Merge pull request #850 from jannic/embassy-executor

Use embassy-executor instead of nostd_async

rp2040-hal-examples/Cargo.toml

@@ -29,7 +29,6 @@ fugit = "0.3.6"
 futures = {version = "0.3.30", default-features = false, features = ["async-await"]}
 hd44780-driver = "0.4.0"
 nb = "1.0"
-nostd_async = {version = "0.6.1", features = ["cortex_m"]}
 panic-halt = "0.2.0"
 panic-probe = {version = "0.3.1", features = ["print-defmt"]}
 pio = "0.2.0"
@@ -39,3 +38,7 @@ pio-proc = "0.2.0"
 portable-atomic = {version = "1.7.0", features = ["critical-section"]}
 rp2040-boot2 = "0.3.0"
 rp2040-hal = {path = "../rp2040-hal", version = "0.10.0", features = ["binary-info", "critical-section-impl", "rt", "defmt"]}
+static_cell = "2.1.0"
+
+[target.'cfg( target_arch = "arm" )'.dependencies]
+embassy-executor = {version = "0.5", features = ["arch-cortex-m", "executor-thread"]}

rp2040-hal-examples/src/bin/i2c_async.rs

@@ -26,12 +26,14 @@ use hal::{
 };
 
 // Import required types & traits.
+use embassy_executor::Executor;
 use embedded_hal_async::i2c::I2c;
 use hal::{
     gpio::{FunctionI2C, Pin, PullUp},
     pac::{self, interrupt},
     Clock,
 };
+use static_cell::StaticCell;
 
 /// The linker will place this boot block at the start of our program image. We
 /// need this to help the ROM bootloader get our code up and running.
@@ -54,6 +56,7 @@ unsafe fn I2C0_IRQ() {
 
 /// The function configures the RP2040 peripherals, then performs a single I²C
 /// write to a fixed address.
+#[embassy_executor::task]
 async fn demo() {
     let mut pac = pac::Peripherals::take().unwrap();
 
@@ -118,9 +121,7 @@ async fn demo() {
 /// Entry point to our bare-metal application.
 #[rp2040_hal::entry]
 fn main() -> ! {
-    let runtime = nostd_async::Runtime::new();
-    let mut task = nostd_async::Task::new(demo());
-    let handle = task.spawn(&runtime);
-    handle.join();
-    unreachable!()
+    static EXECUTOR: StaticCell<Executor> = StaticCell::new();
+    let executor = EXECUTOR.init(Executor::new());
+    executor.run(|spawner| spawner.spawn(demo()).unwrap());
 }

rp2040-hal-examples/src/bin/i2c_async_cancelled.rs

@@ -38,7 +38,9 @@ use hal::{
 };
 
 use defmt_rtt as _;
+use embassy_executor::Executor;
 use panic_probe as _;
+use static_cell::StaticCell;
 
 /// The linker will place this boot block at the start of our program image. We
 /// need this to help the ROM bootloader get our code up and running.
@@ -60,6 +62,7 @@ unsafe fn I2C0_IRQ() {
 
 /// The function configures the RP2040 peripherals, then performs a single I²C
 /// write to a fixed address.
+#[embassy_executor::task]
 async fn demo() {
     let mut pac = pac::Peripherals::take().unwrap();
 
@@ -142,9 +145,7 @@ async fn demo() {
 /// Entry point to our bare-metal application.
 #[rp2040_hal::entry]
 fn main() -> ! {
-    let runtime = nostd_async::Runtime::new();
-    let mut task = nostd_async::Task::new(demo());
-    let handle = task.spawn(&runtime);
-    handle.join();
-    unreachable!()
+    static EXECUTOR: StaticCell<Executor> = StaticCell::new();
+    let executor = EXECUTOR.init(Executor::new());
+    executor.run(|spawner| spawner.spawn(demo()).unwrap());
 }

rp235x-hal-examples/Cargo.toml

@@ -29,10 +29,16 @@ futures = {version = "0.3.30", default-features = false, features = ["async-awai
 hd44780-driver = "0.4.0"
 heapless = "0.8.0"
 nb = "1.0"
-nostd_async = {version = "0.6.1", features = ["cortex_m"]}
 panic-halt = "0.2.0"
 pio = "0.2.0"
 pio-proc = "0.2.0"
 rp235x-hal = {path = "../rp235x-hal", version = "0.2.0", features = ["binary-info", "critical-section-impl", "rt", "defmt"]}
 usb-device = "0.3.2"
 usbd-serial = "0.2.2"
+static_cell = "2.1.0"
+
+[target.'cfg( target_arch = "arm" )'.dependencies]
+embassy-executor = {version = "0.5", features = ["arch-cortex-m", "executor-thread"]}
+
+[target.'cfg( target_arch = "riscv32" )'.dependencies]
+embassy-executor = {version = "0.5", features = ["arch-riscv32", "executor-thread"]}

rp235x-hal-examples/src/bin/i2c_async.rs

@@ -28,7 +28,9 @@ use hal::{
 };
 
 // Import required types & traits.
+use embassy_executor::Executor;
 use embedded_hal_async::i2c::I2c;
+use static_cell::StaticCell;
 
 /// Tell the Boot ROM about our application
 #[link_section = ".start_block"]
@@ -48,6 +50,7 @@ unsafe fn I2C0_IRQ() {
 
 /// The function configures the RP235x peripherals, then performs a single I²C
 /// write to a fixed address.
+#[embassy_executor::task]
 async fn demo() {
     let mut pac = hal::pac::Peripherals::take().unwrap();
 
@@ -112,11 +115,9 @@ async fn demo() {
 /// Entry point to our bare-metal application.
 #[hal::entry]
 fn main() -> ! {
-    let runtime = nostd_async::Runtime::new();
-    let mut task = nostd_async::Task::new(demo());
-    let handle = task.spawn(&runtime);
-    handle.join();
-    unreachable!()
+    static EXECUTOR: StaticCell<Executor> = StaticCell::new();
+    let executor = EXECUTOR.init(Executor::new());
+    executor.run(|spawner| spawner.spawn(demo()).unwrap());
 }
 
 /// Program metadata for `picotool info`

rp235x-hal-examples/src/bin/i2c_async_cancelled.rs

@@ -32,6 +32,8 @@ use hal::{
 };
 
 use defmt_rtt as _;
+use embassy_executor::Executor;
+use static_cell::StaticCell;
 
 /// Tell the Boot ROM about our application
 #[link_section = ".start_block"]
@@ -50,6 +52,7 @@ unsafe fn I2C0_IRQ() {
 
 /// The function configures the RP235x peripherals, then performs a single I²C
 /// write to a fixed address.
+#[embassy_executor::task]
 async fn demo() {
     let mut pac = hal::pac::Peripherals::take().unwrap();
 
@@ -132,11 +135,9 @@ async fn demo() {
 /// Entry point to our bare-metal application.
 #[hal::entry]
 fn main() -> ! {
-    let runtime = nostd_async::Runtime::new();
-    let mut task = nostd_async::Task::new(demo());
-    let handle = task.spawn(&runtime);
-    handle.join();
-    unreachable!()
+    static EXECUTOR: StaticCell<Executor> = StaticCell::new();
+    let executor = EXECUTOR.init(Executor::new());
+    executor.run(|spawner| spawner.spawn(demo()).unwrap());
 }
 
 /// Program metadata for `picotool info`