Merge #806

806: Add embassy-cortex-m crate. r=Dirbaio a=Dirbaio

- Move Interrupt and InterruptExecutor from `embassy` to `embassy-cortex-m`.
- Move Unborrow from `embassy` to `embassy-hal-common` (nothing in `embassy` requires it anymore)
- Move PeripheralMutex from `embassy-hal-common` to `embassy-cortex-m`.

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

embassy-cortex-m/Cargo.toml

@@ -0,0 +1,47 @@
+[package]
+name = "embassy-cortex-m"
+version = "0.1.0"
+authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
+edition = "2018"
+resolver = "2"
+
+[package.metadata.embassy_docs]
+src_base = "https://github.com/embassy-rs/embassy/blob/embassy-cortex-m-v$VERSION/embassy-cortex-m/src/"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/master/embassy-cortex-m/src/"
+features = []
+flavors = [
+    { name = "thumbv6m-none-eabi",        target = "thumbv6m-none-eabi",         features = [] },
+    { name = "thumbv7m-none-eabi",        target = "thumbv7m-none-eabi",         features = [] },
+    { name = "thumbv7em-none-eabi",       target = "thumbv7em-none-eabi",        features = [] },
+    { name = "thumbv7em-none-eabihf",     target = "thumbv7em-none-eabihf",      features = [] },
+    { name = "thumbv8m.base-none-eabi",   target = "thumbv8m.base-none-eabi",    features = [] },
+    { name = "thumbv8m.main-none-eabi",   target = "thumbv8m.main-none-eabi",    features = [] },
+    { name = "thumbv8m.main-none-eabihf", target = "thumbv8m.main-none-eabihf",  features = [] },
+]
+
+[features]
+default = []
+
+# Define the number of NVIC priority bits.
+prio-bits-0 = []
+prio-bits-1 = []
+prio-bits-2 = []
+prio-bits-3 = []
+prio-bits-4 = []
+prio-bits-5 = []
+prio-bits-6 = []
+prio-bits-7 = []
+prio-bits-8 = []
+
+[dependencies]
+defmt = { version = "0.3", optional = true }
+log = { version = "0.4.14", optional = true }
+
+embassy = { version = "0.1.0", path = "../embassy"}
+embassy-macros = { version = "0.1.0", path = "../embassy-macros"}
+embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common"}
+atomic-polyfill = "0.1.5"
+critical-section = "0.2.5"
+cfg-if = "1.0.0"
+cortex-m = "0.7.3"
+

embassy-cortex-m/build.rs

@@ -0,0 +1,29 @@
+use std::env;
+
+fn main() {
+    let target = env::var("TARGET").unwrap();
+
+    if target.starts_with("thumbv6m-") {
+        println!("cargo:rustc-cfg=cortex_m");
+        println!("cargo:rustc-cfg=armv6m");
+    } else if target.starts_with("thumbv7m-") {
+        println!("cargo:rustc-cfg=cortex_m");
+        println!("cargo:rustc-cfg=armv7m");
+    } else if target.starts_with("thumbv7em-") {
+        println!("cargo:rustc-cfg=cortex_m");
+        println!("cargo:rustc-cfg=armv7m");
+        println!("cargo:rustc-cfg=armv7em"); // (not currently used)
+    } else if target.starts_with("thumbv8m.base") {
+        println!("cargo:rustc-cfg=cortex_m");
+        println!("cargo:rustc-cfg=armv8m");
+        println!("cargo:rustc-cfg=armv8m_base");
+    } else if target.starts_with("thumbv8m.main") {
+        println!("cargo:rustc-cfg=cortex_m");
+        println!("cargo:rustc-cfg=armv8m");
+        println!("cargo:rustc-cfg=armv8m_main");
+    }
+
+    if target.ends_with("-eabihf") {
+        println!("cargo:rustc-cfg=has_fpu");
+    }
+}

embassy-cortex-m/src/executor.rs

@@ -0,0 +1,89 @@
+use core::marker::PhantomData;
+
+use crate::interrupt::{Interrupt, InterruptExt};
+use embassy::executor::{raw, SendSpawner};
+
+pub use embassy::executor::Executor;
+
+fn pend_by_number(n: u16) {
+    #[derive(Clone, Copy)]
+    struct N(u16);
+    unsafe impl cortex_m::interrupt::InterruptNumber for N {
+        fn number(self) -> u16 {
+            self.0
+        }
+    }
+    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<I: Interrupt> {
+    irq: I,
+    inner: raw::Executor,
+    not_send: PhantomData<*mut ()>,
+}
+
+impl<I: Interrupt> InterruptExecutor<I> {
+    /// Create a new Executor.
+    pub fn new(irq: I) -> Self {
+        let ctx = irq.number() as *mut ();
+        Self {
+            irq,
+            inner: raw::Executor::new(|ctx| pend_by_number(ctx as u16), ctx),
+            not_send: PhantomData,
+        }
+    }
+
+    /// Start the executor.
+    ///
+    /// This initializes the executor, configures and 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`] because the executor effectively runs in a
+    /// different "thread" (the interrupt), so spawning tasks on it is effectively
+    /// sending them.
+    ///
+    /// To obtain a [`Spawner`] for this executor, use [`Spawner::for_current_executor`] from
+    /// a task running in it.
+    ///
+    /// This function requires `&'static mut self`. This means you have to store the
+    /// Executor instance in a place where it'll live forever and grants you mutable
+    /// access. There's a few ways to do this:
+    ///
+    /// - a [Forever](crate::util::Forever) (safe)
+    /// - a `static mut` (unsafe)
+    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+    pub fn start(&'static mut self) -> SendSpawner {
+        self.irq.disable();
+
+        self.irq.set_handler(|ctx| unsafe {
+            let executor = &*(ctx as *const raw::Executor);
+            executor.poll();
+        });
+        self.irq.set_handler_context(&self.inner as *const _ as _);
+        self.irq.enable();
+
+        self.inner.spawner().make_send()
+    }
+}

embassy-cortex-m/src/fmt.rs

@@ -0,0 +1,228 @@
+#![macro_use]
+#![allow(unused_macros)]
+
+#[cfg(all(feature = "defmt", feature = "log"))]
+compile_error!("You may not enable both `defmt` and `log` features.");
+
+macro_rules! assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! todo {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::todo!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::todo!($($x)*);
+        }
+    };
+}
+
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::unreachable!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::unreachable!($($x)*);
+        }
+    };
+}
+
+macro_rules! panic {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::panic!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::panic!($($x)*);
+        }
+    };
+}
+
+macro_rules! trace {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::trace!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::trace!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! debug {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::debug!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! info {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::info!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::info!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! warn {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::warn!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::warn!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! error {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::error!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::error!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unwrap {
+    ($($x:tt)*) => {
+        ::defmt::unwrap!($($x)*)
+    };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! unwrap {
+    ($arg:expr) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
+            }
+        }
+    };
+    ($arg:expr, $($msg:expr),+ $(,)? ) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
+            }
+        }
+    }
+}
+
+#[cfg(feature = "defmt-timestamp-uptime")]
+defmt::timestamp! {"{=u64:us}", crate::time::Instant::now().as_micros() }
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+pub struct NoneError;
+
+pub trait Try {
+    type Ok;
+    type Error;
+    fn into_result(self) -> Result<Self::Ok, Self::Error>;
+}
+
+impl<T> Try for Option<T> {
+    type Ok = T;
+    type Error = NoneError;
+
+    #[inline]
+    fn into_result(self) -> Result<T, NoneError> {
+        self.ok_or(NoneError)
+    }
+}
+
+impl<T, E> Try for Result<T, E> {
+    type Ok = T;
+    type Error = E;
+
+    #[inline]
+    fn into_result(self) -> Self {
+        self
+    }
+}

embassy-cortex-m/src/interrupt.rs

@@ -1,49 +1,198 @@
+use atomic_polyfill::{compiler_fence, AtomicPtr, Ordering};
 use core::mem;
+use core::ptr;
+use cortex_m::peripheral::NVIC;
+use embassy_hal_common::Unborrow;
 
