Executor API V2.

- It's no longer possible to call run() reentrantly from within a task (soundness issue)
- it's now possible to spawn Send tasks across threads (SendSpawner, #37)

9 files changed, 96 insertions, 123 deletions

diff --git a/embassy-nrf-examples/src/bin/buffered_uart.rs b/embassy-nrf-examples/src/bin/buffered_uart.rs
index 57c6b4cf4..7c7283fc2 100644
--- a/embassy-nrf-examples/src/bin/buffered_uart.rs
+++ b/embassy-nrf-examples/src/bin/buffered_uart.rs
@@ -83,11 +83,8 @@ static EXECUTOR: Forever<Executor> = Forever::new();
 fn main() -> ! {
     info!("Hello World!");
 
-    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::sev));
-    unwrap!(executor.spawn(run()));
-
-    loop {
-        executor.run();
-        cortex_m::asm::wfe();
-    }
+    let executor = EXECUTOR.put(Executor::new());
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run()));
+    });
 }
diff --git a/embassy-nrf-examples/src/bin/executor_fairness_test.rs b/embassy-nrf-examples/src/bin/executor_fairness_test.rs
index 9b2c1bd26..1b9955739 100644
--- a/embassy-nrf-examples/src/bin/executor_fairness_test.rs
+++ b/embassy-nrf-examples/src/bin/executor_fairness_test.rs
@@ -61,14 +61,11 @@ fn main() -> ! {
     unsafe { embassy::time::set_clock(rtc) };
 
     let alarm = ALARM.put(rtc.alarm0());
-    let executor = EXECUTOR.put(Executor::new_with_alarm(alarm, cortex_m::asm::sev));
-
-    unwrap!(executor.spawn(run1()));
-    unwrap!(executor.spawn(run2()));
-    unwrap!(executor.spawn(run3()));
-
-    loop {
-        executor.run();
-        cortex_m::asm::wfe();
-    }
+    let executor = EXECUTOR.put(Executor::new());
+    executor.set_alarm(alarm);
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run1()));
+        unwrap!(spawner.spawn(run2()));
+        unwrap!(spawner.spawn(run3()));
+    });
 }
diff --git a/embassy-nrf-examples/src/bin/gpiote.rs b/embassy-nrf-examples/src/bin/gpiote.rs
index afa1b85d5..f5315d6a6 100644
--- a/embassy-nrf-examples/src/bin/gpiote.rs
+++ b/embassy-nrf-examples/src/bin/gpiote.rs
@@ -73,11 +73,8 @@ static EXECUTOR: Forever<Executor> = Forever::new();
 fn main() -> ! {
     info!("Hello World!");
 
-    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::sev));
-    unwrap!(executor.spawn(run()));
-
-    loop {
-        executor.run();
-        cortex_m::asm::wfe();
-    }
+    let executor = EXECUTOR.put(Executor::new());
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run()));
+    });
 }
diff --git a/embassy-nrf-examples/src/bin/gpiote_port.rs b/embassy-nrf-examples/src/bin/gpiote_port.rs
index f5aa81322..833096f3a 100644
--- a/embassy-nrf-examples/src/bin/gpiote_port.rs
+++ b/embassy-nrf-examples/src/bin/gpiote_port.rs
@@ -52,11 +52,8 @@ static EXECUTOR: Forever<Executor> = Forever::new();
 fn main() -> ! {
     info!("Hello World!");
 
-    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::sev));
-    unwrap!(executor.spawn(run()));
-
-    loop {
-        executor.run();
-        cortex_m::asm::wfe();
-    }
+    let executor = EXECUTOR.put(Executor::new());
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run()));
+    });
 }
diff --git a/embassy-nrf-examples/src/bin/multiprio.rs b/embassy-nrf-examples/src/bin/multiprio.rs
index c821e3dba..8c2ec19af 100644
--- a/embassy-nrf-examples/src/bin/multiprio.rs
+++ b/embassy-nrf-examples/src/bin/multiprio.rs
@@ -66,9 +66,10 @@ use cortex_m_rt::entry;
 use defmt::panic;
 use nrf52840_hal::clocks;
 
-use embassy::executor::{task, Executor};
+use embassy::executor::{task, Executor, IrqExecutor};
 use embassy::time::{Duration, Instant, Timer};
 use embassy::util::Forever;
+use embassy_nrf::interrupt::OwnedInterrupt;
 use embassy_nrf::{interrupt, pac, rtc};
 
