Merge branch 'master' into stm32f4

Cargo.toml

@@ -5,8 +5,9 @@ members = [
     "embassy-nrf",
     "embassy-stm32f4",
     "embassy-macros",
-    "examples",
+    "embassy-nrf-examples",
-    "examples-stm32f4",
+    "embassy-stm32f4-examples",
+    "embassy-macros",
 ]
 
 exclude = [

README.md

@@ -11,15 +11,17 @@ Embassy is a project to make async/await a first-class option for embedded devel
 - `embassy::time`: `Clock` and `Alarm` traits. Std-like `Duration` and `Instant`.
 - More traits for SPI, I2C, UART async HAL coming soon.
 
-## Executor with timers
+## Executor
 
-The `embassy::executor` module provides an async/await executor based on [static-executor](https://github.com/Dirbaio/static-executor).
+The `embassy::executor` module provides an async/await executor designed for embedded usage.
 
 - No `alloc`, no heap needed. Task futures are statically allocated.
-- Integrated timer queue allows simple sleeping: `Timer::after(Duration::from_ticks(64000)).await;`.
+- No "fixed capacity" data structures, executor works with 1 or 1000 tasks without needing config/tuning.
-- Suitable for low-power operation. Using interrupts or `WFE/SEV` ensures the CPU sleeps when there's no work to do. No busy-loop polling.
+- Integrated timer queue: sleeping is easy, just do `Timer::after(Duration::from_secs(1)).await;`.
+- No busy-loop polling: CPU sleeps when there's no work to do, using interrupts or `WFE/SEV`.
+- Efficient polling: a wake will only poll the woken task, not all of them.
+- Fair: a task can't monopolize CPU time even if it's constantly being woken. All other tasks get a chance to run before a given task gets polled for the second time.
 - Creating multiple executor instances is supported, to run tasks with multiple priority levels. This allows higher-priority tasks to preempt lower-priority tasks.
-- Compatible with RTIC (example coming soon).
 
 ## Utils
 
@@ -54,9 +56,7 @@ cargo run --bin rtc_async
 
 ## Minimum supported Rust version (MSRV)
 
-`rustc 1.48.0-nightly (1fd5b9d51 2020-09-20)`
+Only recent nighly supported. Nightly is required for:
-
-Any recent nightly should work. Nightly is required for:
 
 - `generic_associated_types`: for trait funcs returning futures.
 - `type_alias_impl_trait`: for trait funcs returning futures implemented with `async{}` blocks, and for `static-executor`.

embassy-macros/src/lib.rs

@@ -55,9 +55,9 @@ pub fn task(args: TokenStream, item: TokenStream) -> TokenStream {
 
     let mut arg_names: syn::punctuated::Punctuated<syn::Ident, syn::Token![,]> =
         syn::punctuated::Punctuated::new();
-    let args = &task_fn.sig.inputs;
+    let mut args = task_fn.sig.inputs.clone();
 
-    for arg in args.iter() {
+    for arg in args.iter_mut() {
         match arg {
             syn::FnArg::Receiver(_) => {
                 arg.span()
@@ -66,8 +66,11 @@ pub fn task(args: TokenStream, item: TokenStream) -> TokenStream {
                     .emit();
                 fail = true;
             }
-            syn::FnArg::Typed(t) => match t.pat.as_ref() {
+            syn::FnArg::Typed(t) => match t.pat.as_mut() {
-                syn::Pat::Ident(i) => arg_names.push(i.ident.clone()),
+                syn::Pat::Ident(i) => {
+                    arg_names.push(i.ident.clone());
+                    i.mutability = None;
+                }
                 _ => {
                     arg.span()
                         .unwrap()

embassy-nrf-examples/.cargo/config

@@ -20,8 +20,4 @@ rustflags = [
 ]
 
 [build]
-# Pick ONE of these compilation targets
+target = "thumbv7em-none-eabi"
-# target = "thumbv6m-none-eabi"    # Cortex-M0 and Cortex-M0+
-# target = "thumbv7m-none-eabi"    # Cortex-M3
-# target = "thumbv7em-none-eabi"   # Cortex-M4 and Cortex-M7 (no FPU)
-target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)

embassy-nrf-examples/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
 edition = "2018"
-name = "embassy-examples"
+name = "embassy-nrf-examples"
 version = "0.1.0"
 
 [features]

embassy-nrf-examples/src/bin/buffered_uart.rs

@@ -8,15 +8,17 @@ use example_common::*;
 
 use cortex_m_rt::entry;
 use defmt::panic;
-use futures::pin_mut;
 use nrf52840_hal::gpio;
 
 use embassy::executor::{task, Executor};
-use embassy::io::{AsyncBufRead, AsyncBufReadExt, AsyncWrite, AsyncWriteExt};
+use embassy::io::{AsyncBufReadExt, AsyncWriteExt};
 use embassy::util::Forever;
 use embassy_nrf::buffered_uarte;
 use embassy_nrf::interrupt;
 
