15 files changed, 168 insertions, 16 deletions

diff --git a/examples/nrf52840/src/bin/pubsub.rs b/examples/nrf52840/src/bin/pubsub.rs
index 688e6d075..cca60ebc9 100644
--- a/examples/nrf52840/src/bin/pubsub.rs
+++ b/examples/nrf52840/src/bin/pubsub.rs
@@ -74,9 +74,9 @@ async fn fast_logger(mut messages: Subscriber<'static, ThreadModeRawMutex, Messa
 }
 
 /// A logger task that awaits the messages, but also does some other work.
-/// Because of this, depeding on how the messages were published, the subscriber might miss some messages
+/// Because of this, depending on how the messages were published, the subscriber might miss some messages.
 ///
-/// This takes the dynamic `DynSubscriber`. This is not as performant as the generic version, but let's you ignore some of the generics
+/// This takes the dynamic `DynSubscriber`. This is not as performant as the generic version, but let's you ignore some of the generics.
 #[embassy_executor::task]
 async fn slow_logger(mut messages: DynSubscriber<'static, Message>) {
     loop {
diff --git a/examples/nrf52840/src/bin/usb_serial.rs b/examples/nrf52840/src/bin/usb_serial.rs
index 9727a4f57..dc95cde84 100644
--- a/examples/nrf52840/src/bin/usb_serial.rs
+++ b/examples/nrf52840/src/bin/usb_serial.rs
@@ -40,7 +40,7 @@ async fn main(_spawner: Spawner) {
     config.max_power = 100;
     config.max_packet_size_0 = 64;
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/nrf52840/src/bin/usb_serial_multitask.rs b/examples/nrf52840/src/bin/usb_serial_multitask.rs
index 6da2c2a2f..ac22d9499 100644
--- a/examples/nrf52840/src/bin/usb_serial_multitask.rs
+++ b/examples/nrf52840/src/bin/usb_serial_multitask.rs
@@ -66,7 +66,7 @@ async fn main(spawner: Spawner) {
     config.max_power = 100;
     config.max_packet_size_0 = 64;
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/nrf52840/src/bin/usb_serial_winusb.rs b/examples/nrf52840/src/bin/usb_serial_winusb.rs
index 6e4f71a48..1d39d3841 100644
--- a/examples/nrf52840/src/bin/usb_serial_winusb.rs
+++ b/examples/nrf52840/src/bin/usb_serial_winusb.rs
@@ -45,7 +45,7 @@ async fn main(_spawner: Spawner) {
     config.max_power = 100;
     config.max_packet_size_0 = 64;
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index d2829df99..ffeb69f15 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal", features = ["defmt"] }
 embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["nightly", "unstable-traits", "defmt", "defmt-timestamp-uptime"] }
 embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver", "critical-section-impl"] }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/rp/src/bin/multiprio.rs b/examples/rp/src/bin/multiprio.rs
new file mode 100644
index 000000000..2f79ba49e
--- /dev/null
+++ b/examples/rp/src/bin/multiprio.rs
@@ -0,0 +1,152 @@
+//! This example showcases how to create multiple Executor instances to run tasks at
+//! different priority levels.
+//!
+//! Low priority executor runs in thread mode (not interrupt), and uses `sev` for signaling
+//! there's work in the queue, and `wfe` for waiting for work.
+//!
+//! Medium and high priority executors run in two interrupts with different priorities.
+//! Signaling work is done by pending the interrupt. No "waiting" needs to be done explicitly, since
+//! when there's work the interrupt will trigger and run the executor.
+//!
+//! Sample output below. Note that high priority ticks can interrupt everything else, and
+//! medium priority computations can interrupt low priority computations, making them to appear
+//! to take significantly longer time.
+//!
+//! ```not_rust
+//!     [med] Starting long computation
+//!     [med] done in 992 ms
+//!         [high] tick!
+//! [low] Starting long computation
+//!     [med] Starting long computation
+//!         [high] tick!