-macro_rules! prio {
-    ($name:ident, $mask:expr, ($($k:ident = $v:expr,)*)) => {
-        #[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
-        #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-        #[repr(u8)]
-        pub enum $name {
-            $($k = $v),*
-        }
+pub use embassy_macros::cortex_m_interrupt_take as take;
 
-        impl From<u8> for $name {
-            fn from(priority: u8) -> Self {
-                unsafe { mem::transmute(priority & $mask) }
-            }
-        }
-
-        impl From<$name> for u8 {
-            fn from(p: $name) -> Self {
-                p as u8
-            }
-        }
-    };
+/// Implementation detail, do not use outside embassy crates.
+#[doc(hidden)]
+pub struct Handler {
+    pub func: AtomicPtr<()>,
+    pub ctx: AtomicPtr<()>,
 }
 
-#[rustfmt::skip]
-prio!(Priority0, 0x00, (
-    P0 = 0x0,
-));
+impl Handler {
+    pub const fn new() -> Self {
+        Self {
+            func: AtomicPtr::new(ptr::null_mut()),
+            ctx: AtomicPtr::new(ptr::null_mut()),
+        }
+    }
+}
 
-#[rustfmt::skip]
-prio!(Priority1, 0x80, (
+#[derive(Clone, Copy)]
+pub(crate) struct NrWrap(pub(crate) u16);
+unsafe impl cortex_m::interrupt::InterruptNumber for NrWrap {
+    fn number(self) -> u16 {
+        self.0
+    }
+}
+
+pub unsafe trait Interrupt: Unborrow<Target = Self> {
+    fn number(&self) -> u16;
+    unsafe fn steal() -> Self;
+
+    /// Implementation detail, do not use outside embassy crates.
+    #[doc(hidden)]
+    unsafe fn __handler(&self) -> &'static Handler;
+}
+
+pub trait InterruptExt: Interrupt {
+    fn set_handler(&self, func: unsafe fn(*mut ()));
+    fn remove_handler(&self);
+    fn set_handler_context(&self, ctx: *mut ());
+    fn enable(&self);
+    fn disable(&self);
+    #[cfg(not(armv6m))]
+    fn is_active(&self) -> bool;
+    fn is_enabled(&self) -> bool;
+    fn is_pending(&self) -> bool;
+    fn pend(&self);
+    fn unpend(&self);
+    fn get_priority(&self) -> Priority;
+    fn set_priority(&self, prio: Priority);
+}
+
+impl<T: Interrupt + ?Sized> InterruptExt for T {
+    fn set_handler(&self, func: unsafe fn(*mut ())) {
+        compiler_fence(Ordering::SeqCst);
+        let handler = unsafe { self.__handler() };
+        handler.func.store(func as *mut (), Ordering::Relaxed);
+        compiler_fence(Ordering::SeqCst);
+    }
+
+    fn remove_handler(&self) {
+        compiler_fence(Ordering::SeqCst);
+        let handler = unsafe { self.__handler() };
+        handler.func.store(ptr::null_mut(), Ordering::Relaxed);
+        compiler_fence(Ordering::SeqCst);
+    }
+
+    fn set_handler_context(&self, ctx: *mut ()) {
+        let handler = unsafe { self.__handler() };
+        handler.ctx.store(ctx, Ordering::Relaxed);
+    }
+
+    #[inline]
+    fn enable(&self) {
+        compiler_fence(Ordering::SeqCst);
+        unsafe {
+            NVIC::unmask(NrWrap(self.number()));
+        }
+    }
+
+    #[inline]
+    fn disable(&self) {
+        NVIC::mask(NrWrap(self.number()));
+        compiler_fence(Ordering::SeqCst);
+    }
+
+    #[inline]
+    #[cfg(not(armv6m))]
+    fn is_active(&self) -> bool {
+        NVIC::is_active(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn is_enabled(&self) -> bool {
+        NVIC::is_enabled(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn is_pending(&self) -> bool {
+        NVIC::is_pending(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn pend(&self) {
+        NVIC::pend(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn unpend(&self) {
+        NVIC::unpend(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn get_priority(&self) -> Priority {
+        Priority::from(NVIC::get_priority(NrWrap(self.number())))
+    }
+
+    #[inline]
+    fn set_priority(&self, prio: Priority) {
+        unsafe {
+            let mut nvic: cortex_m::peripheral::NVIC = mem::transmute(());
+            nvic.set_priority(NrWrap(self.number()), prio.into())
+        }
+    }
+}
+
+impl From<u8> for Priority {
+    fn from(priority: u8) -> Self {
+        unsafe { mem::transmute(priority & PRIO_MASK) }
+    }
+}
+
+impl From<Priority> for u8 {
+    fn from(p: Priority) -> Self {
+        p as u8
+    }
+}
+
+#[cfg(feature = "prio-bits-0")]
+const PRIO_MASK: u8 = 0x00;
+#[cfg(feature = "prio-bits-1")]
+const PRIO_MASK: u8 = 0x80;
+#[cfg(feature = "prio-bits-2")]
+const PRIO_MASK: u8 = 0xc0;
+#[cfg(feature = "prio-bits-3")]
+const PRIO_MASK: u8 = 0xe0;
+#[cfg(feature = "prio-bits-4")]
+const PRIO_MASK: u8 = 0xf0;
+#[cfg(feature = "prio-bits-5")]
+const PRIO_MASK: u8 = 0xf8;
+#[cfg(feature = "prio-bits-6")]
+const PRIO_MASK: u8 = 0xfc;
+#[cfg(feature = "prio-bits-7")]
+const PRIO_MASK: u8 = 0xfe;
+#[cfg(feature = "prio-bits-8")]
+const PRIO_MASK: u8 = 0xff;
+
+#[cfg(feature = "prio-bits-0")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
+    P0 = 0x0,
+}
+
+#[cfg(feature = "prio-bits-1")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
     P0 = 0x0,
     P1 = 0x80,
-));
+}
 
-#[rustfmt::skip]
-prio!(Priority2, 0xc0, (
+#[cfg(feature = "prio-bits-2")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
     P0 = 0x0,
     P1 = 0x40,
     P2 = 0x80,
     P3 = 0xc0,
-));
+}
 
-#[rustfmt::skip]
-prio!(Priority3, 0xe0, (
+#[cfg(feature = "prio-bits-3")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
     P0 = 0x0,
     P1 = 0x20,
     P2 = 0x40,
@@ -52,10 +201,13 @@ prio!(Priority3, 0xe0, (
     P5 = 0xa0,
     P6 = 0xc0,
     P7 = 0xe0,
-));
+}
 
-#[rustfmt::skip]
-prio!(Priority4, 0xf0, (
+#[cfg(feature = "prio-bits-4")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
     P0 = 0x0,
     P1 = 0x10,
     P2 = 0x20,
@@ -72,10 +224,13 @@ prio!(Priority4, 0xf0, (
     P13 = 0xd0,
     P14 = 0xe0,
     P15 = 0xf0,
-));
+}
 
-#[rustfmt::skip]
-prio!(Priority5, 0xf8, (
+#[cfg(feature = "prio-bits-5")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
     P0 = 0x0,
     P1 = 0x8,
     P2 = 0x10,
@@ -108,10 +263,13 @@ prio!(Priority5, 0xf8, (
     P29 = 0xe8,
     P30 = 0xf0,
     P31 = 0xf8,
-));
+}
 