+static mut TX_BUFFER: [u8; 4096] = [0; 4096];
+static mut RX_BUFFER: [u8; 4096] = [0; 4096];
+
 #[task]
 async fn run() {
     let p = unwrap!(embassy_nrf::pac::Peripherals::take());
@@ -34,14 +36,15 @@ async fn run() {
     };
 
     let irq = interrupt::take!(UARTE0_UART0);
-    let u = buffered_uarte::BufferedUarte::new(
+    let mut u = buffered_uarte::BufferedUarte::new(
         p.UARTE0,
         irq,
+        unsafe { &mut RX_BUFFER },
+        unsafe { &mut TX_BUFFER },
         pins,
         buffered_uarte::Parity::EXCLUDED,
         buffered_uarte::Baudrate::BAUD115200,
     );
-    pin_mut!(u);
 
     info!("uarte initialized!");
 

embassy-nrf-examples/src/bin/uart.rs

@@ -10,6 +10,7 @@ use cortex_m_rt::entry;
 use defmt::panic;
 use embassy::executor::{task, Executor};
 use embassy::time::{Duration, Timer};
+use embassy::uart::Uart;
 use embassy::util::Forever;
 use embassy_nrf::{interrupt, pac, rtc, uarte};
 use futures::future::{select, Either};
@@ -24,29 +25,37 @@ async fn run(mut uart: uarte::Uarte<pac::UARTE0>) {
     let mut buf = [0; 8];
     buf.copy_from_slice(b"Hello!\r\n");
 
-    uart.send(&buf).await;
+    unwrap!(uart.send(&buf).await);
     info!("wrote hello in uart!");
 
-    info!("reading...");
     loop {
-        let received = match select(
+        let buf_len = buf.len();
-            uart.receive(&mut buf),
+        info!("reading...");
-            Timer::after(Duration::from_millis(10)),
+
-        )
+        // `receive()` doesn't return until the buffer has been completely filled with
-        .await
+        // incoming data, which in this case is 8 bytes.
-        {
+        //
-            Either::Left((buf, _)) => buf,
+        // This example shows how to use `select` to run an uart receive concurrently with a
-            Either::Right((_, read)) => {
+        // 1 second timer, effectively adding a timeout to the receive operation.
-                let (buf, n) = read.stop().await;
+        let recv_fut = uart.receive(&mut buf);
-                &buf[..n]
+        let timer_fut = Timer::after(Duration::from_millis(1000));
-            }
+        let received_len = match select(recv_fut, timer_fut).await {
+            // recv_fut completed first, so we've received `buf_len` bytes.
+            Either::Left(_) => buf_len,
+            // timer_fut completed first. `select` gives us back the future that didn't complete, which
+            // is `recv_fut` in this case, so we can do further stuff with it.
+            //
+            // The recv_fut would stop the uart read automatically when dropped. However, we want to know how
+            // many bytes have been received, so we have to "gracefully stop" it with `.stop()`.
+            Either::Right((_, recv_fut)) => recv_fut.stop().await,
         };
+        let received = &mut buf[..received_len];
 
         if received.len() > 0 {
             info!("read done, got {:[u8]}", received);
 
             // Echo back received data
-            uart.send(received).await;
+            unwrap!(uart.send(received).await);
         }
     }
 }

embassy-nrf/src/buffered_uarte.rs

@@ -4,114 +4,29 @@
 //!
 //! - nrf52832: Section 35
 //! - nrf52840: Section 6.34
-use core::cell::UnsafeCell;
 use core::cmp::min;
-use core::marker::PhantomPinned;
+use core::marker::PhantomData;
+use core::mem;
 use core::ops::Deref;
 use core::pin::Pin;
-use core::ptr;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::{Context, Poll};
-
+use embassy::io::{AsyncBufRead, AsyncWrite, Result};
+use embassy::util::WakerRegistration;
 use embedded_hal::digital::v2::OutputPin;
 
-use crate::hal::gpio::{Floating, Input, Output, Pin as GpioPin, Port as GpioPort, PushPull};
+use crate::fmt::{panic, todo, *};
-use crate::interrupt;
+use crate::hal::gpio::Port as GpioPort;
-use crate::interrupt::{CriticalSection, OwnedInterrupt};
+use crate::interrupt::{self, OwnedInterrupt};
-#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
+use crate::pac;
-use crate::pac::UARTE1;
+use crate::pac::uarte0;
-use crate::pac::{uarte0, UARTE0};
+use crate::util::peripheral;
+use crate::util::ring_buffer::RingBuffer;
 
 // Re-export SVD variants to allow user to directly set values
+pub use crate::hal::uarte::Pins;
 pub use uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
 