 #[task]
@@ -114,12 +115,12 @@ async fn run_low() {
 }
 
 static RTC: Forever<rtc::RTC<pac::RTC1>> = Forever::new();
+static ALARM_HIGH: Forever<rtc::Alarm<pac::RTC1>> = Forever::new();
+static EXECUTOR_HIGH: Forever<IrqExecutor<interrupt::SWI1_EGU1Interrupt>> = Forever::new();
+static ALARM_MED: Forever<rtc::Alarm<pac::RTC1>> = Forever::new();
+static EXECUTOR_MED: Forever<IrqExecutor<interrupt::SWI0_EGU0Interrupt>> = Forever::new();
 static ALARM_LOW: Forever<rtc::Alarm<pac::RTC1>> = Forever::new();
 static EXECUTOR_LOW: Forever<Executor> = Forever::new();
-static ALARM_MED: Forever<rtc::Alarm<pac::RTC1>> = Forever::new();
-static EXECUTOR_MED: Forever<Executor> = Forever::new();
-static ALARM_HIGH: Forever<rtc::Alarm<pac::RTC1>> = Forever::new();
-static EXECUTOR_HIGH: Forever<Executor> = Forever::new();
 
 #[entry]
 fn main() -> ! {
@@ -136,41 +137,31 @@ fn main() -> ! {
     rtc.start();
     unsafe { embassy::time::set_clock(rtc) };
 
-    let alarm_low = ALARM_LOW.put(rtc.alarm0());
-    let executor_low = EXECUTOR_LOW.put(Executor::new_with_alarm(alarm_low, cortex_m::asm::sev));
-    let alarm_med = ALARM_MED.put(rtc.alarm1());
-    let executor_med = EXECUTOR_MED.put(Executor::new_with_alarm(alarm_med, || {
-        NVIC::pend(interrupt::SWI0_EGU0)
-    }));
-    let alarm_high = ALARM_HIGH.put(rtc.alarm2());
-    let executor_high = EXECUTOR_HIGH.put(Executor::new_with_alarm(alarm_high, || {
-        NVIC::pend(interrupt::SWI1_EGU1)
-    }));
-
-    unsafe {
-        let mut nvic: NVIC = core::mem::transmute(());
-        nvic.set_priority(interrupt::SWI0_EGU0, 7 << 5);
-        nvic.set_priority(interrupt::SWI1_EGU1, 6 << 5);
-        NVIC::unmask(interrupt::SWI0_EGU0);
-        NVIC::unmask(interrupt::SWI1_EGU1);
-    }
-
-    unwrap!(executor_low.spawn(run_low()));
-    unwrap!(executor_med.spawn(run_med()));
-    unwrap!(executor_high.spawn(run_high()));
-
-    loop {
-        executor_low.run();
-        cortex_m::asm::wfe();
-    }
-}
-
-#[interrupt]
-unsafe fn SWI0_EGU0() {
-    EXECUTOR_MED.steal().run()
-}
-
-#[interrupt]
-unsafe fn SWI1_EGU1() {
-    EXECUTOR_HIGH.steal().run()
+    // High-priority executor: SWI1_EGU1, priority level 6
+    let irq = interrupt::take!(SWI1_EGU1);
+    irq.set_priority(interrupt::Priority::Level6);
+    let alarm = ALARM_HIGH.put(rtc.alarm2());
+    let executor = EXECUTOR_HIGH.put(IrqExecutor::new(irq));
+    executor.set_alarm(alarm);
+    executor.start(|spawner| {
+        unwrap!(spawner.spawn(run_high()));
+    });
+
+    // Medium-priority executor: SWI0_EGU0, priority level 7
+    let irq = interrupt::take!(SWI0_EGU0);
+    irq.set_priority(interrupt::Priority::Level7);
+    let alarm = ALARM_MED.put(rtc.alarm1());
+    let executor = EXECUTOR_MED.put(IrqExecutor::new(irq));
+    executor.set_alarm(alarm);
+    executor.start(|spawner| {
+        unwrap!(spawner.spawn(run_med()));
+    });
+
+    // Low priority executor: runs in thread mode, using WFE/SEV
+    let alarm = ALARM_LOW.put(rtc.alarm0());
+    let executor = EXECUTOR_LOW.put(Executor::new());
+    executor.set_alarm(alarm);
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run_low()));
+    });
 }
diff --git a/embassy-nrf-examples/src/bin/qspi.rs b/embassy-nrf-examples/src/bin/qspi.rs
index a7d47f79c..4edbd3f91 100644
--- a/embassy-nrf-examples/src/bin/qspi.rs
+++ b/embassy-nrf-examples/src/bin/qspi.rs
@@ -124,11 +124,8 @@ static EXECUTOR: Forever<Executor> = Forever::new();
 fn main() -> ! {
     info!("Hello World!");
 
