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Merge remote-tracking branch 'upstream/main' into stm32-spi-device

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Thomas Churchman 2024-07-08 22:27:47 +02:00
commit d7f51529c4
655 changed files with 35628 additions and 10085 deletions
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17
.github/ci/book.sh vendored Executable file
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@ -0,0 +1,17 @@
#!/bin/bash
## on push branch=main
set -euxo pipefail
make -C docs
export KUBECONFIG=/ci/secrets/kubeconfig.yml
POD=$(kubectl -n embassy get po -l app=website -o jsonpath={.items[0].metadata.name})
mkdir -p build
mv docs/book build/book
tar -C build -cf book.tar book
kubectl exec $POD -- mkdir -p /usr/share/nginx/html
kubectl cp book.tar $POD:/usr/share/nginx/html/
kubectl exec $POD -- find /usr/share/nginx/html
kubectl exec $POD -- tar -C /usr/share/nginx/html -xvf /usr/share/nginx/html/book.tar

1
.github/ci/doc.sh vendored
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@ -38,6 +38,7 @@ docserver-builder -i ./embassy-usb -o webroot/crates/embassy-usb/git.zup
docserver-builder -i ./embassy-usb-dfu -o webroot/crates/embassy-usb-dfu/git.zup
docserver-builder -i ./embassy-usb-driver -o webroot/crates/embassy-usb-driver/git.zup
docserver-builder -i ./embassy-usb-logger -o webroot/crates/embassy-usb-logger/git.zup
docserver-builder -i ./embassy-usb-synopsys-otg -o webroot/crates/embassy-usb-synopsys-otg/git.zup
docserver-builder -i ./embassy-net -o webroot/crates/embassy-net/git.zup
docserver-builder -i ./embassy-net-driver -o webroot/crates/embassy-net-driver/git.zup

1
.github/ci/test-nightly.sh vendored
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@ -11,3 +11,4 @@ mv rust-toolchain-nightly.toml rust-toolchain.toml
MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-executor/Cargo.toml
MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-executor/Cargo.toml --features nightly
MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-sync/Cargo.toml

1
.github/ci/test.sh vendored
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@ -8,6 +8,7 @@ export RUSTUP_HOME=/ci/cache/rustup
export CARGO_HOME=/ci/cache/cargo
export CARGO_TARGET_DIR=/ci/cache/target
cargo test --manifest-path ./embassy-futures/Cargo.toml
cargo test --manifest-path ./embassy-sync/Cargo.toml
cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml
cargo test --manifest-path ./embassy-hal-internal/Cargo.toml

12
.vscode/settings.json vendored
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@ -9,21 +9,25 @@
"rust-analyzer.check.noDefaultFeatures": true,
"rust-analyzer.cargo.noDefaultFeatures": true,
"rust-analyzer.showUnlinkedFileNotification": false,
// uncomment the target of your chip.
// Uncomment the target of your chip.
//"rust-analyzer.cargo.target": "thumbv6m-none-eabi",
//"rust-analyzer.cargo.target": "thumbv7m-none-eabi",
"rust-analyzer.cargo.target": "thumbv7em-none-eabi",
//"rust-analyzer.cargo.target": "thumbv7em-none-eabihf",
//"rust-analyzer.cargo.target": "thumbv8m.main-none-eabihf",
"rust-analyzer.cargo.features": [
"stm32f103c8",
// Comment out these features when working on the examples. Most example crates do not have any cargo features.
"stm32f446re",
"time-driver-any",
"unstable-pac",
"exti",
"rt",
],
"rust-analyzer.linkedProjects": [
// Uncomment ONE line for the chip you want to work on.
// This makes rust-analyzer work on the example crate and all its dependencies.
"embassy-stm32/Cargo.toml",
// To work on the examples, comment the line above and all of the cargo.features lines,
// then uncomment ONE line below to select the chip you want to work on.
// This makes rust-analyzer work on the example crate and all its dependencies.
// "examples/nrf52840-rtic/Cargo.toml",
// "examples/nrf5340/Cargo.toml",
// "examples/nrf-rtos-trace/Cargo.toml",

428
LICENSE-CC-BY-SA Normal file
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@ -0,0 +1,428 @@
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14
README.md
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@ -2,12 +2,12 @@
Embassy is the next-generation framework for embedded applications. Write safe, correct and energy-efficient embedded code faster, using the Rust programming language, its async facilities, and the Embassy libraries.