-#[rustfmt::skip]
-prio!(Priority6, 0xfc, (
+#[cfg(feature = "prio-bits-6")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
     P0 = 0x0,
     P1 = 0x4,
     P2 = 0x8,
@@ -176,10 +334,13 @@ prio!(Priority6, 0xfc, (
     P61 = 0xf4,
     P62 = 0xf8,
     P63 = 0xfc,
-));
+}
 
-#[rustfmt::skip]
-prio!(Priority7, 0xfe, (
+#[cfg(feature = "prio-bits-7")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
     P0 = 0x0,
     P1 = 0x2,
     P2 = 0x4,
@@ -308,10 +469,13 @@ prio!(Priority7, 0xfe, (
     P125 = 0xfa,
     P126 = 0xfc,
     P127 = 0xfe,
-));
+}
 
-#[rustfmt::skip]
-prio!(Priority8, 0xff, (
+#[cfg(feature = "prio-bits-8")]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
     P0 = 0x0,
     P1 = 0x1,
     P2 = 0x2,
@@ -568,4 +732,4 @@ prio!(Priority8, 0xff, (
     P253 = 0xfd,
     P254 = 0xfe,
     P255 = 0xff,
-));
+}

embassy-cortex-m/src/lib.rs

@@ -0,0 +1,8 @@
+#![no_std]
+
+// This mod MUST go first, so that the others see its macros.
+pub(crate) mod fmt;
+
+pub mod executor;
+pub mod interrupt;
+pub mod peripheral;

embassy-cortex-m/src/peripheral.rs

@@ -1,9 +1,9 @@
 use core::marker::PhantomData;
 use core::mem::MaybeUninit;
-
 use cortex_m::peripheral::scb::VectActive;
 use cortex_m::peripheral::{NVIC, SCB};
-use embassy::interrupt::{Interrupt, InterruptExt};
+
+use crate::interrupt::{Interrupt, InterruptExt, Priority};
 
 /// A type which can be used as state with `PeripheralMutex`.
 ///
@@ -116,7 +116,7 @@ impl<'a, S: PeripheralState> PeripheralMutex<'a, S> {
     }
 
     /// Gets the priority of the wrapped interrupt.
-    pub fn priority(&self) -> <S::Interrupt as Interrupt>::Priority {
+    pub fn priority(&self) -> Priority {
         self.irq.get_priority()
     }
 }

embassy-hal-common/src/lib.rs

@@ -5,11 +5,11 @@
 pub(crate) mod fmt;
 
 pub mod drop;
-pub mod interrupt;
 mod macros;
-pub mod peripheral;
 pub mod ratio;
 pub mod ring_buffer;
+mod unborrow;
+pub use unborrow::Unborrow;
 
 /// Low power blocking wait loop using WFE/SEV.
 pub fn low_power_wait_until(mut condition: impl FnMut() -> bool) {

embassy-hal-common/src/macros.rs

@@ -16,7 +16,7 @@ macro_rules! peripherals {
                 }
 
                 $(#[$cfg])?
-                unsafe impl embassy::util::Unborrow for $name {
+                unsafe impl $crate::Unborrow for $name {
                     type Target = $name;
                     #[inline]
                     unsafe fn unborrow(self) -> $name {
@@ -80,7 +80,7 @@ macro_rules! unborrow {
 #[macro_export]
 macro_rules! unsafe_impl_unborrow {
     ($type:ident) => {
-        unsafe impl ::embassy::util::Unborrow for $type {
+        unsafe impl $crate::Unborrow for $type {
             type Target = $type;
             #[inline]
             unsafe fn unborrow(self) -> Self::Target {

embassy-lora/src/stm32wl/mod.rs

@@ -2,9 +2,9 @@
 use core::future::Future;
 use core::mem::MaybeUninit;
 use embassy::channel::signal::Signal;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
+use embassy_stm32::interrupt::InterruptExt;
+use embassy_stm32::Unborrow;
 use embassy_stm32::{
     dma::NoDma,
     gpio::{AnyPin, Output},

embassy-macros/src/lib.rs

@@ -22,16 +22,20 @@ pub fn main(args: TokenStream, item: TokenStream) -> TokenStream {
 }
 
 #[proc_macro_attribute]
-pub fn interrupt(args: TokenStream, item: TokenStream) -> TokenStream {
+pub fn cortex_m_interrupt(args: TokenStream, item: TokenStream) -> TokenStream {
     let args = syn::parse_macro_input!(args as syn::AttributeArgs);
     let f = syn::parse_macro_input!(item as syn::ItemFn);
-    interrupt::run(args, f).unwrap_or_else(|x| x).into()
+    cortex_m_interrupt::run(args, f)
+        .unwrap_or_else(|x| x)
+        .into()
 }
 
 #[proc_macro]
-pub fn interrupt_declare(item: TokenStream) -> TokenStream {
+pub fn cortex_m_interrupt_declare(item: TokenStream) -> TokenStream {
     let name = syn::parse_macro_input!(item as syn::Ident);
-    interrupt_declare::run(name).unwrap_or_else(|x| x).into()
+    cortex_m_interrupt_declare::run(name)
+        .unwrap_or_else(|x| x)
+        .into()
 }
 
 /// # interrupt_take procedural macro
@@ -40,7 +44,9 @@ pub fn interrupt_declare(item: TokenStream) -> TokenStream {
 /// We are aware that this brings bloat in the form of core::fmt, but the bloat is already included with e.g. array indexing panics.
 /// To get rid of this bloat, use the compiler flags `-Zbuild-std=core -Zbuild-std-features=panic_immediate_abort`.
 #[proc_macro]
-pub fn interrupt_take(item: TokenStream) -> TokenStream {
+pub fn cortex_m_interrupt_take(item: TokenStream) -> TokenStream {
     let name = syn::parse_macro_input!(item as syn::Ident);
-    interrupt_take::run(name).unwrap_or_else(|x| x).into()
+    cortex_m_interrupt_take::run(name)
+        .unwrap_or_else(|x| x)
+        .into()
 }

embassy-macros/src/macros/cortex_m_interrupt_declare.rs

@@ -9,8 +9,7 @@ pub fn run(name: syn::Ident) -> Result<TokenStream, TokenStream> {
     let result = quote! {
         #[allow(non_camel_case_types)]
         pub struct #name_interrupt(());
-        unsafe impl ::embassy::interrupt::Interrupt for #name_interrupt {
-            type Priority = crate::interrupt::Priority;
+        unsafe impl ::embassy_cortex_m::interrupt::Interrupt for #name_interrupt {
             fn number(&self) -> u16 {
                 use cortex_m::interrupt::InterruptNumber;
                 let irq = InterruptEnum::#name;
@@ -19,14 +18,14 @@ pub fn run(name: syn::Ident) -> Result<TokenStream, TokenStream> {
             unsafe fn steal() -> Self {
                 Self(())
             }
-            unsafe fn __handler(&self) -> &'static ::embassy::interrupt::Handler {
+            unsafe fn __handler(&self) -> &'static ::embassy_cortex_m::interrupt::Handler {
                 #[export_name = #name_handler]
-                static HANDLER: ::embassy::interrupt::Handler = ::embassy::interrupt::Handler::new();
+                static HANDLER: ::embassy_cortex_m::interrupt::Handler = ::embassy_cortex_m::interrupt::Handler::new();
                 &HANDLER
             }
         }
 
