diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml index 7b8e3641..85ded1df 100644 --- a/embassy-nrf/Cargo.toml +++ b/embassy-nrf/Cargo.toml @@ -21,7 +21,7 @@ nrf52840 = ["nrf52840-pac"] [dependencies] -embassy = { version = "0.1.0", path = "../embassy" } +embassy = { version = "0.1.0", path = "../embassy", features = ["time-tick-32768hz"] } embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["nrf"]} embassy-extras = {version = "0.1.0", path = "../embassy-extras" } diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml index 2313c643..503d2c70 100644 --- a/embassy-rp/Cargo.toml +++ b/embassy-rp/Cargo.toml @@ -12,7 +12,7 @@ defmt-warn = [ ] defmt-error = [ ] [dependencies] -embassy = { version = "0.1.0", path = "../embassy" } +embassy = { version = "0.1.0", path = "../embassy", features = [ "time-tick-1mhz" ] } embassy-extras = {version = "0.1.0", path = "../embassy-extras" } embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["rp"]} diff --git a/embassy-std/Cargo.toml b/embassy-std/Cargo.toml index 2a95838e..2633f123 100644 --- a/embassy-std/Cargo.toml +++ b/embassy-std/Cargo.toml @@ -5,6 +5,6 @@ authors = ["Dario Nieuwenhuis "] edition = "2018" [dependencies] -embassy = { version = "0.1.0", path = "../embassy", features = ["std"] } +embassy = { version = "0.1.0", path = "../embassy", features = ["std", "time-tick-32768hz"] } embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["std"]} lazy_static = "1.4.0" diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml index 4e37c94f..654bc98e 100644 --- a/embassy-stm32/Cargo.toml +++ b/embassy-stm32/Cargo.toml @@ -6,7 +6,7 @@ edition = "2018" resolver = "2" [dependencies] -embassy = { version = "0.1.0", path = "../embassy" } +embassy = { version = "0.1.0", path = "../embassy", features = ["time-tick-32768hz"] } embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["stm32"] } embassy-extras = {version = "0.1.0", path = "../embassy-extras" } embassy-traits = {version = "0.1.0", path = "../embassy-traits" } diff --git a/embassy/Cargo.toml b/embassy/Cargo.toml index 87f54409..b2ad8049 100644 --- a/embassy/Cargo.toml +++ b/embassy/Cargo.toml @@ -5,11 +5,13 @@ authors = ["Dario Nieuwenhuis "] edition = "2018" [features] -default = ["tick-32768hz"] +default = [] std = ["futures/std", "embassy-traits/std"] -tick-32768hz = [] -tick-1000hz = [] -tick-1mhz = [] + +time = [] +time-tick-32768hz = ["time"] +time-tick-1000hz = ["time"] +time-tick-1mhz = ["time"] defmt-trace = [] defmt-debug = [] diff --git a/embassy/src/executor/mod.rs b/embassy/src/executor/mod.rs index 598d4e55..771f75ee 100644 --- a/embassy/src/executor/mod.rs +++ b/embassy/src/executor/mod.rs @@ -4,13 +4,12 @@ use core::{mem, ptr}; pub mod raw; mod run_queue; -pub(crate) mod timer; +#[cfg(feature = "time")] mod timer_queue; mod util; mod waker; use crate::interrupt::{Interrupt, InterruptExt}; -use crate::time::Alarm; #[must_use = "Calling a task function does nothing on its own. You must pass the returned SpawnToken to Executor::spawn()"] pub struct SpawnToken { @@ -117,7 +116,8 @@ impl Executor { } } - pub fn set_alarm(&mut self, alarm: &'static dyn Alarm) { + #[cfg(feature = "time")] + pub fn set_alarm(&mut self, alarm: &'static dyn crate::time::Alarm) { self.inner.set_alarm(alarm); } @@ -161,7 +161,8 @@ impl InterruptExecutor { } } - pub fn set_alarm(&mut self, alarm: &'static dyn Alarm) { + #[cfg(feature = "time")] + pub fn set_alarm(&mut self, alarm: &'static dyn crate::time::Alarm) { self.inner.set_alarm(alarm); } diff --git a/embassy/src/executor/raw.rs b/embassy/src/executor/raw.rs index 52512c53..cd2f0446 100644 --- a/embassy/src/executor/raw.rs +++ b/embassy/src/executor/raw.rs @@ -1,18 +1,20 @@ use atomic_polyfill::{AtomicU32, Ordering}; use