11 files changed, 218 insertions, 44 deletions

diff --git a/embassy-executor/CHANGELOG.md b/embassy-executor/CHANGELOG.md
index 5c6749230..77c64fd8e 100644
--- a/embassy-executor/CHANGELOG.md
+++ b/embassy-executor/CHANGELOG.md
@@ -7,6 +7,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
+## 0.5.0 - 2024-01-11
+
+- Updated to `embassy-time-driver 0.1`, `embassy-time-queue-driver 0.1`, compatible with `embassy-time v0.3` and higher.
+
 ## 0.4.0 - 2023-12-05
 
 - Removed `arch-xtensa`. Use the executor provided by the HAL crate (`esp-hal`, `esp32s3-hal`, etc...) instead.
diff --git a/embassy-executor/Cargo.toml b/embassy-executor/Cargo.toml
index ec5aca46d..431165cee 100644
--- a/embassy-executor/Cargo.toml
+++ b/embassy-executor/Cargo.toml
@@ -1,10 +1,11 @@
 [package]
 name = "embassy-executor"
-version = "0.4.0"
+version = "0.5.0"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 description = "async/await executor designed for embedded usage"
 repository = "https://github.com/embassy-rs/embassy"
+documentation = "https://docs.embassy.dev/embassy-executor"
 categories = [
     "embedded",
     "no-std",
@@ -14,7 +15,7 @@ categories = [
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-executor-v$VERSION/embassy-executor/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-executor/src/"
-features = ["nightly", "defmt"]
+features = ["defmt"]
 flavors = [
     { name = "std",             target = "x86_64-unknown-linux-gnu",     features = ["arch-std", "executor-thread"] },
     { name = "wasm",            target = "wasm32-unknown-unknown",       features = ["arch-wasm", "executor-thread"] },
@@ -25,7 +26,7 @@ flavors = [
 [package.metadata.docs.rs]
 default-target = "thumbv7em-none-eabi"
 targets = ["thumbv7em-none-eabi"]
-features = ["nightly", "defmt", "arch-cortex-m", "executor-thread", "executor-interrupt"]
+features = ["defmt", "arch-cortex-m", "executor-thread", "executor-interrupt"]
 
 [dependencies]
 defmt = { version = "0.3", optional = true }
@@ -33,11 +34,13 @@ log = { version = "0.4.14", optional = true }
 rtos-trace = { version = "0.1.2", optional = true }
 
 embassy-executor-macros = { version = "0.4.0", path = "../embassy-executor-macros" }
-embassy-time = { version = "0.2", path = "../embassy-time", optional = true}
+embassy-time-driver = { version = "0.1.0", path = "../embassy-time-driver", optional = true }
+embassy-time-queue-driver = { version = "0.1.0", path = "../embassy-time-queue-driver", optional = true }
 critical-section = "1.1"
 
-# needed for riscv
-# remove when https://github.com/rust-lang/rust/pull/114499 is merged
+document-features = "0.2.7"
+
+# needed for AVR
 portable-atomic = { version = "1.5", optional = true }
 
 # arch-cortex-m dependencies
@@ -47,72 +50,137 @@ cortex-m = { version = "0.7.6", optional = true }
 wasm-bindgen = { version = "0.2.82", optional = true }
 js-sys = { version = "0.3", optional = true }
 
+# arch-avr dependencies
+avr-device = { version = "0.5.3", optional = true }
+
 [dev-dependencies]
 critical-section = { version = "1.1", features = ["std"] }
 
 
 [features]
 
-# Architecture
+## Enable nightly-only features
+nightly = ["embassy-executor-macros/nightly"]
+
+# Enables turbo wakers, which requires patching core. Not surfaced in the docs by default due to
+# being an complicated advanced and undocumented feature.
+# See: https://github.com/embassy-rs/embassy/pull/1263
+turbowakers = []
+
+## Use the executor-integrated `embassy-time` timer queue.
+integrated-timers = ["dep:embassy-time-driver", "dep:embassy-time-queue-driver"]
+
+#! ### Architecture
 _arch = [] # some arch was picked
+## std
 arch-std = ["_arch", "critical-section/std"]
+## Cortex-M
 arch-cortex-m = ["_arch", "dep:cortex-m"]
-arch-riscv32 = ["_arch", "dep:portable-atomic"]
+## RISC-V 32
+arch-riscv32 = ["_arch"]
+## WASM
 arch-wasm = ["_arch", "dep:wasm-bindgen", "dep:js-sys"]
+## AVR
+arch-avr = ["_arch", "dep:portable-atomic", "dep:avr-device"]
 