-use embassy::io::{AsyncBufRead, AsyncWrite, Result};
-use embassy::util::WakerStore;
-
-use crate::fmt::{assert, panic, todo, *};
-
-//use crate::trace;
-
-const RINGBUF_SIZE: usize = 512;
-struct RingBuf {
-    buf: [u8; RINGBUF_SIZE],
-    start: usize,
-    end: usize,
-    empty: bool,
-}
-
-impl RingBuf {
-    fn new() -> Self {
-        RingBuf {
-            buf: [0; RINGBUF_SIZE],
-            start: 0,
-            end: 0,
-            empty: true,
-        }
-    }
-
-    fn push_buf(&mut self) -> &mut [u8] {
-        if self.start == self.end && !self.empty {
-            trace!("  ringbuf: push_buf empty");
-            return &mut self.buf[..0];
-        }
-
-        let n = if self.start <= self.end {
-            RINGBUF_SIZE - self.end
-        } else {
-            self.start - self.end
-        };
-
-        trace!("  ringbuf: push_buf {:?}..{:?}", self.end, self.end + n);
-        &mut self.buf[self.end..self.end + n]
-    }
-
-    fn push(&mut self, n: usize) {
-        trace!("  ringbuf: push {:?}", n);
-        if n == 0 {
-            return;
-        }
-
-        self.end = Self::wrap(self.end + n);
-        self.empty = false;
-    }
-
-    fn pop_buf(&mut self) -> &mut [u8] {
-        if self.empty {
-            trace!("  ringbuf: pop_buf empty");
-            return &mut self.buf[..0];
-        }
-
-        let n = if self.end <= self.start {
-            RINGBUF_SIZE - self.start
-        } else {
-            self.end - self.start
-        };
-
-        trace!("  ringbuf: pop_buf {:?}..{:?}", self.start, self.start + n);
-        &mut self.buf[self.start..self.start + n]
-    }
-
-    fn pop(&mut self, n: usize) {
-        trace!("  ringbuf: pop {:?}", n);
-        if n == 0 {
-            return;
-        }
-
-        self.start = Self::wrap(self.start + n);
-        self.empty = self.start == self.end;
-    }
-
-    fn wrap(n: usize) -> usize {
-        assert!(n <= RINGBUF_SIZE);
-        if n == RINGBUF_SIZE {
-            0
-        } else {
-            n
-        }
-    }
-}
-
 #[derive(Copy, Clone, Debug, PartialEq)]
 enum RxState {
     Idle,
@@ -133,28 +48,12 @@ enum TxState {
 ///   are disabled before using `Uarte`. See product specification:
 ///     - nrf52832: Section 15.2
 ///     - nrf52840: Section 6.1.2
-pub struct BufferedUarte<T: Instance> {
+pub struct BufferedUarte<'a, T: Instance> {
-    started: bool,
+    reg: peripheral::Registration<State<'a, T>>,
-    state: UnsafeCell<UarteState<T>>,
+    wtf: PhantomData<&'a ()>,
 }
 
-// public because it needs to be used in Instance::{get_state, set_state}, but
+impl<'a, T: Instance> Unpin for BufferedUarte<'a, T> {}
-// should not be used outside the module
-#[doc(hidden)]
-pub struct UarteState<T: Instance> {
-    inner: T,
-    irq: T::Interrupt,
-
-    rx: RingBuf,
-    rx_state: RxState,
-    rx_waker: WakerStore,
-
-    tx: RingBuf,
-    tx_state: TxState,
-    tx_waker: WakerStore,
-
-    _pin: PhantomPinned,
-}
 
 #[cfg(any(feature = "52833", feature = "52840"))]
 fn port_bit(port: GpioPort) -> bool {
@@ -164,10 +63,12 @@ fn port_bit(port: GpioPort) -> bool {
     }
 }
 
-impl<T: Instance> BufferedUarte<T> {
+impl<'a, T: Instance> BufferedUarte<'a, T> {
     pub fn new(
         uarte: T,
         irq: T::Interrupt,
+        rx_buffer: &'a mut [u8],
+        tx_buffer: &'a mut [u8],
         mut pins: Pins,
         parity: Parity,
         baudrate: Baudrate,
@@ -225,87 +126,79 @@ impl<T: Instance> BufferedUarte<T> {
         // Configure frequency
         uarte.baudrate.write(|w| w.baudrate().variant(baudrate));
 
+        irq.pend();
+
         BufferedUarte {
-            started: false,
+            reg: peripheral::Registration::new(
-            state: UnsafeCell::new(UarteState {
-                inner: uarte,
                 irq,
+                State {
+                    inner: uarte,
 
-                rx: RingBuf::new(),
+                    rx: RingBuffer::new(rx_buffer),
-                rx_state: RxState::Idle,
+                    rx_state: RxState::Idle,
-                rx_waker: WakerStore::new(),
+                    rx_waker: WakerRegistration::new(),
 
-                tx: RingBuf::new(),
+                    tx: RingBuffer::new(tx_buffer),
-                tx_state: TxState::Idle,
+                    tx_state: TxState::Idle,
-                tx_waker: WakerStore::new(),
+                    tx_waker: WakerRegistration::new(),
-
+                },
-                _pin: PhantomPinned,
+            ),
-            }),
+            wtf: PhantomData,
         }
     }
-
-    fn with_state<'a, R>(
-        self: Pin<&'a mut Self>,
-        f: impl FnOnce(Pin<&'a mut UarteState<T>>) -> R,
-    ) -> R {
-        let Self { state, started } = unsafe { self.get_unchecked_mut() };
-
-        interrupt::free(|cs| {
-            let ptr = state.get();
-
-            if !*started {
-                T::set_state(cs, ptr);
-
-                *started = true;
-
-                // safety: safe because critical section ensures only one *mut UartState
-                // exists at the same time.
-                unsafe { Pin::new_unchecked(&mut *ptr) }.start();
-            }
-
-            // safety: safe because critical section ensures only one *mut UartState
-            // exists at the same time.
-            f(unsafe { Pin::new_unchecked(&mut *ptr) })
-        })
-    }
 }
 
-impl<T: Instance> Drop for BufferedUarte<T> {
+impl<'a, T: Instance> Drop for BufferedUarte<'a, T> {
     fn drop(&mut self) {
         // stop DMA before dropping, because DMA is using the buffer in `self`.
         todo!()
     }
 }
 