core::cell::Cell; -use core::cmp::min; use core::future::Future; use core::marker::PhantomData; use core::pin::Pin; use core::ptr::NonNull; -use core::task::{Context, Poll, Waker}; +use core::task::{Context, Poll}; use core::{mem, ptr}; use super::run_queue::{RunQueue, RunQueueItem}; -use super::timer_queue::{TimerQueue, TimerQueueItem}; use super::util::UninitCell; use super::waker; use super::SpawnToken; + +#[cfg(feature = "time")] +use super::timer_queue::{TimerQueue, TimerQueueItem}; +#[cfg(feature = "time")] use crate::time::{Alarm, Instant}; /// Task is spawned (has a future) @@ -20,26 +22,33 @@ pub(crate) const STATE_SPAWNED: u32 = 1 << 0; /// Task is in the executor run queue pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1; /// Task is in the executor timer queue +#[cfg(feature = "time")] pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2; pub struct TaskHeader { pub(crate) state: AtomicU32, pub(crate) run_queue_item: RunQueueItem, - pub(crate) expires_at: Cell, - pub(crate) timer_queue_item: TimerQueueItem, pub(crate) executor: Cell<*const Executor>, // Valid if state != 0 pub(crate) poll_fn: UninitCell)>, // Valid if STATE_SPAWNED + + #[cfg(feature = "time")] + pub(crate) expires_at: Cell, + #[cfg(feature = "time")] + pub(crate) timer_queue_item: TimerQueueItem, } impl TaskHeader { pub(crate) const fn new() -> Self { Self { state: AtomicU32::new(0), - expires_at: Cell::new(Instant::from_ticks(0)), run_queue_item: RunQueueItem::new(), - timer_queue_item: TimerQueueItem::new(), executor: Cell::new(ptr::null()), poll_fn: UninitCell::uninit(), + + #[cfg(feature = "time")] + expires_at: Cell::new(Instant::from_ticks(0)), + #[cfg(feature = "time")] + timer_queue_item: TimerQueueItem::new(), } } @@ -154,9 +163,12 @@ unsafe impl Sync for Task {} pub struct Executor { run_queue: RunQueue, - timer_queue: TimerQueue, signal_fn: fn(*mut ()), signal_ctx: *mut (), + + #[cfg(feature = "time")] + timer_queue: TimerQueue, + #[cfg(feature = "time")] alarm: Option<&'static dyn Alarm>, } @@ -164,13 +176,17 @@ impl Executor { pub const fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self { Self { run_queue: RunQueue::new(), - timer_queue: TimerQueue::new(), signal_fn, signal_ctx, + + #[cfg(feature = "time")] + timer_queue: TimerQueue::new(), + #[cfg(feature = "time")] alarm: None, } } + #[cfg(feature = "time")] pub fn set_alarm(&mut self, alarm: &'static dyn Alarm) { self.alarm = Some(alarm); } @@ -192,6 +208,7 @@ impl Executor { } pub unsafe fn run_queued(&'static self) { + #[cfg(feature = "time")] if self.alarm.is_some() { self.timer_queue.dequeue_expired(Instant::now(), |p| { p.as_ref().enqueue(); @@ -200,6 +217,8 @@ impl Executor { self.run_queue.dequeue_all(|p| { let task = p.as_ref(); + + #[cfg(feature = "time")] task.expires_at.set(Instant::MAX); let state = task.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel); @@ -216,11 +235,13 @@ impl Executor { task.poll_fn.read()(p as _); // Enqueue or update into timer_queue + #[cfg(feature = "time")] self.timer_queue.update(p); }); // If this is in the past, set_alarm will immediately trigger the alarm, // which will make the wfe immediately return so we do another loop iteration. + #[cfg(feature = "time")] if let Some(alarm) = self.alarm { let next_expiration = self.timer_queue.next_expiration(); alarm.set_callback(self.signal_fn, self.signal_ctx); @@ -242,9 +263,10 @@ pub unsafe fn wake_task(task: NonNull) { task.as_ref().enqueue(); } -pub(crate) unsafe fn register_timer(at: Instant, waker: &Waker) { +#[cfg(feature = "time")] +pub(crate) unsafe fn register_timer(at: Instant, waker: &core::task::Waker) { let task = waker::task_from_waker(waker); let task = task.as_ref(); let expires_at = task.expires_at.get(); - task.expires_at.set(min(expires_at, at)); + task.expires_at.set(expires_at.min(at)); } diff --git a/embassy/src/lib.rs b/embassy/src/lib.rs index 3a0701d3..41102a18 100644 --- a/embassy/src/lib.rs +++ b/embassy/src/lib.rs @@ -14,6 +14,7 @@ pub(crate) mod fmt; pub mod executor; pub mod interrupt; pub mod io; +#[cfg(feature = "time")] pub mod time; pub mod util; diff --git a/embassy/src/time/delay.rs b/embassy/src/time/delay.rs new file mode 100644 index 00000000..c97e8b5c --- /dev/null +++ b/embassy/src/time/delay.rs @@ -0,0 +1,67 @@ +use core::future::Future; + +use super::{Duration, Instant, Timer}; + +/// Type implementing async delays and blocking `embedded-hal` delays. +/// +/// For this interface to work, the Executor's clock must be correctly initialized before using it. +/// The delays are implemented in a "best-effort" way, meaning that the cpu will block for at least +/// the amount provided, but accuracy can be affected by many factors, including interrupt usage. +/// Make sure to use a suitable tick rate for your use case. The tick rate can be chosen through +/// features flags of this crate. +pub struct Delay; + +impl crate::traits::delay::Delay for Delay { + type DelayFuture<'a> = impl Future + 'a; + + fn delay_ms<'a>(&'a mut self, millis: u64) -> Self::DelayFuture<'a> { + Timer::after(Duration::from_millis(millis)) + } + fn delay_us<'a>(&'a mut self, micros: u64) -> Self::DelayFuture<'a> { + Timer::after(Duration::from_micros(micros)) + } +} + +impl embedded_hal::blocking::delay::DelayMs for Delay { + fn delay_ms(&mut self, ms: u8) { + block_for(Duration::from_millis(ms as u64)) + } +} + +impl embedded_hal::blocking::delay::DelayMs for Delay { + fn delay_ms(&mut self, ms: u16) { + block_for(Duration::from_millis(ms as u64)) + } +} + +impl embedded_hal::blocking::delay::DelayMs for Delay { + fn delay_ms(&mut self, ms: u32) { + block_for(Duration::from_millis(ms as u64)) + } +} + +impl embedded_hal::blocking::delay::DelayUs for Delay { + fn delay_us(&mut self, us: u8) { + block_for(Duration::from_micros(us as u64)) + } +} + +impl embedded_hal::blocking::delay::DelayUs for Delay { + fn delay_us(&mut self, us: u16) { + block_for(Duration::from_micros(us as u64)) + } +} + +impl embedded_hal::blocking::delay::DelayUs for Delay { + fn delay_us(&mut self, us: u32) { + block_for(Duration::from_micros(us as u64)) + } +} + +/// Blocks the cpu for at least `duration`. +/// +/// For this interface to work, the Executor's clock must be correctly initialized before using it. +pub fn block_for(duration: Duration) { + let expires_at = Instant::now() + duration; + while Instant::now() < expires_at {} +} diff --git a/embassy/src/time/mod.rs b/embassy/src/time/mod.rs index d50d9ef0..d9777c45 100644 --- a/embassy/src/time/mod.rs +++ b/embassy/src/time/mod.rs @@ -1,30 +1,25 @@ //! Time abstractions //! To use these abstractions, first call `set_clock` with an instance of an [Clock](trait.Clock.html). //! +mod delay; mod duration; mod instant; +mod timer; mod traits; -pub use crate::executor::timer::{with_timeout, Delay, Ticker, TimeoutError, Timer}; +pub use delay::{block_for, Delay}; pub use duration::Duration; pub use instant::Instant; +pub use timer::{with_timeout, Ticker, TimeoutError, Timer}; pub use traits::*; -#[cfg(any( - all(feature = "tick-32768hz", feature = "tick-1000hz"), - all(feature = "tick-32768hz", feature = "tick-1mhz"), -))] -compile_error!( - "Disable default-features to be able to use a tick rate other than the default (32768 Hz)" -); - -#[cfg(feature = "tick-1000hz")] +#[cfg(feature = "time-tick-1000hz")] pub const TICKS_PER_SECOND: u64 = 1_000; -#[cfg(feature = "tick-32768hz")] +#[cfg(feature = "time-tick-32768hz")] pub const TICKS_PER_SECOND: u64 = 32_768; -#[cfg(feature = "tick-1mhz")] +#[cfg(feature = "time-tick-1mhz")] pub const TICKS_PER_SECOND: u64 = 1_000_000; static mut CLOCK: Option<&'static dyn Clock> = None; @@ -42,56 +37,3 @@ pub unsafe fn set_clock(clock: &'static dyn Clock) { pub(crate) fn now() -> u64 { unsafe { unwrap!