Merge branch 'main' into issue-1974-add-sai-driver

5 files changed, 48 insertions, 14 deletions

diff --git a/embassy-executor/src/arch/cortex_m.rs b/embassy-executor/src/arch/cortex_m.rs
index 0806a22ab..fde862f3c 100644
--- a/embassy-executor/src/arch/cortex_m.rs
+++ b/embassy-executor/src/arch/cortex_m.rs
@@ -1,5 +1,3 @@
-const THREAD_PENDER: usize = usize::MAX;
-
 #[export_name = "__pender"]
 #[cfg(any(feature = "executor-thread", feature = "executor-interrupt"))]
 fn __pender(context: *mut ()) {
@@ -48,13 +46,14 @@ fn __pender(context: *mut ()) {
 pub use thread::*;
 #[cfg(feature = "executor-thread")]
 mod thread {
+    pub(super) const THREAD_PENDER: usize = usize::MAX;
+
     use core::arch::asm;
     use core::marker::PhantomData;
 
     #[cfg(feature = "nightly")]
     pub use embassy_macros::main_cortex_m as main;
 
-    use crate::arch::THREAD_PENDER;
     use crate::{raw, Spawner};
 
     /// Thread mode executor, using WFE/SEV.
diff --git a/embassy-executor/src/arch/wasm.rs b/embassy-executor/src/arch/wasm.rs
index 934fd69e5..15aed867a 100644
--- a/embassy-executor/src/arch/wasm.rs
+++ b/embassy-executor/src/arch/wasm.rs
@@ -73,9 +73,10 @@ mod thread {
         pub fn start(&'static mut self, init: impl FnOnce(Spawner)) {
             unsafe {
                 let executor = &self.inner;
-                self.ctx.closure.write(Closure::new(move |_| {
+                let future = Closure::new(move |_| {
                     executor.poll();
-                }));
+                });
+                self.ctx.closure.write_in_place(|| future);
                 init(self.inner.spawner());
             }
         }
diff --git a/embassy-executor/src/fmt.rs b/embassy-executor/src/fmt.rs
index 066970813..78e583c1c 100644
--- a/embassy-executor/src/fmt.rs
+++ b/embassy-executor/src/fmt.rs
@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
-        }
+        ::core::unreachable!($($x)*)
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}
diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index c1d82e18a..6d2c1c18a 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -203,7 +203,7 @@ impl<F: Future + 'static> AvailableTask<F> {
     fn initialize_impl<S>(self, future: impl FnOnce() -> F) -> SpawnToken<S> {
         unsafe {
             self.task.raw.poll_fn.set(Some(TaskStorage::<F>::poll));
-            self.task.future.write(future());
+            self.task.future.write_in_place(future);
 
             let task = TaskRef::new(self.task);
 
diff --git a/embassy-executor/src/raw/util.rs b/embassy-executor/src/raw/util.rs
index e2e8f4df8..c46085e45 100644
--- a/embassy-executor/src/raw/util.rs
+++ b/embassy-executor/src/raw/util.rs
@@ -17,8 +17,9 @@ impl<T> UninitCell<T> {
         &mut *self.as_mut_ptr()
     }
 
-    pub unsafe fn write(&self, val: T) {
-        ptr::write(self.as_mut_ptr(), val)
+    #[inline(never)]
+    pub unsafe fn write_in_place(&self, func: impl FnOnce() -> T) {
+        ptr::write(self.as_mut_ptr(), func())
     }
 
     pub unsafe fn drop_in_place(&self) {