-impl<T: Instance> AsyncBufRead for BufferedUarte<T> {
+impl<'a, T: Instance> AsyncBufRead for BufferedUarte<'a, T> {
     fn poll_fill_buf(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Result<&[u8]>> {
-        self.with_state(|s| s.poll_fill_buf(cx))
+        let this = unsafe { self.get_unchecked_mut() };
+        this.reg.with(|state, _| {
+            let z: Poll<Result<&[u8]>> = state.poll_fill_buf(cx);
+            let z: Poll<Result<&[u8]>> = unsafe { mem::transmute(z) };
+            z
+        })
     }
 
     fn consume(self: Pin<&mut Self>, amt: usize) {
-        self.with_state(|s| s.consume(amt))
-    }
-}
-
-impl<T: Instance> AsyncWrite for BufferedUarte<T> {
-    fn poll_write(self: Pin<&mut Self>, cx: &mut Context<'_>, buf: &[u8]) -> Poll<Result<usize>> {
-        self.with_state(|s| s.poll_write(cx, buf))
-    }
-}
-
-impl<T: Instance> UarteState<T> {
-    pub fn start(self: Pin<&mut Self>) {
-        self.irq.set_handler(|| unsafe {
-            interrupt::free(|cs| T::get_state(cs).as_mut().unwrap().on_interrupt());
-        });
-
-        self.irq.pend();
-        self.irq.enable();
-    }
-
-    fn poll_fill_buf(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Result<&[u8]>> {
         let this = unsafe { self.get_unchecked_mut() };
+        this.reg.with(|state, irq| state.consume(irq, amt))
+    }
+}
 
+impl<'a, T: Instance> AsyncWrite for BufferedUarte<'a, T> {
+    fn poll_write(self: Pin<&mut Self>, cx: &mut Context<'_>, buf: &[u8]) -> Poll<Result<usize>> {
+        let this = unsafe { self.get_unchecked_mut() };
+        this.reg.with(|state, irq| state.poll_write(irq, cx, buf))
+    }
+}
+
+// ====================================
+// ====================================
+// ====================================
+
+// public because it needs to be used in Instance trait, but
+// should not be used outside the module
+#[doc(hidden)]
+pub struct State<'a, T: Instance> {
+    inner: T,
+
+    rx: RingBuffer<'a>,
+    rx_state: RxState,
+    rx_waker: WakerRegistration,
+
+    tx: RingBuffer<'a>,
+    tx_state: TxState,
+    tx_waker: WakerRegistration,
+}
+
+impl<'a, T: Instance> State<'a, T> {
+    fn poll_fill_buf(&mut self, cx: &mut Context<'_>) -> Poll<Result<&[u8]>> {
         // Conservative compiler fence to prevent optimizations that do not
         // take in to account actions by DMA. The fence has been placed here,
         // before any DMA action has started
@@ -313,7 +206,7 @@ impl<T: Instance> UarteState<T> {
         trace!("poll_read");
 
         // We have data ready in buffer? Return it.
-        let buf = this.rx.pop_buf();
+        let buf = self.rx.pop_buf();
         if buf.len() != 0 {
             trace!("  got {:?} {:?}", buf.as_ptr() as u32, buf.len());
             return Poll::Ready(Ok(buf));
@@ -321,38 +214,40 @@ impl<T: Instance> UarteState<T> {
 
         trace!("  empty");
 
-        if this.rx_state == RxState::ReceivingReady {
+        if self.rx_state == RxState::ReceivingReady {
             trace!("  stopping");
-            this.rx_state = RxState::Stopping;
+            self.rx_state = RxState::Stopping;
-            this.inner.tasks_stoprx.write(|w| unsafe { w.bits(1) });
+            self.inner.tasks_stoprx.write(|w| unsafe { w.bits(1) });
         }
 
-        this.rx_waker.store(cx.waker());
+        self.rx_waker.register(cx.waker());
         Poll::Pending
     }
 
-    fn consume(self: Pin<&mut Self>, amt: usize) {
+    fn consume(&mut self, irq: &mut T::Interrupt, amt: usize) {
-        let this = unsafe { self.get_unchecked_mut() };
         trace!("consume {:?}", amt);
-        this.rx.pop(amt);
+        self.rx.pop(amt);
-        this.irq.pend();
+        irq.pend();
     }
 
-    fn poll_write(self: Pin<&mut Self>, cx: &mut Context<'_>, buf: &[u8]) -> Poll<Result<usize>> {
+    fn poll_write(
-        let this = unsafe { self.get_unchecked_mut() };
+        &mut self,
-
+        irq: &mut T::Interrupt,
+        cx: &mut Context<'_>,
+        buf: &[u8],
+    ) -> Poll<Result<usize>> {
         trace!("poll_write: {:?}", buf.len());
 
-        let tx_buf = this.tx.push_buf();
+        let tx_buf = self.tx.push_buf();
         if tx_buf.len() == 0 {
             trace!("poll_write: pending");
-            this.tx_waker.store(cx.waker());
+            self.tx_waker.register(cx.waker());
             return Poll::Pending;
         }
 
         let n = min(tx_buf.len(), buf.len());
         tx_buf[..n].copy_from_slice(&buf[..n]);
-        this.tx.push(n);
+        self.tx.push(n);
 
         trace!("poll_write: queued {:?}", n);
 
@@ -361,10 +256,17 @@ impl<T: Instance> UarteState<T> {
         // before any DMA action has started
         compiler_fence(Ordering::SeqCst);
 
-        this.irq.pend();
+        irq.pend();
 
