From 87795cbca84a67ce9c5bdb5c3043b41251d75bbc Mon Sep 17 00:00:00 2001 From: Fabian Kunze Date: Sun, 7 May 2023 01:00:13 +0200 Subject: added example multi priority executors rp2040 --- examples/rp/Cargo.toml | 2 +- examples/rp/src/bin/multiprio.rs | 152 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 153 insertions(+), 1 deletion(-) create mode 100644 examples/rp/src/bin/multiprio.rs (limited to 'examples') diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml index 57f6f5c67..3f74129a4 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 = 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())); + }); +} -- cgit From 0584312ef0324d2ac67dbb9517176fabf628eec9 Mon Sep 17 00:00:00 2001 From: Dirk Stolle Date: Mon, 8 May 2023 23:25:01 +0200 Subject: Fix some typos --- examples/nrf52840/src/bin/pubsub.rs | 4 ++-- examples/nrf52840/src/bin/usb_serial.rs | 2 +- examples/nrf52840/src/bin/usb_serial_multitask.rs | 2 +- examples/nrf52840/src/bin/usb_serial_winusb.rs | 2 +- examples/rp/src/bin/usb_serial.rs | 2 +- examples/stm32f0/src/bin/button_controlled_blink.rs | 4 ++-- examples/stm32f4/src/bin/usb_serial.rs | 2 +- examples/stm32f7/src/bin/usb_serial.rs | 2 +- examples/stm32h5/src/bin/usb_serial.rs | 2 +- examples/stm32h7/src/bin/usb_serial.rs | 2 +- examples/stm32l4/src/bin/usb_serial.rs | 2 +- examples/stm32u5/src/bin/usb_serial.rs | 2 +- examples/stm32wl/src/bin/uart_async.rs | 2 +- 13 files changed, 15 insertions(+), 15 deletions(-) (limited to 'examples') 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/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 } } } -- cgit