-        unsafe impl ::embassy::util::Unborrow for #name_interrupt {
+        unsafe impl ::embassy_hal_common::Unborrow for #name_interrupt {
             type Target = #name_interrupt;
             unsafe fn unborrow(self) -> #name_interrupt {
                 self

embassy-macros/src/macros/cortex_m_interrupt_take.rs

@@ -13,7 +13,7 @@ pub fn run(name: syn::Ident) -> Result<TokenStream, TokenStream> {
             pub unsafe extern "C" fn trampoline() {
                 extern "C" {
                     #[link_name = #name_handler]
-                    static HANDLER: ::embassy::interrupt::Handler;
+                    static HANDLER: interrupt::Handler;
                 }
 
                 let func = HANDLER.func.load(::embassy::export::atomic::Ordering::Relaxed);

embassy-macros/src/macros/mod.rs

@@ -1,5 +1,5 @@
-pub mod interrupt;
-pub mod interrupt_declare;
-pub mod interrupt_take;
+pub mod cortex_m_interrupt;
+pub mod cortex_m_interrupt_declare;
+pub mod cortex_m_interrupt_take;
 pub mod main;
 pub mod task;

embassy-nrf/Cargo.toml

@@ -66,6 +66,7 @@ _gpio-p1 = []
 
 [dependencies]
 embassy = { version = "0.1.0", path = "../embassy" }
+embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-3"]}
 embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["nrf"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-usb = {version = "0.1.0", path = "../embassy-usb", optional=true }

embassy-nrf/src/buffered_uarte.rs

@@ -13,15 +13,15 @@
 //!
 //! Please also see [crate::uarte] to understand when [BufferedUarte] should be used.
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use core::cmp::min;
 use core::future::Future;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy::waitqueue::WakerRegistration;
-use embassy_hal_common::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
+use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::ring_buffer::RingBuffer;
 use embassy_hal_common::{low_power_wait_until, unborrow};
 use futures::future::poll_fn;

embassy-nrf/src/chips/nrf52805.rs

@@ -198,7 +198,7 @@ impl_saadc_input!(P0_05, ANALOGINPUT3);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(POWER_CLOCK);
     declare!(RADIO);

embassy-nrf/src/chips/nrf52810.rs

@@ -219,7 +219,7 @@ impl_saadc_input!(P0_31, ANALOGINPUT7);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(POWER_CLOCK);
     declare!(RADIO);

embassy-nrf/src/chips/nrf52811.rs

@@ -220,7 +220,7 @@ impl_saadc_input!(P0_31, ANALOGINPUT7);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(POWER_CLOCK);
     declare!(RADIO);

embassy-nrf/src/chips/nrf52820.rs

@@ -212,7 +212,7 @@ impl_ppi_channel!(PPI_CH31, 31 => static);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(POWER_CLOCK);
     declare!(RADIO);

embassy-nrf/src/chips/nrf52832.rs

@@ -236,7 +236,7 @@ impl_saadc_input!(P0_31, ANALOGINPUT7);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(POWER_CLOCK);
     declare!(RADIO);

embassy-nrf/src/chips/nrf52833.rs

@@ -279,7 +279,7 @@ impl_saadc_input!(P0_31, ANALOGINPUT7);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(POWER_CLOCK);
     declare!(RADIO);

embassy-nrf/src/chips/nrf52840.rs

@@ -284,7 +284,7 @@ impl_saadc_input!(P0_31, ANALOGINPUT7);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(POWER_CLOCK);
     declare!(RADIO);

embassy-nrf/src/chips/nrf5340_app.rs

@@ -469,7 +469,7 @@ impl_saadc_input!(P0_20, ANALOGINPUT7);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(FPU);
     declare!(CACHE);

embassy-nrf/src/chips/nrf5340_net.rs

@@ -329,7 +329,7 @@ impl_ppi_channel!(PPI_CH31, 31 => configurable);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(CLOCK_POWER);
     declare!(RADIO);

embassy-nrf/src/chips/nrf9160.rs

@@ -347,7 +347,7 @@ impl_saadc_input!(P0_20, ANALOGINPUT7);
 
 pub mod irqs {
     use crate::pac::Interrupt as InterruptEnum;
-    use embassy_macros::interrupt_declare as declare;
+    use embassy_macros::cortex_m_interrupt_declare as declare;
 
     declare!(SPU);
     declare!(CLOCK_POWER);

embassy-nrf/src/gpio.rs

@@ -4,8 +4,8 @@ use core::convert::Infallible;
 use core::hint::unreachable_unchecked;
 use core::marker::PhantomData;
 
+use crate::Unborrow;
 use cfg_if::cfg_if;
-use embassy::util::Unborrow;
 use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
 
 use crate::pac;

embassy-nrf/src/gpiote.rs

@@ -1,8 +1,8 @@
+use crate::interrupt::{Interrupt, InterruptExt};
 use core::convert::Infallible;
 use core::future::Future;
 use core::marker::PhantomData;
 use core::task::{Context, Poll};
-use embassy::interrupt::{Interrupt, InterruptExt};
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unsafe_impl_unborrow;
 use futures::future::poll_fn;

embassy-nrf/src/lib.rs

@@ -114,23 +114,23 @@ mod chip;
 
 pub use chip::EASY_DMA_SIZE;
 
+pub mod interrupt {
+    pub use crate::chip::irqs::*;
+    pub use cortex_m::interrupt::{CriticalSection, Mutex};
+    pub use embassy_cortex_m::interrupt::*;
+}
+
+// Reexports
+
 #[cfg(feature = "unstable-pac")]
 pub use chip::pac;
 #[cfg(not(feature = "unstable-pac"))]
 pub(crate) use chip::pac;
 
-pub use embassy::util::Unborrow;
-pub use embassy_hal_common::unborrow;
-
 pub use chip::{peripherals, Peripherals};
-
-pub mod interrupt {
-    pub use crate::chip::irqs::*;
-    pub use cortex_m::interrupt::{CriticalSection, Mutex};
-    pub use embassy::interrupt::{declare, take, Interrupt};
-    pub use embassy_hal_common::interrupt::Priority3 as Priority;
-}
-pub use embassy_macros::interrupt;
+pub use embassy_cortex_m::executor;
+pub use embassy_hal_common::{unborrow, Unborrow};
+pub use embassy_macros::cortex_m_interrupt as interrupt;
 
 pub mod config {
     pub enum HfclkSource {

embassy-nrf/src/nvmc.rs

@@ -3,10 +3,10 @@
 use crate::pac;
 use crate::peripherals::NVMC;
 
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::ptr;
 use core::slice;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 use embedded_storage::nor_flash::{
     ErrorType, MultiwriteNorFlash, NorFlash, NorFlashError, NorFlashErrorKind, ReadNorFlash,

embassy-nrf/src/ppi/dppi.rs

@@ -1,6 +1,6 @@
 use core::marker::PhantomData;
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::unborrow;
 
 use crate::pac;

embassy-nrf/src/ppi/mod.rs

@@ -16,9 +16,9 @@
 //!
 
 use crate::peripherals;
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::ptr::NonNull;
-use embassy::util::Unborrow;
 use embassy_hal_common::unsafe_impl_unborrow;
 
 #[cfg(feature = "_dppi")]

embassy-nrf/src/ppi/ppi.rs

@@ -1,6 +1,6 @@
 use core::marker::PhantomData;
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::unborrow;
 
 use super::{Channel, ConfigurableChannel, Event, Ppi, StaticChannel, Task};

embassy-nrf/src/pwm.rs

@@ -1,8 +1,8 @@
 #![macro_use]
 
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 use crate::gpio::sealed::Pin as _;

embassy-nrf/src/qdec.rs

@@ -6,10 +6,10 @@ use crate::interrupt;
 use crate::pac;
 use crate::peripherals::QDEC;
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::task::Poll;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;

embassy-nrf/src/qspi.rs

@@ -1,10 +1,10 @@
 #![macro_use]
 