         Poll::Ready(Ok(n))
     }
+}
+
+impl<'a, T: Instance> peripheral::State for State<'a, T> {
+    type Interrupt = T::Interrupt;
+    fn store<'b>() -> &'b peripheral::Store<Self> {
+        unsafe { mem::transmute(T::storage()) }
+    }
 
     fn on_interrupt(&mut self) {
         trace!("irq: start");
@@ -504,13 +406,6 @@ impl<T: Instance> UarteState<T> {
     }
 }
 
-pub struct Pins {
-    pub rxd: GpioPin<Input<Floating>>,
-    pub txd: GpioPin<Output<PushPull>>,
-    pub cts: Option<GpioPin<Input<Floating>>>,
-    pub rts: Option<GpioPin<Output<PushPull>>>,
-}
-
 mod private {
     pub trait Sealed {}
 
@@ -519,39 +414,28 @@ mod private {
     impl Sealed for crate::pac::UARTE1 {}
 }
 
-pub trait Instance: Deref<Target = uarte0::RegisterBlock> + Sized + private::Sealed {
+pub trait Instance:
+    Deref<Target = uarte0::RegisterBlock> + Sized + private::Sealed + 'static
+{
     type Interrupt: OwnedInterrupt;
-
+    fn storage() -> &'static peripheral::Store<State<'static, Self>>;
-    #[doc(hidden)]
-    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self>;
-
-    #[doc(hidden)]
-    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>);
 }
 
-static mut UARTE0_STATE: *mut UarteState<UARTE0> = ptr::null_mut();
+impl Instance for pac::UARTE0 {
-#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
-static mut UARTE1_STATE: *mut UarteState<UARTE1> = ptr::null_mut();
-
-impl Instance for UARTE0 {
     type Interrupt = interrupt::UARTE0_UART0Interrupt;
-
+    fn storage() -> &'static peripheral::Store<State<'static, Self>> {
-    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self> {
+        static STORAGE: peripheral::Store<State<'static, crate::pac::UARTE0>> =
-        unsafe { UARTE0_STATE } // Safe because of CriticalSection
+            peripheral::Store::uninit();
-    }
+        &STORAGE
-    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>) {
-        unsafe { UARTE0_STATE = state } // Safe because of CriticalSection
     }
 }
 
 #[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
-impl Instance for UARTE1 {
+impl Instance for pac::UARTE1 {
     type Interrupt = interrupt::UARTE1Interrupt;
-
+    fn storage() -> &'static peripheral::Store<State<'static, Self>> {
-    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self> {
+        static STORAGE: peripheral::Store<State<'static, crate::pac::UARTE1>> =
-        unsafe { UARTE1_STATE } // Safe because of CriticalSection
+            peripheral::Store::uninit();
-    }
+        &STORAGE
-    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>) {
-        unsafe { UARTE1_STATE = state } // Safe because of CriticalSection
     }
 }

embassy-nrf/src/lib.rs

@@ -50,6 +50,7 @@ pub use nrf52840_hal as hal;
 
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
+pub(crate) mod util;
 
 pub mod buffered_uarte;
 pub mod gpiote;

embassy-nrf/src/uarte.rs

@@ -10,7 +10,6 @@ use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::{Context, Poll};
 
 use embassy::util::Signal;
-use embedded_dma::{ReadBuffer, WriteBuffer};
 
 use crate::fmt::{assert, *};
 #[cfg(any(feature = "52833", feature = "52840"))]
@@ -140,57 +139,10 @@ where
         self.instance.enable.write(|w| w.enable().enabled());
     }
 
-    /// Sends serial data.
-    ///
-    /// `tx_buffer` is marked as static as per `embedded-dma` requirements.
-    /// It it safe to use a buffer with a non static lifetime if memory is not
-    /// reused until the future has finished.
-    pub fn send<'a, B>(&'a mut self, tx_buffer: B) -> SendFuture<'a, T, B>
-    where
-        B: ReadBuffer<Word = u8>,
-    {
-        // Panic if TX is running which can happen if the user has called
-        // `mem::forget()` on a previous future after polling it once.
-        assert!(!self.tx_started());
-
-        self.enable();
-
-        SendFuture {
-            uarte: self,
-            buf: tx_buffer,
-        }
-    }
-
     fn tx_started(&self) -> bool {
         self.instance.events_txstarted.read().bits() != 0
     }
 
-    /// Receives serial data.
-    ///
-    /// The future is pending until the buffer is completely filled.
-    /// A common pattern is to use [`stop()`](ReceiveFuture::stop) to cancel
-    /// unfinished transfers after a timeout to prevent lockup when no more data
-    /// is incoming.
-    ///
-    /// `rx_buffer` is marked as static as per `embedded-dma` requirements.
-    /// It it safe to use a buffer with a non static lifetime if memory is not
-    /// reused until the future has finished.
-    pub fn receive<'a, B>(&'a mut self, rx_buffer: B) -> ReceiveFuture<'a, T, B>
-    where
-        B: WriteBuffer<Word = u8>,
-    {
-        // Panic if RX is running which can happen if the user has called
-        // `mem::forget()` on a previous future after polling it once.
-        assert!(!self.rx_started());
-
-        self.enable();
-
-        ReceiveFuture {
-            uarte: self,
-            buf: Some(rx_buffer),
-        }
-    }
-
     fn rx_started(&self) -> bool {
         self.instance.events_rxstarted.read().bits() != 0
     }
@@ -238,16 +190,62 @@ where
     }
 }
 
