diff --git a/docs/modules/ROOT/images/embassy_executor.drawio b/docs/modules/ROOT/images/embassy_executor.drawio new file mode 100644 index 000000000..b76587d97 --- /dev/null +++ b/docs/modules/ROOT/images/embassy_executor.drawio @@ -0,0 +1 @@ +7Vnhb6IwFP9r+LgFKFX8OJ13u2S3LLcld98uFQo0Q2qgTt1ff2UUsa0IU5y6XLIs9PX1WX7v1997VQOMpsvvKZpFP6mPY8M2/aUBbg3bHjg9/j83rAoDdPuFIUyJX5isyvBE3rAwmsI6Jz7OJEdGaczITDZ6NEmwxyQbSlO6kN0CGsufOkMh1gxPHop162/is6iwutCs7HeYhFH5yZYpZqaodBaGLEI+XWyYwNgAo5RSVjxNlyMc59iVuBTrvtXMrjeW4oS1WfDAsjuIh89/fv8NyGhxv0zMH1dOEeUVxXPxwuMl9uaMpmLTbFUikdJ54uM8mGWA4SIiDD/NkJfPLnjquS1i01hMZy+YeZEYBCSORzTmMfNAIHA97Hm5E0vpC96YmbjQ4ciCodgVThle1r6utQaRkw/TKWbpiruUC3oC95UyXlRptMrcRBspLP2QYE64Dl2Byx8Evh/AGmpYP6PshVus42HtI+wGW7HueS6eBN1g7djnhnVPw1rDGCf+TS4QfOTFKMuIJ8Na5cDsCmTsa2KjQMx3SOeph5uPLENpiFkT3fSUpThGjLzK+9iGv1j6SAnf4TrVoC+nGlhKCov9i1WbcqQEcpoCFS+oBXqnw/p99mdIX2OIdc3HjzRfqlKF5+0eTXhl47TAGXlDk/cpU2YMikmY5HTiOcWcAcP8UBFeS27ExJT4fr5QZpNUwETkqmw0HMx69h+Q+oOOnlsnc/oRvLCSosqc3T+1zNl6/RZgP3QI9hGgA4OTQ/exEpHQJD+4PsqiNYbtikVb6dex28AGboGmtB2o6I6rpKa/r6KrgZzPVXQAWmSUp+FJDDMcTnkKxpVp+LGeQCJDJ/LUSYPgtmwQnJOyzlTIYu7LOqiIMmzHOp5ntNpwm+UOWf2Ge9b2DdftS/Uf7Ha37V3u/KHYb7cHRq8ezroHAjf87xdG/mrrISrbob3aH7WHEtjz4HBowNtdJaeuTWrsiQp1qC1QV+a12Td7Ug6sw5heutAgyPBxFE+/Up6J4n3ulQheguJB2HDhaat4XHpkmqoFuyPFU+u5ZTVIGNzpfyQN09s4W9awR05xkoRfRMVqbvUXrWL6jfFUKtahJrX9msY+qShZqijt2/zbaj9nH0eU1D7JsT9DZAYaQ2GrL4suR1fcJl2xXXjuQlLeN89ASE56AWwrPTU5/38BbNXeKBfA4yiPY2mUBl9LeRzT2KU85jXouRLuV/bpdIgPqx9sC/fqV28w/gc= \ No newline at end of file diff --git a/docs/modules/ROOT/images/embassy_executor.png b/docs/modules/ROOT/images/embassy_executor.png new file mode 100644 index 000000000..2a83a3adb Binary files /dev/null and b/docs/modules/ROOT/images/embassy_executor.png differ diff --git a/docs/modules/ROOT/images/embassy_irq.drawio b/docs/modules/ROOT/images/embassy_irq.drawio new file mode 100644 index 000000000..aa439a8e6 --- /dev/null +++ b/docs/modules/ROOT/images/embassy_irq.drawio @@ -0,0 +1 @@ +5VlNc9owEP01HJOxLdsxx0Bokpk0zZRM0p4ywl6wBmMRWWDIr6+EBf4QKQ6tIbQcPOittLLe7j5J0ELdyeKa4Wn4lQYQtSwjWLTQVcuy2rYrnhJYZoDjXWTAiJEgg8wc6JM3UKCh0BkJICl15JRGnEzLoE/jGHxewjBjNC13G9KoPOsUj0AD+j6OdPSZBDzMUM8xcvwGyChcz2wayjLB684KSEIc0LQAoV4LdRmlPPs2WXQhktytecnGfXnHunkxBjGvM+CeJzcOdB5/PL8MSTe9W8TG7ZmdeZnjaKYW3FuAP+OUqZfmyzUTjM7iAKQzs4U6aUg49KfYl9ZUhF5gIZ9EypyMgfuhagxJFHVpJHxKRyjA4A192YkzOoaCxfU9GAyFRV+bWu4cGIdFAVJrvQY6Ac6Wosva6irel5V2mofRXMcmLIRw3Q+rzBltXOfkii+K3w9w7WhcP+JkfOo829Zn49nVeNY4hji4lOIgWn6Ek4T4ZVrzGBgNkpzQGfNhd3VyzEbAd2cWBCUt00PGIMKczMvSto1/NfSBEvHKm1Cji3KokVkJYbYgNaooRRVH9i5H2Yo1R6t02Kxn/wy50DLEPG/JHHUjQXNnIMTPHfFV6DIkIPM19ECl/wwWkxcsepaJeNzhgdgQRUZBQt7wYGUyysmGIzKKZSaK/ACRPB1ZfERsQZfKMCFBIAeWE1FPq99Vg9of1Rvku1KNQq+dNX9UtZa+Fd1KPthsKjPnBseCgwZ3paHng7+1kAeeYztGM7sS8g6oli9P8/YrfvVf3O8/A3Y9f5oTdGZqtDeolrVJrkjZfvJp1dVPuxG5tNrlWIvD7znybNd01NPdUz1Rxa9nn+dOxdNuSky3JpClJZBTW0zvKSfD5SeS09oyWc7I9yvrAHK6dXL0f5X1Vg6cZsq6Un6ovecpCFX0wW7uFLSVHn3DtWXhPuMxnHztoWPWnn7RewBGpiEwLMf2OeY6wwc4yFy2u3avIywjhgMiCCyOWn2Ut756rRD74YxBYcQVYSJEhMpYppDkOr0jSB+7Qx7/VPQ575B/RT6do6qnXRE9ZO2pnm5VhquOGlZP/Q5p1T72XKaYyKXcipm//aOnH/eYCuyd7Oln513FauiyUpFgx9izLqvHo037QHXZ1kKPZF0Wfks48cLymiks0cz/i8iCkf+hg3q/AA== \ No newline at end of file diff --git a/docs/modules/ROOT/images/embassy_irq.png b/docs/modules/ROOT/images/embassy_irq.png new file mode 100644 index 000000000..154d336b6 Binary files /dev/null and b/docs/modules/ROOT/images/embassy_irq.png differ diff --git a/docs/modules/ROOT/pages/index.adoc b/docs/modules/ROOT/pages/index.adoc index e4b5aac48..9a14e465d 100644 --- a/docs/modules/ROOT/pages/index.adoc +++ b/docs/modules/ROOT/pages/index.adoc @@ -11,7 +11,7 @@ With threads, one thread blocks on an I/O operation, another is able to take its The other way to handle blocking I/O operations is to support polling the state of the underlying peripherals to check whether it is available to perform the requested operation. In programming languages without builtin async support, this requires building a complex loop checking for events. -In Rust, non-blocking operaetions can be implemented using async-await. Async-await works by transforming each async function into an object called a future. When