", "std", "nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-std", "executor-thread", "log", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["log", "std", "nightly"] }
 embassy-net = { version = "0.1.0", path = "../../embassy-net", features=[ "std", "nightly", "log", "medium-ethernet", "tcp", "udp", "dns", "dhcpv4", "unstable-traits", "proto-ipv6"] }
 embassy-net-driver = { version = "0.1.0", path = "../../embassy-net-driver" }

examples/stm32c0/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "time-driver-any", "stm32c031c6", "memory-x", "unstable-pac", "exti"]  }
 

examples/stm32f0/Cargo.toml

@@ -13,7 +13,7 @@ defmt = "0.3"
 defmt-rtt = "0.4"
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "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", "unstable-pac"] }
 static_cell = "1.0"

examples/stm32f0/src/bin/multiprio.rs

@@ -62,7 +62,7 @@ use core::mem;
 use cortex_m::peripheral::NVIC;
 use cortex_m_rt::entry;
 use defmt::*;
-use embassy_stm32::executor::{Executor, InterruptExecutor};
+use embassy_executor::{Executor, InterruptExecutor};
 use embassy_stm32::interrupt;
 use embassy_stm32::pac::Interrupt;
 use embassy_time::{Duration, Instant, Timer};

examples/stm32f1/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any"]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }

examples/stm32f2/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "stm32f207zg", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
 

examples/stm32f3/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "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", "stm32f303ze", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }

examples/stm32f3/src/bin/multiprio.rs

@@ -62,7 +62,7 @@ use core::mem;
 use cortex_m::peripheral::NVIC;
 use cortex_m_rt::entry;
 use defmt::*;
-use embassy_stm32::executor::{Executor, InterruptExecutor};
+use embassy_executor::{Executor, InterruptExecutor};
 use embassy_stm32::interrupt;
 use embassy_stm32::pac::Interrupt;
 use embassy_time::{Duration, Instant, Timer};

examples/stm32f4/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers", "arch-cortex-m", "executor-thread", "executor-interrupt"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "unstable-traits", "defmt", "stm32f429zi", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }

examples/stm32f4/src/bin/multiprio.rs

@@ -62,7 +62,7 @@ use core::mem;
 use cortex_m::peripheral::NVIC;
 use cortex_m_rt::entry;
 use defmt::*;
-use embassy_stm32::executor::{Executor, InterruptExecutor};
+use embassy_executor::{Executor, InterruptExecutor};
 use embassy_stm32::interrupt;
 use embassy_stm32::pac::Interrupt;
 use embassy_time::{Duration, Instant, Timer};

examples/stm32f7/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "stm32f767zi", "unstable-pac", "time-driver-any", "exti"]  }
 embassy-net = { path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet"] }

examples/stm32g0/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "time-driver-any", "stm32g071rb", "memory-x", "unstable-pac", "exti"]  }
 

examples/stm32g4/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "time-driver-any", "stm32g491re", "memory-x", "unstable-pac", "exti"]  }
 embassy-hal-common = {version = "0.1.0", path = "../../embassy-hal-common" }

examples/stm32h7/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32h743bi", "time-driver-any", "exti", "unstable-pac", "unstable-traits"] }
 embassy-net = { path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "unstable-traits", "proto-ipv6"] }

examples/stm32l0/Cargo.toml

@@ -10,7 +10,7 @@ nightly = ["embassy-stm32/nightly", "embassy-lora", "lorawan-device", "lorawan",
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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 = ["defmt", "stm32l072cz", "time-driver-any", "exti", "unstable-traits", "memory-x"]  }
 embassy-lora = { version = "0.1.0", path = "../../embassy-lora", features = ["sx127x", "time", "defmt"], optional = true}

examples/stm32l1/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "stm32l151cb-a", "time-driver-any", "memory-x"]  }
 

examples/stm32l4/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal" }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "stm32l4s5vi", "time-driver-any", "exti", "unstable-traits"]  }

examples/stm32l5/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "unstable-pac", "stm32l552ze", "time-driver-any", "exti", "unstable-traits", "memory-x"]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }

examples/stm32u5/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "unstable-pac", "stm32u585ai", "time-driver-any", "memory-x" ]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }

examples/stm32wb/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "stm32wb55cc", "time-driver-any", "exti"]  }
 

examples/stm32wl/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "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", "stm32wl55jc-cm4", "time-driver-any", "memory-x", "subghz", "unstable-pac", "exti"]  }
 embassy-lora = { version = "0.1.0", path = "../../embassy-lora", features = ["stm32wl", "time", "defmt"] }

examples/wasm/Cargo.toml

@@ -9,7 +9,7 @@ crate-type = ["cdylib"]
 
 [dependencies]
 embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["log"] }
-embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["log", "wasm", "nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-wasm", "executor-thread", "log", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["log", "wasm", "nightly"] }
 
 wasm-logger = "0.2.0"

tests/nrf/Cargo.toml

@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["defmt", "nightly"] }
-embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "nightly", "integrated-timers"] }
+embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "nightly", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nightly", "unstable-traits", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac"] }
 embedded-io = { version = "0.4.0", features = ["async"] }

tests/rp/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt"] }
 embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["nightly", "defmt", "unstable-pac", "unstable-traits", "time-driver", "critical-section-impl"]  }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }

tests/stm32/Cargo.toml

@@ -15,7 +15,7 @@ stm32u585ai = ["embassy-stm32/stm32u585ai"]     # IoT board
 
 [dependencies]
 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-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "memory-x", "time-driver-tim2"]  }