-# Enable the thread-mode executor (using WFE/SEV in Cortex-M, WFI in other embedded archs)
+#! ### Executor
+
+## Enable the thread-mode executor (using WFE/SEV in Cortex-M, WFI in other embedded archs)
 executor-thread = []
-# Enable the interrupt-mode executor (available in Cortex-M only)
+## Enable the interrupt-mode executor (available in Cortex-M only)
 executor-interrupt = []
 
-# Enable nightly-only features
-nightly = ["embassy-executor-macros/nightly"]
-
-turbowakers = []
-
-integrated-timers = ["dep:embassy-time"]
+#! ### Task Arena Size
+#! Sets the [task arena](#task-arena) size. Necessary if you’re not using `nightly`.
+#!
+#! <details>
+#!  <summary>Preconfigured Task Arena Sizes:</summary>
+#! <!-- rustdoc requires the following blank line for the feature list to render correctly! -->
+#!
 
 # BEGIN AUTOGENERATED CONFIG FEATURES
 # Generated by gen_config.py. DO NOT EDIT.
+## 64
 task-arena-size-64 = []
+## 128
 task-arena-size-128 = []
+## 192
 task-arena-size-192 = []
+## 256
 task-arena-size-256 = []
+## 320
 task-arena-size-320 = []
+## 384
 task-arena-size-384 = []
+## 512
 task-arena-size-512 = []
+## 640
 task-arena-size-640 = []
+## 768
 task-arena-size-768 = []
+## 1024
 task-arena-size-1024 = []
+## 1280
 task-arena-size-1280 = []
+## 1536
 task-arena-size-1536 = []
+## 2048
 task-arena-size-2048 = []
+## 2560
 task-arena-size-2560 = []
+## 3072
 task-arena-size-3072 = []
+## 4096 (default)
 task-arena-size-4096 = [] # Default
+## 5120
 task-arena-size-5120 = []
+## 6144
 task-arena-size-6144 = []
+## 8192
 task-arena-size-8192 = []
+## 10240
 task-arena-size-10240 = []
+## 12288
 task-arena-size-12288 = []
+## 16384
 task-arena-size-16384 = []
+## 20480
 task-arena-size-20480 = []
+## 24576
 task-arena-size-24576 = []
+## 32768
 task-arena-size-32768 = []
+## 40960
 task-arena-size-40960 = []
+## 49152
 task-arena-size-49152 = []
+## 65536
 task-arena-size-65536 = []
+## 81920
 task-arena-size-81920 = []
+## 98304
 task-arena-size-98304 = []
+## 131072
 task-arena-size-131072 = []
+## 163840
 task-arena-size-163840 = []
+## 196608
 task-arena-size-196608 = []
+## 262144
 task-arena-size-262144 = []
+## 327680
 task-arena-size-327680 = []
+## 393216
 task-arena-size-393216 = []
+## 524288
 task-arena-size-524288 = []
+## 655360
 task-arena-size-655360 = []
+## 786432
 task-arena-size-786432 = []
+## 1048576
 task-arena-size-1048576 = []
 
 # END AUTOGENERATED CONFIG FEATURES
+
+#! </details>
diff --git a/embassy-executor/README.md b/embassy-executor/README.md
index 80ecfc71a..aa9d59907 100644
--- a/embassy-executor/README.md
+++ b/embassy-executor/README.md
@@ -22,7 +22,7 @@ Tasks are allocated from the arena when spawned for the first time. If the task
 The arena size can be configured in two ways:
 
