Update to embassy-executor 0.3 (#756)

esp-rs · Aug 29, 2023 · 92a2cc7 · 92a2cc7
1 parent 9a89487
commit 92a2cc7
Show file tree

Hide file tree

Showing 13 changed files with 80 additions and 57 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -320,12 +320,12 @@ jobs:
       # FIXME: `time-systick` feature disabled for now, see 'esp32s2-hal/Cargo.toml'.
       # - name: check esp32s2-hal (async, systick)
       #   run: cd esp32s2-hal/ && cargo check --example=embassy_hello_world --features=embassy,embassy-time-systick,executor
-      - name: check esp32-hal (embassy, timg0)
+      - name: check esp32s2-hal (embassy, timg0)
         run: |
           cd esp32s2-hal/
           cargo check --example=embassy_hello_world --features=embassy,embassy-time-timg0,embassy-executor-thread
           cargo check --example=embassy_multiprio --features=embassy,embassy-time-timg0,embassy-executor-interrupt
-      - name: check esp32-hal (embassy, timg0, async)
+      - name: check esp32s2-hal (embassy, timg0, async)
         run: |
           cd esp32s2-hal/
           cargo check --example=embassy_wait --features=embassy,embassy-time-timg0,async,embassy-executor-thread
@@ -360,28 +360,28 @@ jobs:
       # confident that they link.
       - name: check esp32s3-hal (common features)
         run: cd esp32s3-hal/ && cargo check --examples --features=eh1,ufmt
-      - name: check esp32-hal (embassy, timg0)
+      - name: check esp32s3-hal (embassy, timg0)
         run: |
           cd esp32s3-hal/
           cargo check --example=embassy_hello_world --features=embassy,embassy-time-timg0,embassy-executor-thread
           cargo check --example=embassy_multicore --features=embassy,embassy-time-timg0,embassy-executor-thread
           cargo check --example=embassy_multicore_interrupt --features=embassy,embassy-time-timg0,embassy-executor-interrupt
           cargo check --example=embassy_multiprio --features=embassy,embassy-time-timg0,embassy-executor-interrupt
-      - name: check esp32-hal (embassy, systick)
+      - name: check esp32s3-hal (embassy, systick)
         run: |
           cd esp32s3-hal/
           cargo check --example=embassy_hello_world --features=embassy,embassy-time-systick,embassy-executor-thread
           cargo check --example=embassy_multicore --features=embassy,embassy-time-systick,embassy-executor-thread
           cargo check --example=embassy_multicore_interrupt --features=embassy,embassy-time-systick,embassy-executor-interrupt
           cargo check --example=embassy_multiprio --features=embassy,embassy-time-systick,embassy-executor-interrupt
-      - name: check esp32-hal (embassy, timg0, async)
+      - name: check esp32s3-hal (embassy, timg0, async)
         run: |
           cd esp32s3-hal/
           cargo check --example=embassy_wait --features=embassy,embassy-time-timg0,async,embassy-executor-thread
           cargo check --example=embassy_spi --features=embassy,embassy-time-timg0,async,embassy-executor-thread
           cargo check --example=embassy_serial --features=embassy,embassy-time-timg0,async,embassy-executor-thread
           cargo check --example=embassy_i2c --features=embassy,embassy-time-timg0,async,embassy-executor-thread
-      - name: check esp32-hal (embassy, systick, async)
+      - name: check esp32s3-hal (embassy, systick, async)
         run: |
           cd esp32s3-hal/
           cargo check --example=embassy_wait --features=embassy,embassy-time-systick,async,embassy-executor-thread

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -22,6 +22,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Add multicore-aware embassy executor for Xtensa MCUs (#723).
 - Add interrupt-executor for Xtensa MCUs (#723).
 - Add PARL_IO RX driver for ESP32-C6 / ESP32-H2 (#760)
+- Add multicore-aware embassy executor for Xtensa MCUs (#723, #756).
+- Add interrupt-executor for Xtensa MCUs (#723, #756).
 