+//!         [high] tick!
+//!     [med] done in 993 ms
+//!     [med] Starting long computation
+//!         [high] tick!
+//!         [high] tick!
+//!     [med] done in 993 ms
+//! [low] done in 3972 ms
+//!     [med] Starting long computation
+//!         [high] tick!
+//!         [high] tick!
+//!     [med] done in 993 ms
+//! ```
+//!
+//! For comparison, try changing the code so all 3 tasks get spawned on the low priority executor.
+//! You will get an output like the following. Note that no computation is ever interrupted.
+//!
+//! ```not_rust
+//!         [high] tick!
+//!     [med] Starting long computation
+//!     [med] done in 496 ms
+//! [low] Starting long computation
+//! [low] done in 992 ms
+//!     [med] Starting long computation
+//!     [med] done in 496 ms
+//!         [high] tick!
+//! [low] Starting long computation
+//! [low] done in 992 ms
+//!         [high] tick!
+//!     [med] Starting long computation
+//!     [med] done in 496 ms
+//!         [high] tick!
+//! ```
+//!
+
+#![no_std]
+#![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_rp::executor::{Executor, InterruptExecutor};
+use embassy_rp::interrupt;
+use embassy_rp::pac::Interrupt;
+use embassy_time::{Duration, Instant, Timer, TICK_HZ};
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::task]
+async fn run_high() {
+    loop {
+        info!("        [high] tick!");
+        Timer::after(Duration::from_ticks(673740)).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn run_med() {
+    loop {
+        let start = Instant::now();
+        info!("    [med] Starting long computation");
+
+        // Spin-wait to simulate a long CPU computation
+        cortex_m::asm::delay(125_000_000); // ~1 second
+
+        let end = Instant::now();
+        let ms = end.duration_since(start).as_ticks() * 1000 / TICK_HZ;
+        info!("    [med] done in {} ms", ms);
+
+        Timer::after(Duration::from_ticks(53421)).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn run_low() {
+    loop {
+        let start = Instant::now();
+        info!("[low] Starting long computation");
+
+        // Spin-wait to simulate a long CPU computation
+        cortex_m::asm::delay(250_000_000); // ~2 seconds
+
+        let end = Instant::now();
+        let ms = end.duration_since(start).as_ticks() * 1000 / TICK_HZ;
+        info!("[low] done in {} ms", ms);
+
+        Timer::after(Duration::from_ticks(82983)).await;
+    }
+}
+
+static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
+
+#[interrupt]
+unsafe fn SWI_IRQ_1() {
+    EXECUTOR_HIGH.on_interrupt()
+}
+
+#[interrupt]
+unsafe fn SWI_IRQ_0() {
+    EXECUTOR_MED.on_interrupt()
+}
+
+#[entry]
+fn main() -> ! {
+    info!("Hello World!");
+
+    let _p = embassy_rp::init(Default::default());
+    let mut nvic: NVIC = unsafe { mem::transmute(()) };
+
+    // High-priority executor: SWI_IRQ_1, priority level 2
+    unsafe { nvic.set_priority(Interrupt::SWI_IRQ_1, 2 << 6) };
+    info!("bla: {}", NVIC::get_priority(Interrupt::SWI_IRQ_1));
+    let spawner = EXECUTOR_HIGH.start(Interrupt::SWI_IRQ_1);
+    unwrap!(spawner.spawn(run_high()));
+
+    // Medium-priority executor: SWI_IRQ_0, priority level 3
+    unsafe { nvic.set_priority(Interrupt::SWI_IRQ_0, 3 << 6) };
+    info!("bla: {}", NVIC::get_priority(Interrupt::SWI_IRQ_0));
+    let spawner = EXECUTOR_MED.start(Interrupt::SWI_IRQ_0);
+    unwrap!(spawner.spawn(run_med()));
+
+    // Low priority executor: runs in thread mode, using WFE/SEV
+    let executor = EXECUTOR_LOW.init(Executor::new());
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run_low()));
+    });
+}
diff --git a/examples/rp/src/bin/usb_serial.rs b/examples/rp/src/bin/usb_serial.rs
index a991082ee..8160a1875 100644
--- a/examples/rp/src/bin/usb_serial.rs
+++ b/examples/rp/src/bin/usb_serial.rs
@@ -30,7 +30,7 @@ async fn main(_spawner: Spawner) {
     config.max_power = 100;
     config.max_packet_size_0 = 64;
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32f0/src/bin/button_controlled_blink.rs b/examples/stm32f0/src/bin/button_controlled_blink.rs
index e1f223433..f362c53f5 100644
--- a/examples/stm32f0/src/bin/button_controlled_blink.rs
+++ b/examples/stm32f0/src/bin/button_controlled_blink.rs
@@ -17,8 +17,8 @@ static BLINK_MS: AtomicU32 = AtomicU32::new(0);
 
 #[embassy_executor::task]
 async fn led_task(led: AnyPin) {
-    // Configure the LED pin as a push pull ouput and obtain handler.