+use crate::interrupt::{Interrupt, InterruptExt};
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::ptr;
 use core::task::Poll;
-use embassy::interrupt::{Interrupt, InterruptExt};
-use embassy::util::Unborrow;
 use embassy_hal_common::drop::DropBomb;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;

embassy-nrf/src/rng.rs

@@ -4,8 +4,8 @@ use core::sync::atomic::AtomicPtr;
 use core::sync::atomic::Ordering;
 use core::task::Poll;
 
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::unborrow;

embassy-nrf/src/saadc.rs

@@ -1,10 +1,10 @@
 #![macro_use]
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;

embassy-nrf/src/spim.rs

@@ -1,10 +1,10 @@
 #![macro_use]
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;
 

embassy-nrf/src/temp.rs

@@ -4,10 +4,10 @@ use crate::interrupt;
 use crate::pac;
 use crate::peripherals::TEMP;
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::task::Poll;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::{drop::OnDrop, unborrow};
 use fixed::types::I30F2;

embassy-nrf/src/time_driver.rs

@@ -1,10 +1,10 @@
+use crate::interrupt::{Interrupt, InterruptExt};
 use core::cell::Cell;
 use core::sync::atomic::{compiler_fence, AtomicU32, AtomicU8, Ordering};
 use core::{mem, ptr};
 use critical_section::CriticalSection;
 use embassy::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy::blocking_mutex::CriticalSectionMutex as Mutex;
-use embassy::interrupt::{Interrupt, InterruptExt};
 use embassy::time::driver::{AlarmHandle, Driver};
 
 use crate::interrupt;

embassy-nrf/src/timer.rs

@@ -3,9 +3,9 @@
 use core::marker::PhantomData;
 use core::task::Poll;
 
-use embassy::interrupt::Interrupt;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
+use crate::interrupt::Interrupt;
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::unborrow;

embassy-nrf/src/twim.rs

@@ -6,14 +6,14 @@
 //!
 //! - nRF52832: Section 33
 //! - nRF52840: Section 6.31
+use crate::interrupt::{Interrupt, InterruptExt};
+use crate::Unborrow;
 use core::future::Future;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering::SeqCst};
 use core::task::Poll;
-use embassy::interrupt::{Interrupt, InterruptExt};
 #[cfg(feature = "time")]
 use embassy::time::{Duration, Instant};
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;

embassy-nrf/src/uarte.rs

@@ -13,11 +13,11 @@
 //! memory may be used given that buffers are passed in directly to its read and write
 //! methods.
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;

embassy-nrf/src/usb.rs

@@ -1,12 +1,12 @@
 #![macro_use]
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::mem::MaybeUninit;
 use core::sync::atomic::{compiler_fence, AtomicU32, Ordering};
 use core::task::Poll;
 use cortex_m::peripheral::NVIC;
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unborrow;
 use embassy_usb::driver::{self, EndpointError, Event, Unsupported};

embassy-rp/Cargo.toml

@@ -29,6 +29,7 @@ unstable-traits = ["embedded-hal-1"]
 
 [dependencies]
 embassy = { version = "0.1.0", path = "../embassy", features = [ "time-tick-1mhz", "nightly"] }
+embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-3"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["rp"]}
 atomic-polyfill = "0.1.5"

embassy-rp/src/gpio.rs

@@ -6,7 +6,7 @@ use crate::pac::common::{Reg, RW};
 use crate::pac::SIO;
 use crate::peripherals;
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
 
 /// Represents a digital input or output level.

embassy-rp/src/interrupt.rs

@@ -4,39 +4,33 @@
 //! nrf_softdevice::interrupt. Intended for switching between the two at compile-time.
 
 // Re-exports
-pub use embassy::interrupt::{declare, take, Interrupt};
-pub use embassy_hal_common::interrupt::Priority3 as Priority;
+pub use embassy_cortex_m::interrupt::*;
 
-mod irqs {
-    use super::*;
-    use crate::pac::Interrupt as InterruptEnum;
-
-    declare!(TIMER_IRQ_0);
-    declare!(TIMER_IRQ_1);
-    declare!(TIMER_IRQ_2);
-    declare!(TIMER_IRQ_3);
-    declare!(PWM_IRQ_WRAP);
-    declare!(USBCTRL_IRQ);
-    declare!(XIP_IRQ);
-    declare!(PIO0_IRQ_0);
-    declare!(PIO0_IRQ_1);
-    declare!(PIO1_IRQ_0);
-    declare!(PIO1_IRQ_1);
-    declare!(DMA_IRQ_0);
-    declare!(DMA_IRQ_1);
-    declare!(IO_IRQ_BANK0);
-    declare!(IO_IRQ_QSPI);
-    declare!(SIO_IRQ_PROC0);
-    declare!(SIO_IRQ_PROC1);
-    declare!(CLOCKS_IRQ);
-    declare!(SPI0_IRQ);
-    declare!(SPI1_IRQ);
-    declare!(UART0_IRQ);
-    declare!(UART1_IRQ);
-    declare!(ADC_IRQ_FIFO);
-    declare!(I2C0_IRQ);
-    declare!(I2C1_IRQ);
-    declare!(RTC_IRQ);
-}
-
-pub use irqs::*;
+use crate::pac::Interrupt as InterruptEnum;
+use embassy_macros::cortex_m_interrupt_declare as declare;
+declare!(TIMER_IRQ_0);
+declare!(TIMER_IRQ_1);
+declare!(TIMER_IRQ_2);
+declare!(TIMER_IRQ_3);
+declare!(PWM_IRQ_WRAP);
+declare!(USBCTRL_IRQ);
+declare!(XIP_IRQ);
+declare!(PIO0_IRQ_0);
+declare!(PIO0_IRQ_1);
+declare!(PIO1_IRQ_0);
+declare!(PIO1_IRQ_1);
+declare!(DMA_IRQ_0);
+declare!(DMA_IRQ_1);
+declare!(IO_IRQ_BANK0);
+declare!(IO_IRQ_QSPI);
+declare!(SIO_IRQ_PROC0);
+declare!(SIO_IRQ_PROC1);
+declare!(CLOCKS_IRQ);
+declare!(SPI0_IRQ);
+declare!(SPI1_IRQ);
+declare!(UART0_IRQ);
+declare!(UART1_IRQ);
+declare!(ADC_IRQ_FIFO);
+declare!(I2C0_IRQ);
+declare!(I2C1_IRQ);
+declare!(RTC_IRQ);

embassy-rp/src/lib.rs

@@ -2,22 +2,12 @@
 #![feature(generic_associated_types)]
 #![feature(type_alias_impl_trait)]
 
-#[cfg(feature = "unstable-pac")]
-pub use rp2040_pac2 as pac;
-#[cfg(not(feature = "unstable-pac"))]
-pub(crate) use rp2040_pac2 as pac;
-
-pub use embassy::util::Unborrow;
-pub use embassy_hal_common::unborrow;
-
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
 
-pub mod interrupt;
-pub use embassy_macros::interrupt;
-
 pub mod dma;
 pub mod gpio;
+pub mod interrupt;
 pub mod spi;
 pub mod timer;
 pub mod uart;
@@ -25,6 +15,17 @@ pub mod uart;
 mod clocks;
 mod reset;
 