+impl<T: Instance> embassy::uart::Uart for Uarte<T> {
+    type ReceiveFuture<'a> = ReceiveFuture<'a, T>;
+    type SendFuture<'a> = SendFuture<'a, T>;
+
+    /// Sends serial data.
+    ///
+    /// `tx_buffer` is marked as static as per `embedded-dma` requirements.
+    /// It it safe to use a buffer with a non static lifetime if memory is not
+    /// reused until the future has finished.
+    fn send<'a>(&'a mut self, tx_buffer: &'a [u8]) -> SendFuture<'a, T> {
+        // Panic if TX is running which can happen if the user has called
+        // `mem::forget()` on a previous future after polling it once.
+        assert!(!self.tx_started());
+
+        self.enable();
+
+        SendFuture {
+            uarte: self,
+            buf: tx_buffer,
+        }
+    }
+
+    /// Receives serial data.
+    ///
+    /// The future is pending until the buffer is completely filled.
+    /// A common pattern is to use [`stop()`](ReceiveFuture::stop) to cancel
+    /// unfinished transfers after a timeout to prevent lockup when no more data
+    /// is incoming.
+    ///
+    /// `rx_buffer` is marked as static as per `embedded-dma` requirements.
+    /// It it safe to use a buffer with a non static lifetime if memory is not
+    /// reused until the future has finished.
+    fn receive<'a>(&'a mut self, rx_buffer: &'a mut [u8]) -> ReceiveFuture<'a, T> {
+        // Panic if RX is running which can happen if the user has called
+        // `mem::forget()` on a previous future after polling it once.
+        assert!(!self.rx_started());
+
+        self.enable();
+
+        ReceiveFuture {
+            uarte: self,
+            buf: rx_buffer,
+        }
+    }
+}
+
 /// Future for the [`Uarte::send()`] method.
-pub struct SendFuture<'a, T, B>
+pub struct SendFuture<'a, T>
 where
     T: Instance,
 {
     uarte: &'a Uarte<T>,
-    buf: B,
+    buf: &'a [u8],
 }
 
-impl<'a, T, B> Drop for SendFuture<'a, T, B>
+impl<'a, T> Drop for SendFuture<'a, T>
 where
     T: Instance,
 {
@@ -266,14 +264,13 @@ where
     }
 }
 
-impl<'a, T, B> Future for SendFuture<'a, T, B>
+impl<'a, T> Future for SendFuture<'a, T>
 where
     T: Instance,
-    B: ReadBuffer<Word = u8>,
 {
-    type Output = ();
+    type Output = Result<(), embassy::uart::Error>;
 
-    fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<()> {
+    fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
         let Self { uarte, buf } = unsafe { self.get_unchecked_mut() };
 
         if !uarte.tx_started() {
@@ -281,7 +278,8 @@ where
 
             T::state().tx_done.reset();
 
-            let (ptr, len) = unsafe { buf.read_buffer() };
+            let ptr = buf.as_ptr();
+            let len = buf.len();
             assert!(len <= EASY_DMA_SIZE);
             // TODO: panic if buffer is not in SRAM
 
@@ -296,20 +294,20 @@ where
             uarte.tasks_starttx.write(|w| unsafe { w.bits(1) });
         }
 
-        T::state().tx_done.poll_wait(cx)
+        T::state().tx_done.poll_wait(cx).map(|()| Ok(()))
     }
 }
 
 /// Future for the [`Uarte::receive()`] method.
-pub struct ReceiveFuture<'a, T, B>
+pub struct ReceiveFuture<'a, T>
 where
     T: Instance,
 {
     uarte: &'a Uarte<T>,
-    buf: Option<B>,
+    buf: &'a mut [u8],
 }
 
-impl<'a, T, B> Drop for ReceiveFuture<'a, T, B>
+impl<'a, T> Drop for ReceiveFuture<'a, T>
 where
     T: Instance,
 {
@@ -327,14 +325,13 @@ where
     }
 }
 
-impl<'a, T, B> Future for ReceiveFuture<'a, T, B>
+impl<'a, T> Future for ReceiveFuture<'a, T>
 where
     T: Instance,
-    B: WriteBuffer<Word = u8>,
 {
-    type Output = B;
+    type Output = Result<(), embassy::uart::Error>;
 
-    fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<B> {
+    fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
         let Self { uarte, buf } = unsafe { self.get_unchecked_mut() };
 
         if !uarte.rx_started() {
@@ -342,7 +339,8 @@ where
 
             T::state().rx_done.reset();
 
-            let (ptr, len) = unsafe { buf.as_mut().unwrap().write_buffer() };
+            let ptr = buf.as_ptr();
+            let len = buf.len();
             assert!(len <= EASY_DMA_SIZE);
 
             compiler_fence(Ordering::SeqCst);
@@ -356,24 +354,20 @@ where
             uarte.tasks_startrx.write(|w| unsafe { w.bits(1) });
         }
 
-        T::state()
+        T::state().rx_done.poll_wait(cx).map(|_| Ok(()))
-            .rx_done
-            .poll_wait(cx)
-            .map(|_| buf.take().unwrap())
     }
 }
 
 /// Future for the [`receive()`] method.
-impl<'a, T, B> ReceiveFuture<'a, T, B>
+impl<'a, T> ReceiveFuture<'a, T>
 where
     T: Instance,
 {
     /// Stops the ongoing reception and returns the number of bytes received.
-    pub async fn stop(mut self) -> (B, usize) {
+    pub async fn stop(self) -> usize {
-        let buf = self.buf.take().unwrap();
         drop(self);
         let len = T::state().rx_done.wait().await;
-        (buf, len as _)
+        len as _
     }
 }
 