## <a href="https://embassy.dev/book/dev/index.html">Documentation</a> - <a href="https://docs.embassy.dev/">API reference</a> - <a href="https://embassy.dev/">Website</a> - <a href="https://matrix.to/#/#embassy-rs:matrix.org">Chat</a>
## <a href="https://embassy.dev/book/index.html">Documentation</a> - <a href="https://docs.embassy.dev/">API reference</a> - <a href="https://embassy.dev/">Website</a> - <a href="https://matrix.to/#/#embassy-rs:matrix.org">Chat</a>
## Rust + async ❤️ embedded
The Rust programming language is blazingly fast and memory-efficient, with no runtime, garbage collector or OS. It catches a wide variety of bugs at compile time, thanks to its full memory- and thread-safety, and expressive type system.
Rust's <a href="https://rust-lang.github.io/async-book/">async/await</a> allows for unprecedently easy and efficient multitasking in embedded systems. Tasks get transformed at compile time into state machines that get run cooperatively. It requires no dynamic memory allocation, and runs on a single stack, so no per-task stack size tuning is required. It obsoletes the need for a traditional RTOS with kernel context switching, and is <a href="https://tweedegolf.nl/en/blog/65/async-rust-vs-rtos-showdown">faster and smaller than one!</a>
Rust's <a href="https://rust-lang.github.io/async-book/">async/await</a> allows for unprecedentedly easy and efficient multitasking in embedded systems. Tasks get transformed at compile time into state machines that get run cooperatively. It requires no dynamic memory allocation, and runs on a single stack, so no per-task stack size tuning is required. It obsoletes the need for a traditional RTOS with kernel context switching, and is <a href="https://tweedegolf.nl/en/blog/65/async-rust-vs-rtos-showdown">faster and smaller than one!</a>
## Batteries included
@ -18,6 +18,7 @@ Rust's <a href="https://rust-lang.github.io/async-book/">async/await</a> allows
- <a href="https://github.com/esp-rs">esp-rs</a>, for the Espressif Systems ESP32 series of chips.
- Embassy HAL support for Espressif chips is being developed in the [esp-rs/esp-hal](https://github.com/esp-rs/esp-hal) repository.
- Async WiFi, Bluetooth and ESP-NOW is being developed in the [esp-rs/esp-wifi](https://github.com/esp-rs/esp-wifi) repository.
- <a href="https://github.com/ch32-rs/ch32-hal">ch32-hal</a>, for the WCH 32-bit RISC-V(CH32V) series of chips.
- **Time that Just Works** -
No more messing with hardware timers. <a href="https://docs.embassy.dev/embassy-time">embassy_time</a> provides Instant, Duration and Timer types that are globally available and never overflow.
@ -89,7 +90,7 @@ async fn main(spawner: Spawner) {
## Examples
Examples are found in the `examples/` folder seperated by the chip manufacturer they are designed to run on. For example:
Examples are found in the `examples/` folder separated by the chip manufacturer they are designed to run on. For example:
* `examples/nrf52840` run on the `nrf52840-dk` board (PCA10056) but should be easily adaptable to other nRF52 chips and boards.
* `examples/nrf5340` run on the `nrf5340-dk` board (PCA10095).
@ -99,12 +100,7 @@ Examples are found in the `examples/` folder seperated by the chip manufacturer
### Running examples
- Install `probe-rs`.
```bash
cargo install probe-rs --features cli
```
- Install `probe-rs` following the instructions at <https://probe.rs>.
- Change directory to the sample's base directory. For example:
```bash

1
ci-nightly.sh
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@ -30,4 +30,3 @@ cargo batch \
cargo build --release --manifest-path embassy-executor/Cargo.toml --target avr-unknown-gnu-atmega328 -Z build-std=core,alloc --features nightly,arch-avr,avr-device/atmega328p
cargo build --release --manifest-path embassy-executor/Cargo.toml --target avr-unknown-gnu-atmega328 -Z build-std=core,alloc --features nightly,arch-avr,integrated-timers,avr-device/atmega328p