(CLOCK, "No clock set").now() } } - -/// Type used for blocking delays through embedded-hal traits. -/// -/// For this interface to work, the Executor's clock must be correctly initialized before using it. -/// The delays are implemented in a "best-effort" way, meaning that the cpu will block for at least -/// the amount provided, but accuracy can be affected by many factors, including interrupt usage. -/// Make sure to use a suitable tick rate for your use case. The tick rate can be chosen through -/// features flags of this crate. -pub struct BlockingTimer; - -impl embedded_hal::blocking::delay::DelayMs for BlockingTimer { - fn delay_ms(&mut self, ms: u8) { - block_for(Duration::from_millis(ms as u64)) - } -} - -impl embedded_hal::blocking::delay::DelayMs for BlockingTimer { - fn delay_ms(&mut self, ms: u16) { - block_for(Duration::from_millis(ms as u64)) - } -} - -impl embedded_hal::blocking::delay::DelayMs for BlockingTimer { - fn delay_ms(&mut self, ms: u32) { - block_for(Duration::from_millis(ms as u64)) - } -} - -impl embedded_hal::blocking::delay::DelayUs for BlockingTimer { - fn delay_us(&mut self, us: u8) { - block_for(Duration::from_micros(us as u64)) - } -} - -impl embedded_hal::blocking::delay::DelayUs for BlockingTimer { - fn delay_us(&mut self, us: u16) { - block_for(Duration::from_micros(us as u64)) - } -} - -impl embedded_hal::blocking::delay::DelayUs for BlockingTimer { - fn delay_us(&mut self, us: u32) { - block_for(Duration::from_micros(us as u64)) - } -} - -/// Blocks the cpu for at least `duration`. -/// -/// For this interface to work, the Executor's clock must be correctly initialized before using it. -pub fn block_for(duration: Duration) { - let expires_at = Instant::now() + duration; - while Instant::now() < expires_at {} -} diff --git a/embassy/src/executor/timer.rs b/embassy/src/time/timer.rs similarity index 87% rename from embassy/src/executor/timer.rs rename to embassy/src/time/timer.rs index 8ee33696..a2a37f70 100644 --- a/embassy/src/executor/timer.rs +++ b/embassy/src/time/timer.rs @@ -1,36 +1,11 @@ use core::future::Future; -use core::marker::PhantomData; use core::pin::Pin; use core::task::{Context, Poll}; use futures::{future::select, future::Either, pin_mut, Stream}; -use super::raw; +use crate::executor::raw; use crate::time::{Duration, Instant}; -/// Delay abstraction using embassy's clock. -pub struct Delay { - _data: PhantomData, -} - -impl Delay { - pub fn new() -> Self { - Delay { - _data: PhantomData {}, - } - } -} - -impl crate::traits::delay::Delay for Delay { - type DelayFuture<'a> = impl Future + 'a; - - fn delay_ms<'a>(&'a mut self, millis: u64) -> Self::DelayFuture<'a> { - Timer::after(Duration::from_millis(millis)) - } - fn delay_us<'a>(&'a mut self, micros: u64) -> Self::DelayFuture<'a> { - Timer::after(Duration::from_micros(micros)) - } -} - pub struct TimeoutError; pub async fn with_timeout(timeout: Duration, fut: F) -> Result { let timeout_fut = Timer::after(timeout); diff --git a/embassy/src/time/traits.rs b/embassy/src/time/traits.rs index 2c97b13a..4c6134c3 100644 --- a/embassy/src/time/traits.rs +++ b/embassy/src/time/traits.rs @@ -30,15 +30,3 @@ pub trait Alarm { /// If no alarm was set, this is a noop. fn clear(&self); } - -impl Alarm for &T { - fn set_callback(&self, callback: fn(*mut ()), ctx: *mut ()) { - T::set_callback(self, callback, ctx); - } - fn set(&self, timestamp: u64) { - T::set(self, timestamp); - } - fn clear(&self) { - T::clear(self) - } -}