@@ -381,7 +375,9 @@ mod private {
     pub trait Sealed {}
 }
 
-pub trait Instance: Deref<Target = pac::uarte0::RegisterBlock> + Sized + private::Sealed {
+pub trait Instance:
+    Deref<Target = pac::uarte0::RegisterBlock> + Sized + private::Sealed + 'static
+{
     type Interrupt: OwnedInterrupt;
 
     #[doc(hidden)]

embassy-nrf/src/util/mod.rs

@@ -0,0 +1,2 @@
+pub mod peripheral;
+pub mod ring_buffer;

embassy-nrf/src/util/peripheral.rs

@@ -0,0 +1,107 @@
+use core::mem;
+use core::mem::MaybeUninit;
+use core::ptr;
+use core::sync::atomic::{compiler_fence, Ordering};
+use core::{cell::UnsafeCell, marker::PhantomData};
+
+use crate::interrupt::OwnedInterrupt;
+
+pub struct Store<T>(MaybeUninit<UnsafeCell<T>>);
+impl<T> Store<T> {
+    pub const fn uninit() -> Self {
+        Self(MaybeUninit::uninit())
+    }
+
+    unsafe fn as_mut_ptr(&self) -> *mut T {
+        (*self.0.as_ptr()).get()
+    }
+
+    unsafe fn as_mut(&self) -> &mut T {
+        &mut *self.as_mut_ptr()
+    }
+
+    unsafe fn write(&self, val: T) {
+        ptr::write(self.as_mut_ptr(), val)
+    }
+
+    unsafe fn drop_in_place(&self) {
+        ptr::drop_in_place(self.as_mut_ptr())
+    }
+
+    unsafe fn read(&self) -> T {
+        ptr::read(self.as_mut_ptr())
+    }
+}
+unsafe impl<T> Send for Store<T> {}
+unsafe impl<T> Sync for Store<T> {}
+
+pub trait State: Sized {
+    type Interrupt: OwnedInterrupt;
+    fn on_interrupt(&mut self);
+    #[doc(hidden)]
+    fn store<'a>() -> &'a Store<Self>;
+}
+
+pub struct Registration<P: State> {
+    irq: P::Interrupt,
+    not_send: PhantomData<*mut P>,
+}
+
+impl<P: State> Registration<P> {
+    pub fn new(irq: P::Interrupt, state: P) -> Self {
+        // safety:
+        // - No other PeripheralRegistration can already exist because we have the owned interrupt
+        // - therefore, storage is uninitialized
+        // - therefore it's safe to overwrite it without dropping the previous contents
+        unsafe { P::store().write(state) }
+
+        irq.set_handler(|| {
+            // safety:
+            // - If a PeripheralRegistration instance exists, P::storage() is initialized.
+            // - It's OK to get a &mut to it since the irq is disabled.
+            unsafe { P::store().as_mut() }.on_interrupt();
+        });
+
+        compiler_fence(Ordering::SeqCst);
+        irq.enable();
+
+        Self {
+            irq,
+            not_send: PhantomData,
+        }
+    }
+
+    pub fn with<R>(&mut self, f: impl FnOnce(&mut P, &mut P::Interrupt) -> R) -> R {
+        self.irq.disable();
+        compiler_fence(Ordering::SeqCst);
+
+        // safety:
+        // - If a PeripheralRegistration instance exists, P::storage() is initialized.
+        // - It's OK to get a &mut to it since the irq is disabled.
+        let r = f(unsafe { P::store().as_mut() }, &mut self.irq);
+
+        compiler_fence(Ordering::SeqCst);
+        self.irq.enable();
+
+        r
+    }
+
+    pub fn free(self) -> (P::Interrupt, P) {
+        let irq = unsafe { ptr::read(&self.irq) };
+        irq.disable();
+        irq.set_handler(|| ());
+        mem::forget(self);
+        let storage = P::store();
+        (irq, unsafe { storage.read() })
+    }
+}
+
+impl<P: State> Drop for Registration<P> {
+    fn drop(&mut self) {
+        self.irq.disable();
+        self.irq.set_handler(|| ());
+
+        let storage = P::store();
+        unsafe { storage.drop_in_place() };
+    }
+}

