Merge pull request #1244 from embassy-rs/interruptexecutor

cortex-m/executor: don't use the owned interrupts system.

5 files changed, 89 insertions, 49 deletions

diff --git a/examples/nrf52840/src/bin/multiprio.rs b/examples/nrf52840/src/bin/multiprio.rs
index 25806ae48..851e189ea 100644
--- a/examples/nrf52840/src/bin/multiprio.rs
+++ b/examples/nrf52840/src/bin/multiprio.rs
@@ -57,11 +57,14 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 
+use core::mem;
+
+use cortex_m::peripheral::NVIC;
 use cortex_m_rt::entry;
 use defmt::{info, unwrap};
 use embassy_nrf::executor::{Executor, InterruptExecutor};
 use embassy_nrf::interrupt;
-use embassy_nrf::interrupt::InterruptExt;
+use embassy_nrf::pac::Interrupt;
 use embassy_time::{Duration, Instant, Timer};
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
@@ -108,28 +111,35 @@ async fn run_low() {
     }
 }
 
-static EXECUTOR_HIGH: StaticCell<InterruptExecutor<interrupt::SWI1_EGU1>> = StaticCell::new();
-static EXECUTOR_MED: StaticCell<InterruptExecutor<interrupt::SWI0_EGU0>> = StaticCell::new();
+static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
 static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
 
+#[interrupt]
+unsafe fn SWI1_EGU1() {
+    EXECUTOR_HIGH.on_interrupt()
+}
+
+#[interrupt]
+unsafe fn SWI0_EGU0() {
+    EXECUTOR_MED.on_interrupt()
+}
+
 #[entry]
 fn main() -> ! {
     info!("Hello World!");
 
     let _p = embassy_nrf::init(Default::default());
+    let mut nvic: NVIC = unsafe { mem::transmute(()) };
 
     // High-priority executor: SWI1_EGU1, priority level 6
-    let irq = interrupt::take!(SWI1_EGU1);
-    irq.set_priority(interrupt::Priority::P6);
-    let executor = EXECUTOR_HIGH.init(InterruptExecutor::new(irq));
-    let spawner = executor.start();
+    unsafe { nvic.set_priority(Interrupt::SWI1_EGU1, 6 << 5) };
+    let spawner = EXECUTOR_HIGH.start(Interrupt::SWI1_EGU1);
     unwrap!(spawner.spawn(run_high()));
 
     // Medium-priority executor: SWI0_EGU0, priority level 7
-    let irq = interrupt::take!(SWI0_EGU0);
-    irq.set_priority(interrupt::Priority::P7);
-    let executor = EXECUTOR_MED.init(InterruptExecutor::new(irq));
-    let spawner = executor.start();
+    unsafe { nvic.set_priority(Interrupt::SWI0_EGU0, 7 << 5) };
+    let spawner = EXECUTOR_MED.start(Interrupt::SWI0_EGU0);
     unwrap!(spawner.spawn(run_med()));
 
     // Low priority executor: runs in thread mode, using WFE/SEV
diff --git a/examples/stm32f0/Cargo.toml b/examples/stm32f0/Cargo.toml
index d4afbb8f8..89d99b6d3 100644
--- a/examples/stm32f0/Cargo.toml
+++ b/examples/stm32f0/Cargo.toml
@@ -15,5 +15,5 @@ panic-probe = "0.3"
 embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
-embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "memory-x", "stm32f091rc", "time-driver-any", "exti"] }
+embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "memory-x", "stm32f091rc", "time-driver-any", "exti", "unstable-pac"] }
 static_cell = "1.0"
diff --git a/examples/stm32f0/src/bin/priority.rs b/examples/stm32f0/src/bin/multiprio.rs
index 7fed6a773..e0dc8c989 100644
--- a/examples/stm32f0/src/bin/priority.rs
+++ b/examples/stm32f0/src/bin/multiprio.rs
@@ -57,11 +57,14 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 
+use core::mem;
+
+use cortex_m::peripheral::NVIC;
 use cortex_m_rt::entry;
 use defmt::*;
 use embassy_stm32::executor::{Executor, InterruptExecutor};
 use embassy_stm32::interrupt;
-use embassy_stm32::interrupt::InterruptExt;
+use embassy_stm32::pac::Interrupt;
 use embassy_time::{Duration, Instant, Timer};
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
@@ -108,27 +111,34 @@ async fn run_low() {
     }
 }
 