 - Via Cargo features: enable a Cargo feature like `task-arena-size-8192`. Only a selection of values
-  is available, check `Cargo.toml` for the list.
+  is available, see [Task Area Sizes](#task-arena-size) for reference.
 - Via environment variables at build time: set the variable named `EMBASSY_EXECUTOR_TASK_ARENA_SIZE`. For example
   `EMBASSY_EXECUTOR_TASK_ARENA_SIZE=4321 cargo build`. You can also set them in the `[env]` section of `.cargo/config.toml`.
   Any value can be set, unlike with Cargo features.
diff --git a/embassy-executor/gen_config.py b/embassy-executor/gen_config.py
index e427d29f4..cf32bd530 100644
--- a/embassy-executor/gen_config.py
+++ b/embassy-executor/gen_config.py
@@ -45,6 +45,12 @@ things = ""
 for f in features:
     name = f["name"].replace("_", "-")
     for val in f["vals"]:
+        things += f"## {val}"
+        if val == f["default"]:
+            things += " (default)\n"
+        else:
+            things += "\n"
+            
         things += f"{name}-{val} = []"
         if val == f["default"]:
             things += " # Default"
diff --git a/embassy-executor/src/arch/avr.rs b/embassy-executor/src/arch/avr.rs
new file mode 100644
index 000000000..70085d04d
--- /dev/null
+++ b/embassy-executor/src/arch/avr.rs
@@ -0,0 +1,72 @@
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-avr`.");
+
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::marker::PhantomData;
+
+    pub use embassy_executor_macros::main_avr as main;
+    use portable_atomic::{AtomicBool, Ordering};
+
+    use crate::{raw, Spawner};
+
+    static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+
+    #[export_name = "__pender"]
+    fn __pender(_context: *mut ()) {
+        SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
+    }
+
+    /// avr Executor
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(core::ptr::null_mut()),
+                not_send: PhantomData,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe {
+                    avr_device::interrupt::disable();
+                    if !SIGNAL_WORK_THREAD_MODE.swap(false, Ordering::SeqCst) {
+                        avr_device::interrupt::enable();
+                        avr_device::asm::sleep();
+                    } else {
+                        avr_device::interrupt::enable();
+                        self.inner.poll();
+                    }
+                }
+            }
+        }
+    }
+}
diff --git a/embassy-executor/src/arch/riscv32.rs b/embassy-executor/src/arch/riscv32.rs
index c56f502d3..01e63a9fd 100644
--- a/embassy-executor/src/arch/riscv32.rs
+++ b/embassy-executor/src/arch/riscv32.rs
@@ -6,9 +6,9 @@ pub use thread::*;
 #[cfg(feature = "executor-thread")]
 mod thread {
     use core::marker::PhantomData;
+    use core::sync::atomic::{AtomicBool, Ordering};
 
     pub use embassy_executor_macros::main_riscv as main;
-    use portable_atomic::{AtomicBool, Ordering};
 
     use crate::{raw, Spawner};
 
diff --git a/embassy-executor/src/fmt.rs b/embassy-executor/src/fmt.rs
index 78e583c1c..2ac42c557 100644
--- a/embassy-executor/src/fmt.rs
+++ b/embassy-executor/src/fmt.rs
@@ -1,5 +1,5 @@
 #![macro_use]
-#![allow(unused_macros)]
+#![allow(unused)]
 
 use core::fmt::{Debug, Display, LowerHex};
 
@@ -229,7 +229,6 @@ impl<T, E> Try for Result<T, E> {
     }
 }
 
-#[allow(unused)]
 pub(crate) struct Bytes<'a>(pub &'a [u8]);
 
 impl<'a> Debug for Bytes<'a> {
diff --git a/embassy-executor/src/lib.rs b/embassy-executor/src/lib.rs
index 4c6900a6d..6a2e493a2 100644
--- a/embassy-executor/src/lib.rs
+++ b/embassy-executor/src/lib.rs
@@ -3,6 +3,9 @@
 #![doc = include_str!("../README.md")]
 #![warn(missing_docs)]
 
+//! ## Feature flags
+#![doc = document_features::document_features!(feature_label = r#"<span class="stab portability"><code>{feature}</code></span>"#)]
+
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
 
@@ -20,9 +23,10 @@ macro_rules! check_at_most_one {
         check_at_most_one!(@amo [$($f)*] [$($f)*] []);
     };
 }
-check_at_most_one!("arch-cortex-m", "arch-riscv32", "arch-std", "arch-wasm",);
+check_at_most_one!("arch-avr", "arch-cortex-m", "arch-riscv32", "arch-std", "arch-wasm",);
 