45
ci.sh
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@ -2,6 +2,12 @@
set -eo pipefail
# check-cfg is stable on rustc 1.79 but not cargo 1.79.
# however, our cargo-batch is currently based on cargo 1.80, which does support check-cfg.
# so, force build.rs scripts to emit check-cfg commands.
# when 1.80 hits stable we can make build.rs unconditionally emit check-cfg and remove all this.
export EMBASSY_FORCE_CHECK_CFG=1
export RUSTFLAGS=-Dwarnings
export DEFMT_LOG=trace,embassy_hal_internal=debug,embassy_net_esp_hosted=debug,cyw43=info,cyw43_pio=info,smoltcp=info
if [[ -z "${CARGO_TARGET_DIR}" ]]; then
@ -125,6 +131,10 @@ cargo batch \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h725re,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7b3ai,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7b3ai,defmt,exti,time-driver-tim1,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7r3z8,defmt,exti,time-driver-tim1,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7r7a8,defmt,exti,time-driver-tim1,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7s3a8,defmt,exti,time-driver-tim1,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7s7z8,defmt,exti,time-driver-tim1,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l431cb,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l422cb,defmt,exti,time-driver-any,time \
@ -147,8 +157,15 @@ cargo batch \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f103re,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f100c4,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32h503rb,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32h523cc,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32h562ag,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32wba50ke,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32wba55ug,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32u5g9nj,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb35ce,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u031r8,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u073mb,defmt,exti,time-driver-any,time \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u083rc,defmt,exti,time-driver-any,time \
--- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features ''\
--- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'log' \
--- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'defmt' \
@ -160,11 +177,12 @@ cargo batch \
--- build --release --manifest-path embassy-boot-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
--- build --release --manifest-path embassy-boot-rp/Cargo.toml --target thumbv6m-none-eabi \
--- build --release --manifest-path embassy-boot-stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
--- build --release --manifest-path docs/modules/ROOT/examples/basic/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-pac/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-hal/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-irq/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/examples/basic/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/examples/layer-by-layer/blinky-pac/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/examples/layer-by-layer/blinky-hal/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/examples/layer-by-layer/blinky-irq/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/examples/layer-by-layer/blinky-async/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path examples/nrf52810/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52810 \
--- build --release --manifest-path examples/nrf52840/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840 \
--- build --release --manifest-path examples/nrf5340/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf5340 \
--- build --release --manifest-path examples/nrf9160/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf9160 \
@ -176,16 +194,20 @@ cargo batch \
--- build --release --manifest-path examples/stm32f3/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f3 \
--- build --release --manifest-path examples/stm32f334/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f334 \
--- build --release --manifest-path examples/stm32f4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f4 \
--- build --release --manifest-path examples/stm32f469/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f469 \
--- build --release --manifest-path examples/stm32f7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f7 \
--- build --release --manifest-path examples/stm32c0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32c0 \
--- build --release --manifest-path examples/stm32g0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32g0 \
--- build --release --manifest-path examples/stm32g4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32g4 \
--- build --release --manifest-path examples/stm32h5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32h5 \
--- build --release --manifest-path examples/stm32h7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32h7 \
--- build --release --manifest-path examples/stm32h735/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32h735 \
--- build --release --manifest-path examples/stm32h7rs/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32h7rs \
--- build --release --manifest-path examples/stm32l0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32l0 \
--- build --release --manifest-path examples/stm32l1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32l1 \
--- build --release --manifest-path examples/stm32l4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32l4 \
--- build --release --manifest-path examples/stm32l5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32l5 \
--- build --release --manifest-path examples/stm32u0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32u0 \
--- build --release --manifest-path examples/stm32u5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32u5 \
--- build --release --manifest-path examples/stm32wb/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32wb \
--- build --release --manifest-path examples/stm32wba/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32wba \
@ -232,11 +254,17 @@ cargo batch \
--- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f303ze --out-dir out/tests/stm32f303ze \
--- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l496zg --out-dir out/tests/stm32l496zg \
--- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55jc --out-dir out/tests/stm32wl55jc \
--- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7s3l8 --out-dir out/tests/stm32h7s3l8 \
--- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32f091rc --out-dir out/tests/stm32f091rc \
--- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32h503rb --out-dir out/tests/stm32h503rb \
--- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u083rc --out-dir out/tests/stm32u083rc \
--- build --release --manifest-path tests/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/tests/rpi-pico \
--- build --release --manifest-path tests/nrf52840/Cargo.toml --target thumbv7em-none-eabi --out-dir out/tests/nrf52840-dk \
--- build --release --manifest-path tests/nrf51422/Cargo.toml --target thumbv6m-none-eabi --out-dir out/tests/nrf51-dk \
--- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv6m-none-eabi --features nrf51422 --out-dir out/tests/nrf51422-dk \
--- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52832 --out-dir out/tests/nrf52832-dk \
--- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52833 --out-dir out/tests/nrf52833-dk \
--- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840 --out-dir out/tests/nrf52840-dk \
--- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340 --out-dir out/tests/nrf5340-dk \
--- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf9160 --out-dir out/tests/nrf9160-dk \
--- build --release --manifest-path tests/riscv32/Cargo.toml --target riscv32imac-unknown-none-elf \