-    // On the Nucleo F091RC theres an on-board LED connected to pin PA5.
+    // Configure the LED pin as a push pull output and obtain handler.
+    // On the Nucleo F091RC there's an on-board LED connected to pin PA5.
     let mut led = Output::new(led, Level::Low, Speed::Low);
 
     loop {
diff --git a/examples/stm32f4/src/bin/usb_serial.rs b/examples/stm32f4/src/bin/usb_serial.rs
index baabc1a2d..d2b1dca43 100644
--- a/examples/stm32f4/src/bin/usb_serial.rs
+++ b/examples/stm32f4/src/bin/usb_serial.rs
@@ -34,7 +34,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32f7/src/bin/usb_serial.rs b/examples/stm32f7/src/bin/usb_serial.rs
index 5fd9d2ec9..dca90d9cb 100644
--- a/examples/stm32f7/src/bin/usb_serial.rs
+++ b/examples/stm32f7/src/bin/usb_serial.rs
@@ -35,7 +35,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32h5/src/bin/usb_serial.rs b/examples/stm32h5/src/bin/usb_serial.rs
index 6af269c1d..4f987cbd1 100644
--- a/examples/stm32h5/src/bin/usb_serial.rs
+++ b/examples/stm32h5/src/bin/usb_serial.rs
@@ -57,7 +57,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32h7/src/bin/usb_serial.rs b/examples/stm32h7/src/bin/usb_serial.rs
index 9ef520ae2..475af116d 100644
--- a/examples/stm32h7/src/bin/usb_serial.rs
+++ b/examples/stm32h7/src/bin/usb_serial.rs
@@ -34,7 +34,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32l4/src/bin/usb_serial.rs b/examples/stm32l4/src/bin/usb_serial.rs
index 663f60d52..bdb290e63 100644
--- a/examples/stm32l4/src/bin/usb_serial.rs
+++ b/examples/stm32l4/src/bin/usb_serial.rs
@@ -36,7 +36,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32u5/src/bin/usb_serial.rs b/examples/stm32u5/src/bin/usb_serial.rs
index 8cd3bf2f4..4882cd2e0 100644
--- a/examples/stm32u5/src/bin/usb_serial.rs
+++ b/examples/stm32u5/src/bin/usb_serial.rs
@@ -36,7 +36,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32wl/src/bin/uart_async.rs b/examples/stm32wl/src/bin/uart_async.rs
index f12fec4c8..ac8766af6 100644
--- a/examples/stm32wl/src/bin/uart_async.rs
+++ b/examples/stm32wl/src/bin/uart_async.rs
@@ -48,7 +48,7 @@ async fn main(_spawner: Spawner) {
                         //Write suc.
                     }
                     Err(..) => {
-                        //Wasnt able to write
+                        //Wasn't able to write
                     }
                 }
             }