 #[cfg(feature = "_arch")]
+#[cfg_attr(feature = "arch-avr", path = "arch/avr.rs")]
 #[cfg_attr(feature = "arch-cortex-m", path = "arch/cortex_m.rs")]
 #[cfg_attr(feature = "arch-riscv32", path = "arch/riscv32.rs")]
 #[cfg_attr(feature = "arch-std", path = "arch/std.rs")]
diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index b16a1c7c3..d9ea5c005 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -30,9 +30,7 @@ use core::ptr::NonNull;
 use core::task::{Context, Poll};
 
 #[cfg(feature = "integrated-timers")]
-use embassy_time::driver::{self, AlarmHandle};
-#[cfg(feature = "integrated-timers")]
-use embassy_time::Instant;
+use embassy_time_driver::AlarmHandle;
 #[cfg(feature = "rtos-trace")]
 use rtos_trace::trace;
 
@@ -50,7 +48,7 @@ pub(crate) struct TaskHeader {
     poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
 
     #[cfg(feature = "integrated-timers")]
-    pub(crate) expires_at: SyncUnsafeCell<Instant>,
+    pub(crate) expires_at: SyncUnsafeCell<u64>,
     #[cfg(feature = "integrated-timers")]
     pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
 }
@@ -123,7 +121,7 @@ impl<F: Future + 'static> TaskStorage<F> {
                 poll_fn: SyncUnsafeCell::new(None),
 
                 #[cfg(feature = "integrated-timers")]
-                expires_at: SyncUnsafeCell::new(Instant::from_ticks(0)),
+                expires_at: SyncUnsafeCell::new(0),
                 #[cfg(feature = "integrated-timers")]
                 timer_queue_item: timer_queue::TimerQueueItem::new(),
             },
@@ -164,7 +162,7 @@ impl<F: Future + 'static> TaskStorage<F> {
                 this.raw.state.despawn();
 
                 #[cfg(feature = "integrated-timers")]
-                this.raw.expires_at.set(Instant::MAX);
+                this.raw.expires_at.set(u64::MAX);
             }
             Poll::Pending => {}
         }
@@ -328,7 +326,7 @@ pub(crate) struct SyncExecutor {
 impl SyncExecutor {
     pub(crate) fn new(pender: Pender) -> Self {
         #[cfg(feature = "integrated-timers")]
-        let alarm = unsafe { unwrap!(driver::allocate_alarm()) };
+        let alarm = unsafe { unwrap!(embassy_time_driver::allocate_alarm()) };
 
         Self {
             run_queue: RunQueue::new(),
@@ -377,18 +375,19 @@ impl SyncExecutor {
     /// Same as [`Executor::poll`], plus you must only call this on the thread this executor was created.
     pub(crate) unsafe fn poll(&'static self) {
         #[cfg(feature = "integrated-timers")]
-        driver::set_alarm_callback(self.alarm, Self::alarm_callback, self as *const _ as *mut ());
+        embassy_time_driver::set_alarm_callback(self.alarm, Self::alarm_callback, self as *const _ as *mut ());
 
         #[allow(clippy::never_loop)]
         loop {
             #[cfg(feature = "integrated-timers")]
-            self.timer_queue.dequeue_expired(Instant::now(), wake_task_no_pend);
+            self.timer_queue
+                .dequeue_expired(embassy_time_driver::now(), wake_task_no_pend);
 
             self.run_queue.dequeue_all(|p| {
                 let task = p.header();
 
                 #[cfg(feature = "integrated-timers")]
-                task.expires_at.set(Instant::MAX);
+                task.expires_at.set(u64::MAX);
 
                 if !task.state.run_dequeue() {
                     // If task is not running, ignore it. This can happen in the following scenario:
@@ -418,7 +417,7 @@ impl SyncExecutor {
                 // If this is already in the past, set_alarm might return false
                 // In that case do another poll loop iteration.
                 let next_expiration = self.timer_queue.next_expiration();
-                if driver::set_alarm(self.alarm, next_expiration.as_ticks()) {
+                if embassy_time_driver::set_alarm(self.alarm, next_expiration) {
                     break;
                 }
             }
@@ -568,8 +567,8 @@ pub fn wake_task_no_pend(task: TaskRef) {
 struct TimerQueue;
 