 ### Changed
 

diff --git a/esp-hal-common/Cargo.toml b/esp-hal-common/Cargo.toml
@@ -36,7 +36,7 @@ usb-device           = { version = "0.2.9", optional = true }
 # async
 embedded-hal-async = { version = "=1.0.0-rc.1", optional = true }
 embedded-io-async  = { version = "0.5.0", optional = true }
-embassy-executor   = { version = "0.2.1", features = ["pender-callback", "integrated-timers"], optional = true } # pender is temporary
+embassy-executor   = { version = "0.3.0", features = ["integrated-timers"], optional = true }
 embassy-sync       = { version = "0.2.0", optional = true }
 embassy-time       = { version = "0.1.3", features = ["nightly"], optional = true }
 embassy-futures    = { version = "0.1.0", optional = true }

diff --git a/esp-hal-common/src/embassy/executor/xtensa/interrupt.rs b/esp-hal-common/src/embassy/executor/xtensa/interrupt.rs
@@ -3,14 +3,10 @@ use core::{
     cell::UnsafeCell,
     marker::PhantomData,
     mem::MaybeUninit,
-    ptr,
     sync::atomic::{AtomicUsize, Ordering},
 };
 
-use embassy_executor::{
-    raw::{self, Pender},
-    SendSpawner,
-};
+use embassy_executor::{raw, SendSpawner};
 #[cfg(dport)]
 use peripherals::DPORT as SystemPeripheral;
 #[cfg(system)]
@@ -22,34 +18,39 @@ static FROM_CPU_IRQ_USED: AtomicUsize = AtomicUsize::new(0);
 
 pub trait SwPendableInterrupt {
     fn enable(priority: interrupt::Priority);
+    fn number() -> usize;
     fn pend();
     fn clear();
 }
 
 macro_rules! from_cpu {
-    ($cpu:literal) => {
+    ($irq:literal) => {
         paste::paste! {
-            pub struct [<FromCpu $cpu>];
+            pub struct [<FromCpu $irq>];
 
             /// We don't allow using the same interrupt for multiple executors.
 
-            impl [<FromCpu $cpu>] {
+            impl [<FromCpu $irq>] {
                 fn set_bit(value: bool) {
                     let system = unsafe { &*SystemPeripheral::PTR };
                     system
-                        .[<cpu_intr_from_cpu_ $cpu>]
-                        .write(|w| w.[<cpu_intr_from_cpu_ $cpu>]().bit(value));
+                        .[<cpu_intr_from_cpu_ $irq>]
+                        .write(|w| w.[<cpu_intr_from_cpu_ $irq>]().bit(value));
                 }
             }
 
-            impl SwPendableInterrupt for [<FromCpu $cpu>] {
+            impl SwPendableInterrupt for [<FromCpu $irq>] {
                 fn enable(priority: interrupt::Priority) {
-                    let mask = 1 << $cpu;
+                    let mask = 1 << $irq;
                     if FROM_CPU_IRQ_USED.fetch_or(mask, Ordering::SeqCst) & mask != 0 {
-                        panic!(concat!("FROM_CPU_", $cpu, " is already used by a different executor."));
+                        panic!(concat!("FROM_CPU_", $irq, " is already used by a different executor."));
                     }
 
-                    interrupt::enable(peripherals::Interrupt::[<FROM_CPU_INTR $cpu>], priority).unwrap();
+                    interrupt::enable(peripherals::Interrupt::[<FROM_CPU_INTR $irq>], priority).unwrap();
+                }
+
+                fn number() -> usize {
+                    $irq
                 }
 
                 fn pend() {
@@ -165,10 +166,7 @@ where
         unsafe {
             (*self.executor.get())
                 .as_mut_ptr()
-                .write(raw::Executor::new(Pender::new_from_callback(
-                    |_| SWI::pend(),
-                    ptr::null_mut(),
-                )))
+                .write(raw::Executor::new(SWI::number() as *mut ()))
         }
 
         SWI::enable(priority);

diff --git a/esp-hal-common/src/embassy/executor/xtensa/mod.rs b/esp-hal-common/src/embassy/executor/xtensa/mod.rs
@@ -11,3 +11,23 @@ pub mod thread;
 