-static EXECUTOR_HIGH: StaticCell<InterruptExecutor<interrupt::USART1>> = StaticCell::new();
-static EXECUTOR_MED: StaticCell<InterruptExecutor<interrupt::USART2>> = StaticCell::new();
+static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
 static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
 
+#[interrupt]
+unsafe fn USART1() {
+    EXECUTOR_HIGH.on_interrupt()
+}
+
+#[interrupt]
+unsafe fn USART2() {
+    EXECUTOR_MED.on_interrupt()
+}
+
 #[entry]
 fn main() -> ! {
     // Initialize and create handle for devicer peripherals
     let _p = embassy_stm32::init(Default::default());
+    let mut nvic: NVIC = unsafe { mem::transmute(()) };
 
     // High-priority executor: USART1, priority level 6
-    let irq = interrupt::take!(USART1);
-    irq.set_priority(interrupt::Priority::P6);
-    let executor = EXECUTOR_HIGH.init(InterruptExecutor::new(irq));
-    let spawner = executor.start();
+    unsafe { nvic.set_priority(Interrupt::USART1, 6 << 4) };
+    let spawner = EXECUTOR_HIGH.start(Interrupt::USART1);
     unwrap!(spawner.spawn(run_high()));
 
     // Medium-priority executor: USART2, priority level 7
-    let irq = interrupt::take!(USART2);
-    irq.set_priority(interrupt::Priority::P7);
-    let executor = EXECUTOR_MED.init(InterruptExecutor::new(irq));
-    let spawner = executor.start();
+    unsafe { nvic.set_priority(Interrupt::USART2, 7 << 4) };
+    let spawner = EXECUTOR_MED.start(Interrupt::USART2);
     unwrap!(spawner.spawn(run_med()));
 
     // Low priority executor: runs in thread mode, using WFE/SEV
diff --git a/examples/stm32f3/src/bin/multiprio.rs b/examples/stm32f3/src/bin/multiprio.rs
index 9e8228a4b..77df51ac7 100644
--- a/examples/stm32f3/src/bin/multiprio.rs
+++ b/examples/stm32f3/src/bin/multiprio.rs
@@ -57,11 +57,14 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 
+use core::mem;
+
+use cortex_m::peripheral::NVIC;
 use cortex_m_rt::entry;
 use defmt::*;
 use embassy_stm32::executor::{Executor, InterruptExecutor};
 use embassy_stm32::interrupt;
-use embassy_stm32::interrupt::InterruptExt;
+use embassy_stm32::pac::Interrupt;
 use embassy_time::{Duration, Instant, Timer};
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
@@ -108,28 +111,35 @@ async fn run_low() {
     }
 }
 
-static EXECUTOR_HIGH: StaticCell<InterruptExecutor<interrupt::UART4>> = StaticCell::new();
-static EXECUTOR_MED: StaticCell<InterruptExecutor<interrupt::UART5>> = StaticCell::new();
+static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
 static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
 
+#[interrupt]
+unsafe fn UART4() {
+    EXECUTOR_HIGH.on_interrupt()
+}
+
+#[interrupt]
+unsafe fn UART5() {
+    EXECUTOR_MED.on_interrupt()
+}
+
 #[entry]
 fn main() -> ! {
     info!("Hello World!");
 
     let _p = embassy_stm32::init(Default::default());
+    let mut nvic: NVIC = unsafe { mem::transmute(()) };
 