+// Reexports
+
+#[cfg(feature = "unstable-pac")]
+pub use rp2040_pac2 as pac;
+#[cfg(not(feature = "unstable-pac"))]
+pub(crate) use rp2040_pac2 as pac;
+
+pub use embassy_cortex_m::executor;
+pub use embassy_hal_common::{unborrow, Unborrow};
+pub use embassy_macros::cortex_m_interrupt as interrupt;
+
 embassy_hal_common::peripherals! {
     PIN_0,
     PIN_1,

embassy-rp/src/spi.rs

@@ -1,6 +1,6 @@
 use core::marker::PhantomData;
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::unborrow;
 
 use crate::gpio::sealed::Pin as _;

embassy-rp/src/timer.rs

@@ -1,9 +1,9 @@
+use crate::interrupt::{Interrupt, InterruptExt};
 use atomic_polyfill::{AtomicU8, Ordering};
 use core::cell::Cell;
 use critical_section::CriticalSection;
 use embassy::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy::blocking_mutex::Mutex;
-use embassy::interrupt::{Interrupt, InterruptExt};
 use embassy::time::driver::{AlarmHandle, Driver};
 
 use crate::{interrupt, pac};

embassy-rp/src/uart.rs

@@ -1,6 +1,6 @@
 use core::marker::PhantomData;
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::unborrow;
 use gpio::Pin;
 

embassy-stm32/Cargo.toml

@@ -34,6 +34,7 @@ flavors = [
 
 [dependencies]
 embassy = { version = "0.1.0", path = "../embassy" }
+embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-4"]}
 embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["stm32"] }
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-net = { version = "0.1.0", path = "../embassy-net", optional = true }

embassy-stm32/build.rs

@@ -96,8 +96,9 @@ fn main() {
     g.extend(quote! {
         pub mod interrupt {
             use crate::pac::Interrupt as InterruptEnum;
+            use embassy_macros::cortex_m_interrupt_declare as declare;
             #(
-                embassy::interrupt::declare!(#irqs);
+                declare!(#irqs);
             )*
         }
     });

embassy-stm32/src/adc/f1.rs

@@ -1,8 +1,8 @@
 use crate::adc::{AdcPin, Instance};
 use crate::rcc::get_freqs;
 use crate::time::Hertz;
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 use embedded_hal_02::blocking::delay::DelayUs;
 

embassy-stm32/src/adc/v2.rs

@@ -1,7 +1,7 @@
 use crate::adc::{AdcPin, Instance};
 use crate::time::Hertz;
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 use embedded_hal_02::blocking::delay::DelayUs;
 

embassy-stm32/src/adc/v3.rs

@@ -1,6 +1,6 @@
 use crate::adc::{AdcPin, Instance};
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 use embedded_hal_02::blocking::delay::DelayUs;
 

embassy-stm32/src/adc/v4.rs

@@ -1,9 +1,9 @@
 use core::marker::PhantomData;
 
 use crate::time::{Hertz, U32Ext};
+use crate::Unborrow;
 use atomic_polyfill::AtomicU8;
 use atomic_polyfill::Ordering;
-use embassy::util::Unborrow;
 use embedded_hal_02::blocking::delay::DelayUs;
 use pac::adc::vals::{Adcaldif, Boost, Difsel, Exten, Pcsel};
 use pac::adccommon::vals::Presc;

embassy-stm32/src/can/bxcan.rs

@@ -1,7 +1,7 @@
 use core::marker::PhantomData;
 use core::ops::{Deref, DerefMut};
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::unborrow;
 
 use crate::gpio::sealed::AFType;

embassy-stm32/src/crc/v1.rs

@@ -3,7 +3,7 @@ use core::marker::PhantomData;
 use crate::pac::CRC as PAC_CRC;
 use crate::peripherals::CRC;
 use crate::rcc::sealed::RccPeripheral;
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::unborrow;
 
 pub struct Crc<'d> {

embassy-stm32/src/crc/v2v3.rs

@@ -4,7 +4,7 @@ use crate::pac::crc::vals;
 use crate::pac::CRC as PAC_CRC;
 use crate::peripherals::CRC;
 use crate::rcc::sealed::RccPeripheral;
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::unborrow;
 
 pub struct Crc<'d> {

embassy-stm32/src/dac/v2.rs

@@ -1,7 +1,7 @@
 use crate::dac::{DacPin, Instance};
 use crate::pac::dac;
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 #[derive(Debug, Copy, Clone, Eq, PartialEq)]

embassy-stm32/src/dcmi.rs

@@ -1,8 +1,8 @@
 use core::marker::PhantomData;
 use core::task::Poll;
 
-use embassy::interrupt::{Interrupt, InterruptExt};
-use embassy::util::Unborrow;
+use crate::interrupt::{Interrupt, InterruptExt};
+use crate::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;

embassy-stm32/src/dma/bdma.rs

@@ -3,7 +3,7 @@
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
-use embassy::interrupt::{Interrupt, InterruptExt};
+use crate::interrupt::{Interrupt, InterruptExt};
 use embassy::waitqueue::AtomicWaker;
 
 use crate::_generated::BDMA_CHANNEL_COUNT;

embassy-stm32/src/dma/dma.rs

@@ -1,7 +1,7 @@
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
-use embassy::interrupt::{Interrupt, InterruptExt};
+use crate::interrupt::{Interrupt, InterruptExt};
 use embassy::waitqueue::AtomicWaker;
 
 use crate::_generated::DMA_CHANNEL_COUNT;

embassy-stm32/src/dma/gpdma.rs

@@ -1,7 +1,7 @@
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
-use embassy::interrupt::{Interrupt, InterruptExt};
+use crate::interrupt::{Interrupt, InterruptExt};
 use embassy::waitqueue::AtomicWaker;
 
 use crate::_generated::GPDMA_CHANNEL_COUNT;

embassy-stm32/src/dma/mod.rs

@@ -10,13 +10,13 @@ mod gpdma;
 #[cfg(dmamux)]
 pub use dmamux::*;
 
+use crate::Unborrow;
 use core::future::Future;
 use core::marker::PhantomData;
 use core::mem;
 use core::pin::Pin;
 use core::task::Waker;
 use core::task::{Context, Poll};
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 #[cfg(feature = "unstable-pac")]

embassy-stm32/src/eth/v1/mod.rs

@@ -4,9 +4,9 @@ use core::marker::PhantomData;
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy::waitqueue::AtomicWaker;
-use embassy_hal_common::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
+use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::unborrow;
 use embassy_net::{Device, DeviceCapabilities, LinkState, PacketBuf, MTU};
 

embassy-stm32/src/eth/v2/mod.rs

@@ -2,9 +2,9 @@ use core::marker::PhantomData;
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy::waitqueue::AtomicWaker;
-use embassy_hal_common::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
+use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::unborrow;
 use embassy_net::{Device, DeviceCapabilities, LinkState, PacketBuf, MTU};
 

embassy-stm32/src/exti.rs

@@ -1,8 +1,8 @@
+use crate::Unborrow;
 use core::future::Future;
 use core::marker::PhantomData;
 use core::pin::Pin;
 use core::task::{Context, Poll};
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unsafe_impl_unborrow;
 
@@ -366,8 +366,8 @@ macro_rules! enable_irq {
 
 /// safety: must be called only once
 pub(crate) unsafe fn init() {
-    use embassy::interrupt::Interrupt;
-    use embassy::interrupt::InterruptExt;
+    use crate::interrupt::Interrupt;
+    use crate::interrupt::InterruptExt;
 
     foreach_exti_irq!(enable_irq);
 

embassy-stm32/src/flash/mod.rs

@@ -1,6 +1,6 @@
 use crate::peripherals::FLASH;
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 use embedded_storage::nor_flash::{

embassy-stm32/src/fmc/mod.rs

@@ -1,5 +1,5 @@
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 use crate::gpio::sealed::AFType;

embassy-stm32/src/gpio.rs

@@ -1,7 +1,7 @@
 #![macro_use]
+use crate::Unborrow;
 use core::convert::Infallible;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
 
 use crate::pac;

embassy-stm32/src/i2c/mod.rs

@@ -1,6 +1,6 @@
 #![macro_use]
 
-use embassy::interrupt::Interrupt;
+use crate::interrupt::Interrupt;
 
