diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml index 7b8e36414..85ded1df4 100644 --- a/embassy-nrf/Cargo.toml +++ b/embassy-nrf/Cargo.toml @@ -21,7 +21,7 @@ nrf52840 = ["nrf52840-pac"] [dependencies] -embassy = { version = "0.1.0", path = "../embassy" } +embassy = { version = "0.1.0", path = "../embassy", features = ["time-tick-32768hz"] } embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["nrf"]} embassy-extras = {version = "0.1.0", path = "../embassy-extras" } diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml index 2313c6432..503d2c706 100644 --- a/embassy-rp/Cargo.toml +++ b/embassy-rp/Cargo.toml @@ -12,7 +12,7 @@ defmt-warn = [ ] defmt-error = [ ] [dependencies] -embassy = { version = "0.1.0", path = "../embassy" } +embassy = { version = "0.1.0", path = "../embassy", features = [ "time-tick-1mhz" ] } embassy-extras = {version = "0.1.0", path = "../embassy-extras" } embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["rp"]} diff --git a/embassy-std/Cargo.toml b/embassy-std/Cargo.toml index 2a95838e8..2633f1232 100644 --- a/embassy-std/Cargo.toml +++ b/embassy-std/Cargo.toml @@ -5,6 +5,6 @@ authors = ["Dario Nieuwenhuis "] edition = "2018" [dependencies] -embassy = { version = "0.1.0", path = "../embassy", features = ["std"] } +embassy = { version = "0.1.0", path = "../embassy", features = ["std", "time-tick-32768hz"] } embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["std"]} lazy_static = "1.4.0" diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml index 4e37c94fe..654bc98ef 100644 --- a/embassy-stm32/Cargo.toml +++ b/embassy-stm32/Cargo.toml @@ -6,7 +6,7 @@ edition = "2018" resolver = "2" [dependencies] -embassy = { version = "0.1.0", path = "../embassy" } +embassy = { version = "0.1.0", path = "../embassy", features = ["time-tick-32768hz"] } embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["stm32"] } embassy-extras = {version = "0.1.0", path = "../embassy-extras" } embassy-traits = {version = "0.1.0", path = "../embassy-traits" } diff --git a/embassy/Cargo.toml b/embassy/Cargo.toml index 87f54409a..b2ad80495 100644 --- a/embassy/Cargo.toml +++ b/embassy/Cargo.toml @@ -5,11 +5,13 @@ authors = ["Dario Nieuwenhuis "] edition = "2018" [features] -default = ["tick-32768hz"] +default = [] std = ["futures/std", "embassy-traits/std"] -tick-32768hz = [] -tick-1000hz = [] -tick-1mhz = [] + +time = [] +time-tick-32768hz = ["time"] +time-tick-1000hz = ["time"] +time-tick-1mhz = ["time"] defmt-trace = [] defmt-debug = [] diff --git a/embassy/src/executor/mod.rs b/embassy/src/executor/mod.rs index d9740d56d..771f75ee8 100644 --- a/embassy/src/executor/mod.rs +++ b/embassy/src/executor/mod.rs @@ -4,12 +4,12 @@ use core::{mem, ptr}; pub mod raw; mod run_queue; +#[cfg(feature = "time")] mod timer_queue; mod util; mod waker; use crate::interrupt::{Interrupt, InterruptExt}; -use crate::time::Alarm; #[must_use = "Calling a task function does nothing on its own. You must pass the returned SpawnToken to Executor::spawn()"] pub struct SpawnToken { @@ -116,7 +116,8 @@ impl Executor { } } - pub fn set_alarm(&mut self, alarm: &'static dyn Alarm) { + #[cfg(feature = "time")] + pub fn set_alarm(&mut self, alarm: &'static dyn crate::time::Alarm) { self.inner.set_alarm(alarm); } @@ -160,7 +161,8 @@ impl InterruptExecutor { } } - pub fn set_alarm(&mut self, alarm: &'static dyn Alarm) { + #[cfg(feature = "time")] + pub fn set_alarm(&mut self, alarm: &'static dyn crate::time::Alarm) { self.inner.set_alarm(alarm); } diff --git a/embassy/src/executor/raw.rs b/embassy/src/executor/raw.rs index 52512c533..cd2f0446d 100644 --- a/embassy/src/executor/raw.rs +++ b/embassy/src/executor/raw.rs @@ -1,18 +1,20 @@ use atomic_polyfill::{AtomicU32, Ordering}; use core::cell::Cell; -use core::cmp::min; use core::future::Future; use core::marker::PhantomData; use core::pin::Pin; use core::ptr::NonNull; -use core::task::{Context, Poll, Waker}; +use core::task::{Context, Poll}; use core::{mem, ptr}; use super::run_queue::{RunQueue, RunQueueItem}; -use super::timer_queue::{TimerQueue, TimerQueueItem}; use super::util::UninitCell; use super::waker; use super::SpawnToken; + +#[cfg(feature = "time")] +use super::timer_queue::{TimerQueue, TimerQueueItem}; +#[cfg(feature = "time")] use crate::time::{Alarm, Instant}; /// Task is spawned (has a future) @@ -20,26 +22,33 @@ pub(crate) const STATE_SPAWNED: u32 = 1 << 0; /// Task is in the executor run queue pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1; /// Task is in the executor timer queue +#[cfg(feature = "time")] pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2; pub struct TaskHeader { pub(crate) state: AtomicU32, pub(crate) run_queue_item: RunQueueItem, - pub(crate) expires_at: Cell, - pub(crate) timer_queue_item: TimerQueueItem, pub(crate) executor: Cell<*const Executor>, // Valid if state != 0 pub(crate) poll_fn: UninitCell)>, // Valid if STATE_SPAWNED + + #[cfg(feature = "time")] + pub(crate) expires_at: Cell, + #[cfg(feature = "time")] + pub(crate) timer_queue_item: TimerQueueItem, } impl TaskHeader { pub(crate) const fn new() -> Self { Self { state: AtomicU32::new(0), - expires_at: Cell::new(Instant::from_ticks(0)), run_queue_item: RunQueueItem::new(), - timer_queue_item: TimerQueueItem::new(), executor: Cell::new(ptr::null()), poll_fn: UninitCell::uninit(), + + #[cfg(feature = "time")] + expires_at: Cell::new(Instant::from_ticks(0)), + #[cfg(feature = "time")] + timer_queue_item: TimerQueueItem::new(), } } @@ -154,9 +163,12 @@ unsafe impl Sync for Task {} pub struct Executor { run_queue: RunQueue, - timer_queue: TimerQueue, signal_fn: fn(*mut ()), signal_ctx: *mut (), + + #[cfg(feature = "time")] + timer_queue: TimerQueue, + #[cfg(feature = "time")] alarm: Option<&'static dyn Alarm>, } @@ -164,13 +176,17 @@ impl Executor { pub const fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self { Self { run_queue: RunQueue::new(), - timer_queue: TimerQueue::new(), signal_fn, signal_ctx, + + #[cfg(feature = "time")] + timer_queue: TimerQueue::new(), + #[cfg(feature = "time")] alarm: None, } } + #[cfg(feature = "time")] pub fn set_alarm(&mut self, alarm: &'static dyn Alarm) { self.alarm = Some(alarm); } @@ -192,6 +208,7 @@ impl Executor { } pub unsafe fn run_queued(&'static self) { + #[cfg(feature = "time")] if self.alarm.is_some() { self.timer_queue.dequeue_expired(Instant::now(), |p| { p.as_ref().enqueue(); @@ -200,6 +217,8 @@ impl Executor { self.run_queue.dequeue_all(|p| { let task = p.as_ref(); + + #[cfg(feature = "time")] task.expires_at.set(Instant::MAX); let state = task.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel); @@ -216,11 +235,13 @@ impl Executor { task.poll_fn.read()(p as _); // Enqueue or update into timer_queue + #[cfg(feature = "time")] self.timer_queue.update(p); }); // If this is in the past, set_alarm will immediately trigger the alarm, // which will make the wfe immediately return so we do another loop iteration. + #[cfg(feature = "time")] if let Some(alarm) = self.alarm { let next_expiration = self.timer_queue.next_expiration(); alarm.set_callback(self.signal_fn, self.signal_ctx); @@ -242,9 +263,10 @@ pub unsafe fn wake_task(task: NonNull) { task.as_ref().enqueue(); } -pub(crate) unsafe fn register_timer(at: Instant, waker: &Waker) { +#[cfg(feature = "time")] +pub(crate) unsafe fn register_timer(at: Instant, waker: &core::task::Waker) { let task = waker::task_from_waker(waker); let task = task.as_ref(); let expires_at = task.expires_at.get(); - task.expires_at.set(min(expires_at, at)); + task.expires_at.set(expires_at.min(at)); } diff --git a/embassy/src/lib.rs b/embassy/src/lib.rs index 3a0701d38..41102a180 100644 --- a/embassy/src/lib.rs +++ b/embassy/src/lib.rs @@ -14,6 +14,7 @@ pub(crate) mod fmt; pub mod executor; pub mod interrupt; pub mod io; +#[cfg(feature = "time")] pub mod time; pub mod util; diff --git a/embassy/src/time/mod.rs b/embassy/src/time/mod.rs index 9b7a4be18..d9777c45b 100644 --- a/embassy/src/time/mod.rs +++ b/embassy/src/time/mod.rs @@ -13,21 +13,13 @@ pub use instant::Instant; pub use timer::{with_timeout, Ticker, TimeoutError, Timer}; pub use traits::*; -#[cfg(any( - all(feature = "tick-32768hz", feature = "tick-1000hz"), - all(feature = "tick-32768hz", feature = "tick-1mhz"), -))] -compile_error!( - "Disable default-features to be able to use a tick rate other than the default (32768 Hz)" -); - -#[cfg(feature = "tick-1000hz")] +#[cfg(feature = "time-tick-1000hz")] pub const TICKS_PER_SECOND: u64 = 1_000; -#[cfg(feature = "tick-32768hz")] +#[cfg(feature = "time-tick-32768hz")] pub const TICKS_PER_SECOND: u64 = 32_768; -#[cfg(feature = "tick-1mhz")] +#[cfg(feature = "time-tick-1mhz")] pub const TICKS_PER_SECOND: u64 = 1_000_000; static mut CLOCK: Option<&'static dyn Clock> = None;