 #[cfg(feature = "integrated-timers")]
-impl embassy_time::queue::TimerQueue for TimerQueue {
-    fn schedule_wake(&'static self, at: Instant, waker: &core::task::Waker) {
+impl embassy_time_queue_driver::TimerQueue for TimerQueue {
+    fn schedule_wake(&'static self, at: u64, waker: &core::task::Waker) {
         let task = waker::task_from_waker(waker);
         let task = task.header();
         unsafe {
@@ -580,7 +579,16 @@ impl embassy_time::queue::TimerQueue for TimerQueue {
 }
 
 #[cfg(feature = "integrated-timers")]
-embassy_time::timer_queue_impl!(static TIMER_QUEUE: TimerQueue = TimerQueue);
+embassy_time_queue_driver::timer_queue_impl!(static TIMER_QUEUE: TimerQueue = TimerQueue);
+
+#[cfg(all(feature = "rtos-trace", feature = "integrated-timers"))]
+const fn gcd(a: u64, b: u64) -> u64 {
+    if b == 0 {
+        a
+    } else {
+        gcd(b, a % b)
+    }
+}
 
 #[cfg(feature = "rtos-trace")]
 impl rtos_trace::RtosTraceOSCallbacks for Executor {
@@ -589,7 +597,8 @@ impl rtos_trace::RtosTraceOSCallbacks for Executor {
     }
     #[cfg(feature = "integrated-timers")]
     fn time() -> u64 {
-        Instant::now().as_micros()
+        const GCD_1M: u64 = gcd(embassy_time_driver::TICK_HZ, 1_000_000);
+        embassy_time_driver::now() * (1_000_000 / GCD_1M) / (embassy_time_driver::TICK_HZ / GCD_1M)
     }
     #[cfg(not(feature = "integrated-timers"))]
     fn time() -> u64 {
diff --git a/embassy-executor/src/raw/timer_queue.rs b/embassy-executor/src/raw/timer_queue.rs
index 59a3b43f5..94a5f340b 100644
--- a/embassy-executor/src/raw/timer_queue.rs
+++ b/embassy-executor/src/raw/timer_queue.rs
@@ -1,7 +1,5 @@
 use core::cmp::min;
 
-use embassy_time::Instant;
-
 use super::TaskRef;
 use crate::raw::util::SyncUnsafeCell;
 
@@ -30,7 +28,7 @@ impl TimerQueue {
 
     pub(crate) unsafe fn update(&self, p: TaskRef) {
         let task = p.header();
-        if task.expires_at.get() != Instant::MAX {
+        if task.expires_at.get() != u64::MAX {
             if task.state.timer_enqueue() {
                 task.timer_queue_item.next.set(self.head.get());
                 self.head.set(Some(p));
@@ -38,18 +36,18 @@ impl TimerQueue {
         }
     }
 
-    pub(crate) unsafe fn next_expiration(&self) -> Instant {
-        let mut res = Instant::MAX;
+    pub(crate) unsafe fn next_expiration(&self) -> u64 {
+        let mut res = u64::MAX;
         self.retain(|p| {
             let task = p.header();
             let expires = task.expires_at.get();
             res = min(res, expires);
-            expires != Instant::MAX
+            expires != u64::MAX
         });
         res
     }
 
-    pub(crate) unsafe fn dequeue_expired(&self, now: Instant, on_task: impl Fn(TaskRef)) {
+    pub(crate) unsafe fn dequeue_expired(&self, now: u64, on_task: impl Fn(TaskRef)) {
         self.retain(|p| {
             let task = p.header();
             if task.expires_at.get() <= now {
diff --git a/embassy-executor/tests/test.rs b/embassy-executor/tests/test.rs
index 0dbd391e8..348cc7dc4 100644
--- a/embassy-executor/tests/test.rs
+++ b/embassy-executor/tests/test.rs
@@ -1,4 +1,4 @@
-#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))]
+#![cfg_attr(feature = "nightly", feature(impl_trait_in_assoc_type))]
 
 use std::boxed::Box;
 use std::future::poll_fn;
@@ -135,3 +135,17 @@ fn executor_task_self_wake_twice() {
         ]
     )
 }
+
+#[test]
+fn executor_task_cfg_args() {
+    // simulate cfg'ing away argument c
+    #[task]
+    async fn task1(a: u32, b: u32, #[cfg(any())] c: u32) {
+        let (_, _) = (a, b);
+    }
+
+    #[task]
+    async fn task2(a: u32, b: u32, #[cfg(all())] c: u32) {
+        let (_, _, _) = (a, b, c);
+    }
+}