a future blocks on I/O the future yields, and the scheduler, called an executor, can select a different future to execute. Compared to alternatives such as an RTOS, async can yield better performance and lower power consumption because the executor doesn't have to guess when a future is ready to execute. However, program size may be higher than other alternatives, which may be a problem for certain space-constrained devices with very low memory. On the devices Embassy supports, such as stm32 and nrf, memory is generally large enough to accommodate the modestly-increased program size. +In Rust, non-blocking operations can be implemented using async-await. Async-await works by transforming each async function into an object called a future. When a future blocks on I/O the future yields, and the scheduler, called an executor, can select a different future to execute. Compared to alternatives such as an RTOS, async can yield better performance and lower power consumption because the executor doesn't have to guess when a future is ready to execute. However, program size may be higher than other alternatives, which may be a problem for certain space-constrained devices with very low memory. On the devices Embassy supports, such as stm32 and nrf, memory is generally large enough to accommodate the modestly-increased program size. == What is Embassy? diff --git a/docs/modules/ROOT/pages/runtime.adoc b/docs/modules/ROOT/pages/runtime.adoc index 8351fd0d1..39cf2545e 100644 --- a/docs/modules/ROOT/pages/runtime.adoc +++ b/docs/modules/ROOT/pages/runtime.adoc @@ -1,11 +1,28 @@ = Embassy runtime -The Embassy excecutor is an async/await executor designed for embedded usage. +The Embassy executor is an async/await executor designed for embedded usage. -* No `alloc`, no heap needed. Task futures are statically allocated. +* No `alloc`, no heap needed. Task are statically allocated. * No "fixed capacity" data structures, executor works with 1 or 1000 tasks without needing config/tuning. * Integrated timer queue: sleeping is easy, just do `Timer::after(Duration::from_secs(1)).await;`. * No busy-loop polling: CPU sleeps when there's no work to do, using interrupts or `WFE/SEV`. * Efficient polling: a wake will only poll the woken task, not all of them. * Fair: a task can't monopolize CPU time even if it's constantly being woken. All other tasks get a chance to run before a given task gets polled for the second time. * Creating multiple executor instances is supported, to run tasks with multiple priority levels. This allows higher-priority tasks to preempt lower-priority tasks. + +== Executor + +The executor function is described below. The executor keeps a queue of tasks that it should poll. When a task is created, it is polled (1). The task will attempt to make progress until reaches a point where it would be blocked. This may happen whenever a task is .await'ing an async function. When that happens, the task yields execution by (2) returning `Poll::Pending`. Once a task yields, the executor enqueues the task at the end of the run queue, and proceeds to (3) poll the next task in the queue. If a task returns `Poll::Ready` it essentially means that the task is finished and will not be enqueued again. + +IMPORTANT: The executor relies on tasks not blocking indefinitely, as this prevents the executor to regain control and schedule another task. + +image::embassy_executor.png[Executor model] + + +== Interrupts + +Interrupts are a common way for peripherals to signal completion of some operation and fits well with the async execution model. The following diagram describes a typical application flow where (1) a task is polled and is attempting to make progress. The task then (2) instructs the peripheral to perform some operation, and awaits. After some time has passede, (3) an interrupt is raised, marking the completion of the operation. + +The peripheral HAL then (4) ensures that interrupt signals are routed to to the peripheral and updating the peripheral state with the results of the operation. The executor is then (5) notified that the task should be polled, which it will do. + +image::embassy_irq.png[Interrupt handling]