-    // High-priority executor: SWI1_EGU1, priority level 6
-    let irq = interrupt::take!(UART4);
-    irq.set_priority(interrupt::Priority::P6);
-    let executor = EXECUTOR_HIGH.init(InterruptExecutor::new(irq));
-    let spawner = executor.start();
+    // High-priority executor: UART4, priority level 6
+    unsafe { nvic.set_priority(Interrupt::UART4, 6 << 4) };
+    let spawner = EXECUTOR_HIGH.start(Interrupt::UART4);
     unwrap!(spawner.spawn(run_high()));
 
-    // Medium-priority executor: SWI0_EGU0, priority level 7
-    let irq = interrupt::take!(UART5);
-    irq.set_priority(interrupt::Priority::P7);
-    let executor = EXECUTOR_MED.init(InterruptExecutor::new(irq));
-    let spawner = executor.start();
+    // Medium-priority executor: UART5, priority level 7
+    unsafe { nvic.set_priority(Interrupt::UART5, 7 << 4) };
+    let spawner = EXECUTOR_MED.start(Interrupt::UART5);
     unwrap!(spawner.spawn(run_med()));
 
     // Low priority executor: runs in thread mode, using WFE/SEV
diff --git a/examples/stm32f4/src/bin/multiprio.rs b/examples/stm32f4/src/bin/multiprio.rs
index 9e8228a4b..77df51ac7 100644
--- a/examples/stm32f4/src/bin/multiprio.rs
+++ b/examples/stm32f4/src/bin/multiprio.rs
@@ -57,11 +57,14 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 
+use core::mem;
+
+use cortex_m::peripheral::NVIC;
 use cortex_m_rt::entry;
 use defmt::*;
 use embassy_stm32::executor::{Executor, InterruptExecutor};
 use embassy_stm32::interrupt;
-use embassy_stm32::interrupt::InterruptExt;
+use embassy_stm32::pac::Interrupt;
 use embassy_time::{Duration, Instant, Timer};
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
@@ -108,28 +111,35 @@ async fn run_low() {
     }
 }
 
-static EXECUTOR_HIGH: StaticCell<InterruptExecutor<interrupt::UART4>> = StaticCell::new();
-static EXECUTOR_MED: StaticCell<InterruptExecutor<interrupt::UART5>> = StaticCell::new();
+static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
 static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
 
+#[interrupt]
+unsafe fn UART4() {
+    EXECUTOR_HIGH.on_interrupt()
+}
+
+#[interrupt]
+unsafe fn UART5() {
+    EXECUTOR_MED.on_interrupt()
+}
+
 #[entry]
 fn main() -> ! {
     info!("Hello World!");
 
     let _p = embassy_stm32::init(Default::default());
+    let mut nvic: NVIC = unsafe { mem::transmute(()) };
 
-    // High-priority executor: SWI1_EGU1, priority level 6
-    let irq = interrupt::take!(UART4);
-    irq.set_priority(interrupt::Priority::P6);
-    let executor = EXECUTOR_HIGH.init(InterruptExecutor::new(irq));
-    let spawner = executor.start();
+    // High-priority executor: UART4, priority level 6
+    unsafe { nvic.set_priority(Interrupt::UART4, 6 << 4) };
+    let spawner = EXECUTOR_HIGH.start(Interrupt::UART4);
     unwrap!(spawner.spawn(run_high()));
 
-    // Medium-priority executor: SWI0_EGU0, priority level 7
-    let irq = interrupt::take!(UART5);
-    irq.set_priority(interrupt::Priority::P7);
-    let executor = EXECUTOR_MED.init(InterruptExecutor::new(irq));
-    let spawner = executor.start();
+    // Medium-priority executor: UART5, priority level 7
+    unsafe { nvic.set_priority(Interrupt::UART5, 7 << 4) };
+    let spawner = EXECUTOR_MED.start(Interrupt::UART5);
     unwrap!(spawner.spawn(run_med()));
 
     // Low priority executor: runs in thread mode, using WFE/SEV