$BUILD_EXTRA
@ -250,6 +278,9 @@ rm out/tests/stm32f207zg/eth
# doesn't work, gives "noise error", no idea why. usart_dma does pass.
rm out/tests/stm32u5a5zj/usart
# flaky, perhaps bad wire
rm out/tests/stm32l152re/usart_rx_ringbuffered
if [[ -z "${TELEPROBE_TOKEN-}" ]]; then
echo No teleprobe token found, skipping running HIL tests
exit

4
cyw43/Cargo.toml
View File

@ -17,8 +17,8 @@ log = ["dep:log"]
firmware-logs = []
[dependencies]
embassy-time = { version = "0.3.0", path = "../embassy-time"}
embassy-sync = { version = "0.5.0", path = "../embassy-sync"}
embassy-time = { version = "0.3.1", path = "../embassy-time"}
embassy-sync = { version = "0.6.0", path = "../embassy-sync"}
embassy-futures = { version = "0.1.0", path = "../embassy-futures"}
embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel"}

2
cyw43/README.md
View File

@ -23,7 +23,7 @@ TODO:
## Running the examples
- `cargo install probe-rs --features cli`
- Install `probe-rs` following the instructions at <https://probe.rs>.
- `cd examples/rp`
### Example 1: Scan the wifi stations
- `cargo run --release --bin wifi_scan`

69
cyw43/src/control.rs
View File

@ -124,8 +124,7 @@ impl<'a> Control<'a> {
self.set_iovar_u32("apsta", 1).await;
// read MAC addr.
let mut mac_addr = [0; 6];
assert_eq!(self.get_iovar("cur_etheraddr", &mut mac_addr).await, 6);
let mac_addr = self.address().await;
debug!("mac addr: {:02x}", Bytes(&mac_addr));
let country = countries::WORLD_WIDE_XX;
@ -229,8 +228,8 @@ impl<'a> Control<'a> {
self.wait_for_join(i).await
}
/// Join an protected network with the provided ssid and passphrase.
pub async fn join_wpa2(&mut self, ssid: &str, passphrase: &str) -> Result<(), Error> {
/// Join a protected network with the provided ssid and [`PassphraseInfo`].
async fn join_wpa2_passphrase_info(&mut self, ssid: &str, passphrase_info: &PassphraseInfo) -> Result<(), Error> {
self.set_iovar_u32("ampdu_ba_wsize", 8).await;
self.ioctl_set_u32(134, 0, 4).await; // wsec = wpa2
@ -240,14 +239,13 @@ impl<'a> Control<'a> {
Timer::after_millis(100).await;
let mut pfi = PassphraseInfo {
len: passphrase.len() as _,
flags: 1,
passphrase: [0; 64],
};
pfi.passphrase[..passphrase.len()].copy_from_slice(passphrase.as_bytes());
self.ioctl(IoctlType::Set, IOCTL_CMD_SET_PASSPHRASE, 0, &mut pfi.to_bytes())
.await; // WLC_SET_WSEC_PMK
self.ioctl(
IoctlType::Set,
IOCTL_CMD_SET_PASSPHRASE,
0,
&mut passphrase_info.to_bytes(),
)
.await; // WLC_SET_WSEC_PMK
self.ioctl_set_u32(20, 0, 1).await; // set_infra = 1
self.ioctl_set_u32(22, 0, 0).await; // set_auth = 0 (open)
@ -262,6 +260,28 @@ impl<'a> Control<'a> {
self.wait_for_join(i).await
}
/// Join a protected network with the provided ssid and passphrase.
pub async fn join_wpa2(&mut self, ssid: &str, passphrase: &str) -> Result<(), Error> {
let mut pfi = PassphraseInfo {
len: passphrase.len() as _,
flags: 1,
passphrase: [0; 64],
};
pfi.passphrase[..passphrase.len()].copy_from_slice(passphrase.as_bytes());
self.join_wpa2_passphrase_info(ssid, &pfi).await
}
/// Join a protected network with the provided ssid and precomputed PSK.
pub async fn join_wpa2_psk(&mut self, ssid: &str, psk: &[u8; 32]) -> Result<(), Error> {
let mut pfi = PassphraseInfo {
len: psk.len() as _,
flags: 0,
passphrase: [0; 64],
};
pfi.passphrase[..psk.len()].copy_from_slice(psk);
self.join_wpa2_passphrase_info(ssid, &pfi).await
}
async fn wait_for_join(&mut self, i: SsidInfo) -> Result<(), Error> {
self.events.mask.enable(&[Event::SET_SSID, Event::AUTH]);
let mut subscriber = self.events.queue.subscriber().unwrap();
@ -373,6 +393,24 @@ impl<'a> Control<'a> {
self.set_iovar_u32x2("bss", 0, 1).await; // bss = BSS_UP
}
/// Closes access point.