 #[cfg(feature = "embassy-executor-thread")]
 pub use thread::*;
+
+#[export_name = "__pender"]
+fn __pender(context: *mut ()) {
+    let context = (context as usize).to_le_bytes();
+
+    cfg_if::cfg_if! {
+        if #[cfg(feature = "embassy-executor-interrupt")] {
+            match context[0] {
+                #[cfg(feature = "embassy-executor-thread")]
+                0 => pend_thread_mode(context[1] as usize),
+                1 => FromCpu1::pend(),
+                2 => FromCpu2::pend(),
+                3 => FromCpu3::pend(),
+                _ => {}
+            }
+        } else {
+            pend_thread_mode(context[1] as usize);
+        }
+    }
+}
diff --git a/esp-hal-common/src/embassy/executor/xtensa/thread.rs b/esp-hal-common/src/embassy/executor/xtensa/thread.rs
@@ -4,10 +4,7 @@ use core::{
     sync::atomic::{AtomicBool, Ordering},
 };
 
-use embassy_executor::{
-    raw::{self, Pender},
-    Spawner,
-};
+use embassy_executor::{raw, Spawner};
 #[cfg(all(dport, multi_core))]
 use peripherals::DPORT as SystemPeripheral;
 #[cfg(all(system, multi_core))]
@@ -39,6 +36,32 @@ fn FROM_CPU_INTR0() {
     }
 }
 
+pub(super) fn pend_thread_mode(core: usize) {
+    use core::sync::atomic::Ordering;
+
+    #[cfg(dport)]
+    use crate::peripherals::DPORT as SystemPeripheral;
+    #[cfg(system)]
+    use crate::peripherals::SYSTEM as SystemPeripheral;
+
+    // Signal that there is work to be done.
+    SIGNAL_WORK_THREAD_MODE[core].store(true, Ordering::SeqCst);
+
+    // If we are pending a task on the current core, we're done. Otherwise, we
+    // need to make sure the other core wakes up.
+    #[cfg(multi_core)]
+    if core != crate::get_core() as usize {
+        // We need to clear the interrupt from software. We don't actually
+        // need it to trigger and run the interrupt handler, we just need to
+        // kick waiti to return.
+
+        let system = unsafe { &*SystemPeripheral::PTR };
+        system
+            .cpu_intr_from_cpu_0
+            .write(|w| w.cpu_intr_from_cpu_0().bit(true));
+    }
+}
+
 /// Multi-core Xtensa Executor
 pub struct Executor {
     inner: raw::Executor,
@@ -56,27 +79,7 @@ impl Executor {
         .unwrap();
 
         Self {
-            inner: raw::Executor::new(Pender::new_from_callback(
-                |ctx| {
-                    let core = ctx as usize;
-
-                    // Signal that there is work to be done.
-                    SIGNAL_WORK_THREAD_MODE[core].store(true, Ordering::SeqCst);
-
-                    // If we are pending a task on the current core, we're done. Otherwise, we
-                    // need to make sure the other core wakes up.
-                    #[cfg(multi_core)]
-                    if core != get_core() as usize {
-                        // We need to clear the interrupt from software.
-
-                        let system = unsafe { &*SystemPeripheral::PTR };
-                        system
-                            .cpu_intr_from_cpu_0
-                            .write(|w| w.cpu_intr_from_cpu_0().bit(true));
-                    }
-                },
-                get_core() as usize as *mut (),
-            )),
+            inner: raw::Executor::new(usize::from_le_bytes([0, get_core() as u8, 0, 0]) as *mut ()),
             not_send: PhantomData,
         }
     }

diff --git a/esp32-hal/Cargo.toml b/esp32-hal/Cargo.toml
@@ -32,7 +32,7 @@ embassy-time   = { version = "0.1.3", features = ["nightly"], optional = true }
 aes                = "0.8.3"
 critical-section   = "1.1.2"
 crypto-bigint      = { version = "0.5.2", default-features = false }
-embassy-executor   = { version = "0.2.1", features = ["nightly"] }
+embassy-executor   = { version = "0.3.0", features = ["nightly"] }
 embassy-sync       = "0.2.0"
 embedded-graphics  = "0.8.1"
 embedded-hal-1     = { version = "=1.0.0-rc.1", package = "embedded-hal" }

diff --git a/esp32c2-hal/Cargo.toml b/esp32c2-hal/Cargo.toml
@@ -30,7 +30,7 @@ embassy-time   = { version = "0.1.3", features = ["nightly"], optional = true }
 