-    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::sev));
-    unwrap!(executor.spawn(run()));
-
-    loop {
-        executor.run();
-        cortex_m::asm::wfe();
-    }
+    let executor = EXECUTOR.put(Executor::new());
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run()));
+    });
 }
diff --git a/embassy-nrf-examples/src/bin/rtc_async.rs b/embassy-nrf-examples/src/bin/rtc_async.rs
index dcdeb7049..5260c69a8 100644
--- a/embassy-nrf-examples/src/bin/rtc_async.rs
+++ b/embassy-nrf-examples/src/bin/rtc_async.rs
@@ -53,13 +53,10 @@ fn main() -> ! {
     unsafe { embassy::time::set_clock(rtc) };
 
     let alarm = ALARM.put(rtc.alarm0());
-    let executor = EXECUTOR.put(Executor::new_with_alarm(alarm, cortex_m::asm::sev));
-
-    unwrap!(executor.spawn(run1()));
-    unwrap!(executor.spawn(run2()));
-
-    loop {
-        executor.run();
-        cortex_m::asm::wfe();
-    }
+    let executor = EXECUTOR.put(Executor::new());
+    executor.set_alarm(alarm);
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run1()));
+        unwrap!(spawner.spawn(run2()));
+    });
 }
diff --git a/embassy-nrf-examples/src/bin/rtc_raw.rs b/embassy-nrf-examples/src/bin/rtc_raw.rs
index 438585460..7c60bb565 100644
--- a/embassy-nrf-examples/src/bin/rtc_raw.rs
+++ b/embassy-nrf-examples/src/bin/rtc_raw.rs
@@ -38,7 +38,7 @@ fn main() -> ! {
 
     rtc.start();
 
-    alarm.set_callback(|| info!("ALARM TRIGGERED"));
+    alarm.set_callback(|_| info!("ALARM TRIGGERED"), core::ptr::null_mut());
     alarm.set(53719);
 
     info!("initialized!");
diff --git a/embassy-nrf-examples/src/bin/uart.rs b/embassy-nrf-examples/src/bin/uart.rs
index cb38e8fcb..c5468d32b 100644
--- a/embassy-nrf-examples/src/bin/uart.rs
+++ b/embassy-nrf-examples/src/bin/uart.rs
@@ -18,7 +18,31 @@ use nrf52840_hal::clocks;
 use nrf52840_hal::gpio;
 
 #[task]
-async fn run(mut uart: uarte::Uarte<pac::UARTE0>) {
+async fn run(uart: pac::UARTE0, port: pac::P0) {
+    // Init UART
+    let port0 = gpio::p0::Parts::new(port);
+
+    let pins = uarte::Pins {
+        rxd: port0.p0_08.into_floating_input().degrade(),
+        txd: port0
+            .p0_06
+            .into_push_pull_output(gpio::Level::Low)
+            .degrade(),
+        cts: None,
+        rts: None,
+    };
+
+    // NOTE(unsafe): Safe becasue we do not use `mem::forget` anywhere.
+    let mut uart = unsafe {
+        uarte::Uarte::new(
+            uart,
+            interrupt::take!(UARTE0_UART0),
+            pins,
+            uarte::Parity::EXCLUDED,
+            uarte::Baudrate::BAUD115200,
+        )
+    };
+
     info!("uarte initialized!");
 
     // Message must be in SRAM
@@ -81,36 +105,12 @@ fn main() -> ! {
     unsafe { embassy::time::set_clock(rtc) };
 
     let alarm = ALARM.put(rtc.alarm0());
-    let executor = EXECUTOR.put(Executor::new_with_alarm(alarm, cortex_m::asm::sev));
-
-    // Init UART
-    let port0 = gpio::p0::Parts::new(p.P0);
-
-    let pins = uarte::Pins {
-        rxd: port0.p0_08.into_floating_input().degrade(),
-        txd: port0
-            .p0_06
-            .into_push_pull_output(gpio::Level::Low)
-            .degrade(),
-        cts: None,
-        rts: None,
-    };
-
-    // NOTE(unsafe): Safe becasue we do not use `mem::forget` anywhere.
-    let uart = unsafe {
-        uarte::Uarte::new(
-            p.UARTE0,
-            interrupt::take!(UARTE0_UART0),
-            pins,
-            uarte::Parity::EXCLUDED,
-            uarte::Baudrate::BAUD115200,
-        )
-    };
-
-    unwrap!(executor.spawn(run(uart)));
-
-    loop {
-        executor.run();
-        cortex_m::asm::wfe();
-    }
+    let executor = EXECUTOR.put(Executor::new());
+    executor.set_alarm(alarm);
+
+    let uarte0 = p.UARTE0;
+    let p0 = p.P0;
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run(uarte0, p0)));
+    });
 }