 #[cfg_attr(i2c_v1, path = "v1.rs")]
 #[cfg_attr(i2c_v2, path = "v2.rs")]

embassy-stm32/src/i2c/v1.rs

@@ -1,5 +1,5 @@
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 use crate::gpio::sealed::AFType;

embassy-stm32/src/i2c/v2.rs

@@ -2,9 +2,9 @@ use core::cmp;
 use core::marker::PhantomData;
 use core::task::Poll;
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use atomic_polyfill::{AtomicUsize, Ordering};
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::unborrow;

embassy-stm32/src/interrupt.rs

@@ -1,6 +1,5 @@
 pub use bare_metal::Mutex;
 pub use critical_section::CriticalSection;
-pub use embassy::interrupt::{take, Interrupt};
-pub use embassy_hal_common::interrupt::Priority4 as Priority;
+pub use embassy_cortex_m::interrupt::*;
 
 pub use crate::_generated::interrupt::*;

embassy-stm32/src/lib.rs

@@ -4,14 +4,6 @@
     feature(generic_associated_types, type_alias_impl_trait)
 )]
 
-#[cfg(feature = "unstable-pac")]
-pub use stm32_metapac as pac;
-#[cfg(not(feature = "unstable-pac"))]
-pub(crate) use stm32_metapac as pac;
-
-pub use embassy::util::Unborrow;
-pub use embassy_hal_common::unborrow;
-
 // This must go FIRST so that all the other modules see its macros.
 pub mod fmt;
 include!(concat!(env!("OUT_DIR"), "/_macros.rs"));
@@ -79,8 +71,17 @@ pub(crate) mod _generated {
 
     include!(concat!(env!("OUT_DIR"), "/_generated.rs"));
 }
+
+// Reexports
 pub use _generated::{peripherals, Peripherals};
-pub use embassy_macros::interrupt;
+pub use embassy_cortex_m::executor;
+pub use embassy_hal_common::{unborrow, Unborrow};
+pub use embassy_macros::cortex_m_interrupt as interrupt;
+
+#[cfg(feature = "unstable-pac")]
+pub use stm32_metapac as pac;
+#[cfg(not(feature = "unstable-pac"))]
+pub(crate) use stm32_metapac as pac;
 
 #[non_exhaustive]
 pub struct Config {

embassy-stm32/src/pwm/simple_pwm.rs

@@ -1,5 +1,5 @@
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 use super::*;

embassy-stm32/src/rcc/h7.rs

@@ -1,6 +1,6 @@
 use core::marker::PhantomData;
 
-use embassy::util::Unborrow;
+use crate::Unborrow;
 use embassy_hal_common::unborrow;
 use stm32_metapac::rcc::vals::{Mco1, Mco2};
 

embassy-stm32/src/rcc/l5.rs

@@ -1,3 +1,5 @@
+use stm32_metapac::PWR;
+
 use crate::pac::rcc::vals::{Hpre, Msirange, Pllsrc, Ppre, Sw};
 use crate::pac::{FLASH, RCC};
 use crate::rcc::{set_freqs, Clocks};
@@ -295,6 +297,8 @@ impl Default for Config {
 }
 
 pub(crate) unsafe fn init(config: Config) {
+    PWR.cr1()
+        .modify(|w| w.set_vos(stm32_metapac::pwr::vals::Vos::RANGE0));
     let (sys_clk, sw) = match config.mux {
         ClockSrc::MSI(range) => {
             // Enable MSI

embassy-stm32/src/rng.rs

@@ -1,8 +1,8 @@
 #![macro_use]
 
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::task::Poll;
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;

embassy-stm32/src/sdmmc/mod.rs

@@ -4,8 +4,8 @@ use core::default::Default;
 use core::marker::PhantomData;
 use core::task::Poll;
 
-use embassy::interrupt::InterruptExt;
-use embassy::util::Unborrow;
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::unborrow;

embassy-stm32/src/spi/mod.rs

@@ -1,8 +1,8 @@
 #![macro_use]
 
+use crate::Unborrow;
 use core::marker::PhantomData;
 use core::ptr;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 use futures::future::join;
 

embassy-stm32/src/subghz/mod.rs

@@ -77,6 +77,7 @@ pub use value_error::ValueError;
 
 use embassy_hal_common::ratio::Ratio;
 
+use crate::Unborrow;
 use crate::{
     dma::NoDma,
     pac,
@@ -85,7 +86,6 @@ use crate::{
     spi::{BitOrder, Config as SpiConfig, MisoPin, MosiPin, SckPin, Spi, MODE_0},
     time::Hertz,
 };
-use embassy::util::Unborrow;
 
 /// Passthrough for SPI errors (for now)
 pub type Error = crate::spi::Error;

embassy-stm32/src/time_driver.rs

@@ -1,3 +1,4 @@
+use crate::interrupt::InterruptExt;
 use atomic_polyfill::{AtomicU32, AtomicU8};
 use core::cell::Cell;
 use core::convert::TryInto;
@@ -5,7 +6,6 @@ use core::sync::atomic::{compiler_fence, Ordering};
 use core::{mem, ptr};
 use embassy::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy::blocking_mutex::Mutex;
-use embassy::interrupt::InterruptExt;
 use embassy::time::driver::{AlarmHandle, Driver};
 use embassy::time::TICKS_PER_SECOND;
 use stm32_metapac::timer::regs;

embassy-stm32/src/timer/mod.rs

@@ -1,4 +1,4 @@
-use embassy::interrupt::Interrupt;
+use crate::interrupt::Interrupt;
 
 use crate::rcc::{sealed::RccPeripheral as __RccPeri, RccPeripheral};
 use crate::time::Hertz;

embassy-stm32/src/usart/buffered.rs

@@ -2,7 +2,7 @@ use atomic_polyfill::{compiler_fence, Ordering};
 use core::future::Future;
 use core::task::Poll;
 use embassy::waitqueue::WakerRegistration;
-use embassy_hal_common::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
+use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::ring_buffer::RingBuffer;
 use futures::future::poll_fn;
 

embassy-stm32/src/usart/mod.rs

@@ -1,8 +1,8 @@
 #![macro_use]
 
+use crate::interrupt::Interrupt;
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::interrupt::Interrupt;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 use crate::dma::NoDma;

embassy-stm32/src/usb/mod.rs

@@ -1,4 +1,4 @@
-use embassy::interrupt::Interrupt;
+use crate::interrupt::Interrupt;
 
 use crate::rcc::RccPeripheral;
 

embassy-stm32/src/usb/usb.rs

@@ -1,12 +1,12 @@
 #![macro_use]
 
+use crate::interrupt::InterruptExt;
+use crate::Unborrow;
 use atomic_polyfill::{AtomicBool, AtomicU8};
 use core::marker::PhantomData;
 use core::sync::atomic::Ordering;
 use core::task::Poll;
-use embassy::interrupt::InterruptExt;
 use embassy::time::{block_for, Duration};
-use embassy::util::Unborrow;
 use embassy::waitqueue::AtomicWaker;
 use embassy_hal_common::unborrow;
 use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported};

embassy-stm32/src/usb_otg.rs

@@ -1,5 +1,5 @@
+use crate::Unborrow;
 use core::marker::PhantomData;
-use embassy::util::Unborrow;
 use embassy_hal_common::unborrow;
 
 use crate::gpio::sealed::AFType;

embassy/src/executor/arch/cortex_m.rs

@@ -1,8 +1,7 @@
 use core::marker::PhantomData;
 use core::ptr;
 
-use super::{raw, SendSpawner, Spawner};
-use crate::interrupt::{Interrupt, InterruptExt};
+use super::{raw, Spawner};
 