embassy-nrf/src/util/ring_buffer.rs

@@ -0,0 +1,80 @@
+use crate::fmt::{assert, panic, todo, *};
+
+pub struct RingBuffer<'a> {
+    buf: &'a mut [u8],
+    start: usize,
+    end: usize,
+    empty: bool,
+}
+
+impl<'a> RingBuffer<'a> {
+    pub fn new(buf: &'a mut [u8]) -> Self {
+        Self {
+            buf,
+            start: 0,
+            end: 0,
+            empty: true,
+        }
+    }
+
+    pub fn push_buf(&mut self) -> &mut [u8] {
+        if self.start == self.end && !self.empty {
+            trace!("  ringbuf: push_buf empty");
+            return &mut self.buf[..0];
+        }
+
+        let n = if self.start <= self.end {
+            self.buf.len() - self.end
+        } else {
+            self.start - self.end
+        };
+
+        trace!("  ringbuf: push_buf {:?}..{:?}", self.end, self.end + n);
+        &mut self.buf[self.end..self.end + n]
+    }
+
+    pub fn push(&mut self, n: usize) {
+        trace!("  ringbuf: push {:?}", n);
+        if n == 0 {
+            return;
+        }
+
+        self.end = self.wrap(self.end + n);
+        self.empty = false;
+    }
+
+    pub fn pop_buf(&mut self) -> &mut [u8] {
+        if self.empty {
+            trace!("  ringbuf: pop_buf empty");
+            return &mut self.buf[..0];
+        }
+
+        let n = if self.end <= self.start {
+            self.buf.len() - self.start
+        } else {
+            self.end - self.start
+        };
+
+        trace!("  ringbuf: pop_buf {:?}..{:?}", self.start, self.start + n);
+        &mut self.buf[self.start..self.start + n]
+    }
+
+    pub fn pop(&mut self, n: usize) {
+        trace!("  ringbuf: pop {:?}", n);
+        if n == 0 {
+            return;
+        }
+
+        self.start = self.wrap(self.start + n);
+        self.empty = self.start == self.end;
+    }
+
+    fn wrap(&self, n: usize) -> usize {
+        assert!(n <= self.buf.len());
+        if n == self.buf.len() {
+            0
+        } else {
+            n
+        }
+    }
+}

embassy/src/lib.rs

@@ -1,5 +1,4 @@
 #![cfg_attr(not(feature = "std"), no_std)]
-#![feature(slice_fill)]
 #![feature(generic_associated_types)]
 #![feature(const_fn)]
 #![feature(const_fn_fn_ptr_basics)]
@@ -13,4 +12,5 @@ pub mod interrupt;
 pub mod io;
 pub mod rand;
 pub mod time;
+pub mod uart;
 pub mod util;

embassy/src/uart.rs

@@ -0,0 +1,15 @@
+use core::future::Future;
+
+#[derive(Copy, Clone, Debug, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[non_exhaustive]
+pub enum Error {
+    Other,
+}
+
+pub trait Uart {
+    type ReceiveFuture<'a>: Future<Output = Result<(), Error>>;
+    type SendFuture<'a>: Future<Output = Result<(), Error>>;
+    fn receive<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReceiveFuture<'a>;
+    fn send<'a>(&'a mut self, buf: &'a [u8]) -> Self::SendFuture<'a>;
+}

embassy/src/util/mod.rs

@@ -2,10 +2,10 @@ mod drop_bomb;
 mod forever;
 mod portal;
 mod signal;
-mod waker_store;
+mod waker;
 
 pub use drop_bomb::*;
 pub use forever::*;
 pub use portal::*;
 pub use signal::*;
-pub use waker_store::*;
+pub use waker::*;

embassy/src/util/waker.rs

@@ -0,0 +1,38 @@
+use core::task::Context;
+use core::task::Waker;
+
+/// Utility struct to register and wake a waker.
+#[derive(Debug)]
+pub struct WakerRegistration {
+    waker: Option<Waker>,
+}
+
+impl WakerRegistration {
+    pub const fn new() -> Self {
+        Self { waker: None }
+    }
+
+    /// Register a waker. Overwrites the previous waker, if any.
+    pub fn register(&mut self, w: &Waker) {
+        match self.waker {
+            // Optimization: If both the old and new Wakers wake the same task, we can simply
+            // keep the old waker, skipping the clone. (In most executor implementations,
+            // cloning a waker is somewhat expensive, comparable to cloning an Arc).
+            Some(ref w2) if (w2.will_wake(w)) => {}
+            // In all other cases
+            // - we have no waker registered
+            // - we have a waker registered but it's for a different task.
+            // then clone the new waker and store it
+            _ => self.waker = Some(w.clone()),
+        }
+    }
+
+    /// Wake the registered waker, if any.
+    pub fn wake(&mut self) {
+        self.waker.take().map(|w| w.wake());
+    }
+
+    pub fn context(&self) -> Option<Context<'_>> {
+        self.waker.as_ref().map(|w| Context::from_waker(w))
+    }
+}

embassy/src/util/waker_store.rs

@@ -1,23 +0,0 @@
-use core::task::Waker;
-
-pub struct WakerStore {
-    waker: Option<Waker>,
-}
-
-impl WakerStore {
-    pub const fn new() -> Self {
-        Self { waker: None }
-    }
-
-    pub fn store(&mut self, w: &Waker) {
-        match self.waker {
-            Some(ref w2) if (w2.will_wake(w)) => {}
-            Some(_) => panic!("Waker overflow"),
-            None => self.waker = Some(w.clone()),
-        }
-    }
-
-    pub fn wake(&mut self) {
-        self.waker.take().map(|w| w.wake());
-    }
-}

test-build.sh

@@ -2,9 +2,6 @@
 
 set -euxo pipefail
 
-# examples
-(cd examples; cargo build --target thumbv7em-none-eabi --bins)
-
 # embassy std
 (cd embassy; cargo build --features log,std)
 
@@ -14,6 +11,9 @@ set -euxo pipefail
 (cd embassy; cargo build --target thumbv7em-none-eabi --features defmt)
 
 # embassy-nrf
+
+(cd embassy-nrf-examples; cargo build --target thumbv7em-none-eabi --bins)
+
 (cd embassy-nrf; cargo build --target thumbv7em-none-eabi --features 52810)
 #(cd embassy-nrf; cargo build --target thumbv7em-none-eabi --features 52811)  # nrf52811-hal doesn't exist yet
 (cd embassy-nrf; cargo build --target thumbv7em-none-eabi --features 52832)