 [dev-dependencies]
 critical-section   = "1.1.2"
-embassy-executor   = { version = "0.2.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
+embassy-executor   = { version = "0.3.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
 embedded-graphics  = "0.8.1"
 embedded-hal-1     = { version = "=1.0.0-rc.1", package = "embedded-hal" }
 embedded-hal-async = "=1.0.0-rc.1"

diff --git a/esp32c3-hal/Cargo.toml b/esp32c3-hal/Cargo.toml
@@ -33,7 +33,7 @@ embassy-time   = { version = "0.1.3", features = ["nightly"], optional = true }
 aes                = "0.8.3"
 critical-section   = "1.1.2"
 crypto-bigint      = { version = "0.5.2", default-features = false }
-embassy-executor   = { version = "0.2.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
+embassy-executor   = { version = "0.3.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
 embedded-can       = "0.4.1"
 embedded-graphics  = "0.8.1"
 embedded-hal       = { version = "0.2.7", features = ["unproven"] }

diff --git a/esp32c6-hal/Cargo.toml b/esp32c6-hal/Cargo.toml
@@ -33,7 +33,7 @@ embassy-time   = { version = "0.1.3", features = ["nightly"], optional = true }
 aes                = "0.8.3"
 critical-section   = "1.1.2"
 crypto-bigint      = { version = "0.5.2", default-features = false}
-embassy-executor   = { version = "0.2.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
+embassy-executor   = { version = "0.3.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
 embedded-graphics  = "0.8.1"
 embedded-hal-1     = { version = "=1.0.0-rc.1", package = "embedded-hal" }
 embedded-hal-async = "=1.0.0-rc.1"

diff --git a/esp32h2-hal/Cargo.toml b/esp32h2-hal/Cargo.toml
@@ -33,7 +33,7 @@ embassy-time   = { version = "0.1.3", features = ["nightly"], optional = true }
 aes                = "0.8.3"
 critical-section   = "1.1.2"
 crypto-bigint      = { version = "0.5.2", default-features = false }
-embassy-executor   = { version = "0.2.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
+embassy-executor   = { version = "0.3.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
 embedded-graphics  = "0.8.1"
 embedded-hal-1     = { version = "=1.0.0-rc.1", package = "embedded-hal" }
 embedded-hal-async = "=1.0.0-rc.1"

diff --git a/esp32s2-hal/Cargo.toml b/esp32s2-hal/Cargo.toml
@@ -33,7 +33,7 @@ xtensa-atomic-emulation-trap = "0.4.0"
 aes                = "0.8.3"
 critical-section   = "1.1.2"
 crypto-bigint      = { version = "0.5.2", default-features = false }
-embassy-executor   = { version = "0.2.1", features = ["nightly"] }
+embassy-executor   = { version = "0.3.0", features = ["nightly"] }
 embassy-sync       = "0.2.0"
 embedded-graphics  = "0.8.1"
 embedded-hal-1     = { version = "=1.0.0-rc.1", package = "embedded-hal" }

diff --git a/esp32s3-hal/Cargo.toml b/esp32s3-hal/Cargo.toml
@@ -33,7 +33,7 @@ r0             = { version = "1.0.0",  optional = true }
 aes                = "0.8.3"
 critical-section   = "1.1.2"
 crypto-bigint      = { version = "0.5.2", default-features = false }
-embassy-executor   = { version = "0.2.1", features = ["nightly"] }
+embassy-executor   = { version = "0.3.0", features = ["nightly"] }
 embassy-sync       = "0.2.0"
 embedded-graphics  = "0.8.1"
 embedded-hal       = { version = "0.2.7",  features = ["unproven"] }