 /// Thread mode executor, using WFE/SEV.
 ///
@@ -55,86 +54,3 @@ impl Executor {
         }
     }
 }
-
-fn pend_by_number(n: u16) {
-    #[derive(Clone, Copy)]
-    struct N(u16);
-    unsafe impl cortex_m::interrupt::InterruptNumber for N {
-        fn number(self) -> u16 {
-            self.0
-        }
-    }
-    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<I: Interrupt> {
-    irq: I,
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-}
-
-impl<I: Interrupt> InterruptExecutor<I> {
-    /// Create a new Executor.
-    pub fn new(irq: I) -> Self {
-        let ctx = irq.number() as *mut ();
-        Self {
-            irq,
-            inner: raw::Executor::new(|ctx| pend_by_number(ctx as u16), ctx),
-            not_send: PhantomData,
-        }
-    }
-
-    /// Start the executor.
-    ///
-    /// This initializes the executor, configures and 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`] because the executor effectively runs in a
-    /// different "thread" (the interrupt), so spawning tasks on it is effectively
-    /// sending them.
-    ///
-    /// To obtain a [`Spawner`] for this executor, use [`Spawner::for_current_executor`] from
-    /// a task running in it.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [Forever](crate::util::Forever) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    pub fn start(&'static mut self) -> SendSpawner {
-        self.irq.disable();
-
-        self.irq.set_handler(|ctx| unsafe {
-            let executor = &*(ctx as *const raw::Executor);
-            executor.poll();
-        });
-        self.irq.set_handler_context(&self.inner as *const _ as _);
-        self.irq.enable();
-
-        self.inner.spawner().make_send()
-    }
-}

embassy/src/interrupt.rs

@@ -1,131 +0,0 @@
-use atomic_polyfill::{compiler_fence, AtomicPtr, Ordering};
-use core::mem;
-use core::ptr;
-use cortex_m::peripheral::NVIC;
-
-pub use embassy_macros::interrupt_declare as declare;
-pub use embassy_macros::interrupt_take as take;
-
-/// Implementation detail, do not use outside embassy crates.
-#[doc(hidden)]
-pub struct Handler {
-    pub func: AtomicPtr<()>,
-    pub ctx: AtomicPtr<()>,
-}
-
-impl Handler {
-    pub const fn new() -> Self {
-        Self {
-            func: AtomicPtr::new(ptr::null_mut()),
-            ctx: AtomicPtr::new(ptr::null_mut()),
-        }
-    }
-}
-
-#[derive(Clone, Copy)]
-pub(crate) struct NrWrap(pub(crate) u16);
-unsafe impl cortex_m::interrupt::InterruptNumber for NrWrap {
-    fn number(self) -> u16 {
-        self.0
-    }
-}
-
-pub unsafe trait Interrupt: crate::util::Unborrow<Target = Self> {
-    type Priority: From<u8> + Into<u8> + Copy;
-    fn number(&self) -> u16;
-    unsafe fn steal() -> Self;
-
-    /// Implementation detail, do not use outside embassy crates.
-    #[doc(hidden)]
-    unsafe fn __handler(&self) -> &'static Handler;
-}
-
-pub trait InterruptExt: Interrupt {
-    fn set_handler(&self, func: unsafe fn(*mut ()));
-    fn remove_handler(&self);
-    fn set_handler_context(&self, ctx: *mut ());
-    fn enable(&self);
-    fn disable(&self);
-    #[cfg(not(armv6m))]
-    fn is_active(&self) -> bool;
-    fn is_enabled(&self) -> bool;
-    fn is_pending(&self) -> bool;
-    fn pend(&self);
-    fn unpend(&self);
-    fn get_priority(&self) -> Self::Priority;
-    fn set_priority(&self, prio: Self::Priority);
-}
-
-impl<T: Interrupt + ?Sized> InterruptExt for T {
-    fn set_handler(&self, func: unsafe fn(*mut ())) {
-        compiler_fence(Ordering::SeqCst);
-        let handler = unsafe { self.__handler() };
-        handler.func.store(func as *mut (), Ordering::Relaxed);
-        compiler_fence(Ordering::SeqCst);
-    }
-
-    fn remove_handler(&self) {
-        compiler_fence(Ordering::SeqCst);
-        let handler = unsafe { self.__handler() };
-        handler.func.store(ptr::null_mut(), Ordering::Relaxed);
-        compiler_fence(Ordering::SeqCst);
-    }
-
-    fn set_handler_context(&self, ctx: *mut ()) {
-        let handler = unsafe { self.__handler() };
-        handler.ctx.store(ctx, Ordering::Relaxed);
-    }
-
-    #[inline]
-    fn enable(&self) {
-        compiler_fence(Ordering::SeqCst);
-        unsafe {
-            NVIC::unmask(NrWrap(self.number()));
-        }
-    }
-
-    #[inline]
-    fn disable(&self) {
-        NVIC::mask(NrWrap(self.number()));
-        compiler_fence(Ordering::SeqCst);
-    }
-
-    #[inline]
-    #[cfg(not(armv6m))]
-    fn is_active(&self) -> bool {
-        NVIC::is_active(NrWrap(self.number()))
-    }
-
-    #[inline]
-    fn is_enabled(&self) -> bool {
-        NVIC::is_enabled(NrWrap(self.number()))
-    }
-
-    #[inline]
-    fn is_pending(&self) -> bool {
-        NVIC::is_pending(NrWrap(self.number()))
-    }
-
-    #[inline]
-    fn pend(&self) {
-        NVIC::pend(NrWrap(self.number()))
-    }
-
-    #[inline]
-    fn unpend(&self) {
-        NVIC::unpend(NrWrap(self.number()))
-    }
-
-    #[inline]
-    fn get_priority(&self) -> Self::Priority {
-        Self::Priority::from(NVIC::get_priority(NrWrap(self.number())))
-    }
-
-    #[inline]
-    fn set_priority(&self, prio: Self::Priority) {
-        unsafe {
-            let mut nvic: cortex_m::peripheral::NVIC = mem::transmute(());
-            nvic.set_priority(NrWrap(self.number()), prio.into())
-        }
-    }
-}

embassy/src/lib.rs

@@ -11,8 +11,6 @@ pub(crate) mod fmt;
 pub mod blocking_mutex;
 pub mod channel;
 pub mod executor;
-#[cfg(cortex_m)]
-pub mod interrupt;
 pub mod mutex;
 #[cfg(feature = "time")]
 pub mod time;

embassy/src/util/mod.rs

@@ -3,11 +3,9 @@
 mod forever;
 mod select;
 mod steal;
-mod unborrow;
 mod yield_now;
 
 pub use forever::*;
 pub use select::*;
 pub use steal::*;
-pub use unborrow::*;
 pub use yield_now::*;

examples/nrf/src/bin/multiprio.rs

@@ -59,11 +59,11 @@
 
 use cortex_m_rt::entry;
 use defmt::{info, unwrap};
-use embassy::executor::{Executor, InterruptExecutor};
-use embassy::interrupt::InterruptExt;
 use embassy::time::{Duration, Instant, Timer};
 use embassy::util::Forever;
+use embassy_nrf::executor::{Executor, InterruptExecutor};
 use embassy_nrf::interrupt;
+use embassy_nrf::interrupt::InterruptExt;
 
 use defmt_rtt as _; // global logger
 use panic_probe as _;

examples/nrf/src/bin/usb_hid_keyboard.rs

@@ -8,11 +8,11 @@ use core::sync::atomic::{AtomicBool, Ordering};
 use defmt::*;
 use embassy::channel::signal::Signal;
 use embassy::executor::Spawner;
-use embassy::interrupt::InterruptExt;
 use embassy::time::Duration;
 use embassy::util::{select, select3, Either, Either3};
 use embassy_nrf::gpio::{Input, Pin, Pull};
 use embassy_nrf::interrupt;
+use embassy_nrf::interrupt::InterruptExt;
 use embassy_nrf::pac;
 use embassy_nrf::usb::Driver;
 use embassy_nrf::Peripherals;