pub async fn close_ap(&mut self) {
// Stop AP
self.set_iovar_u32x2("bss", 0, 0).await; // bss = BSS_DOWN
// Turn off AP mode
self.ioctl_set_u32(IOCTL_CMD_SET_AP, 0, 0).await;
// Temporarily set wifi down
self.down().await;
// Turn on APSTA mode
self.set_iovar_u32("apsta", 1).await;
// Set wifi up again
self.up().await;
}
/// Add specified address to the list of hardware addresses the device
/// listens on. The address must be a Group address (I/G bit set). Up
/// to 10 addresses are supported by the firmware. Returns the number of
@ -574,6 +612,13 @@ impl<'a> Control<'a> {
self.ioctl(IoctlType::Set, IOCTL_CMD_DISASSOC, 0, &mut []).await;
info!("Disassociated")
}
/// Gets the MAC address of the device
pub async fn address(&mut self) -> [u8; 6] {
let mut mac_addr = [0; 6];
assert_eq!(self.get_iovar("cur_etheraddr", &mut mac_addr).await, 6);
mac_addr
}
}
/// WiFi network scanner.

17
cyw43/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

18
cyw43/src/runner.rs
View File

@ -1,6 +1,5 @@
use embassy_futures::select::{select3, Either3};
use embassy_net_driver_channel as ch;
use embassy_sync::pubsub::PubSubBehavior;
use embassy_time::{block_for, Duration, Timer};
use embedded_hal_1::digital::OutputPin;
@ -438,13 +437,16 @@ where
// publish() is a deadlock risk in the current design as awaiting here prevents ioctls
// The `Runner` always yields when accessing the device, so consumers always have a chance to receive the event
// (if they are actively awaiting the queue)
self.events.queue.publish_immediate(events::Message::new(
Status {
event_type: evt_type,
status,
},
event_payload,
));
self.events
.queue
.immediate_publisher()
.publish_immediate(events::Message::new(
Status {
event_type: evt_type,
status,
},
event_payload,
));
}
}
CHANNEL_TYPE_DATA => {

8
docs/Makefile Normal file
View File

@ -0,0 +1,8 @@
all:
asciidoctor -d book -D book/ index.adoc
cp -r images book
clean:
rm -rf book
.PHONY: all clean

29
docs/README.md
View File

@ -1,4 +1,29 @@
# embassy docs
The documentation hosted at [https://embassy.dev/book](https://embassy.dev/book). Building the documentation requires
cloning the [embassy-book](https://github.com/embassy-rs/embassy-book) repository and following the instructions.
The documentation hosted at [https://embassy.dev/book](https://embassy.dev/book). Building the documentation requires the [asciidoctor](https://asciidoctor.org/) tool, and can built running `make` in this folder:
```
make
```
Then open the generated file `thebook/index.html`.
## License
The Embassy Docs (this folder) is distributed under the following licenses:
* The code samples and free-standing Cargo projects contained within these docs are licensed under the terms of both the [MIT License] and the [Apache License v2.0].
* The written prose contained within these docs are licensed under the terms of the Creative Commons [CC-BY-SA v4.0] license.
Copies of the licenses used by this project may also be found here:
* [MIT License Hosted]
* [Apache License v2.0 Hosted]
* [CC-BY-SA v4.0 Hosted]
[MIT License]: ./../LICENSE-MIT
[Apache License v2.0]: ./../LICENSE-APACHE
[CC-BY-SA v4.0]: ./../LICENSE-CC-BY-SA
[MIT License Hosted]: https://opensource.org/licenses/MIT
[Apache License v2.0 Hosted]: http://www.apache.org/licenses/LICENSE-2.0
[CC-BY-SA v4.0 Hosted]: https://creativecommons.org/licenses/by-sa/4.0/legalcode

5
docs/antora.yml
View File

@ -1,5 +0,0 @@
name: ROOT
title: Embassy
version: dev
nav:
- modules/ROOT/nav.adoc

0
docs/modules/ROOT/examples/basic/.cargo/config.toml → docs/examples/basic/.cargo/config.toml
View File

18
docs/examples/basic/Cargo.toml Normal file
View File

@ -0,0 +1,18 @@
[package]
authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
edition = "2018"
name = "embassy-basic-example"
version = "0.1.0"
license = "MIT OR Apache-2.0"
[dependencies]
embassy-executor = { version = "0.5.0", path = "../../../embassy-executor", features = ["defmt", "integrated-timers", "arch-cortex-m", "executor-thread"] }
embassy-time = { version = "0.3.1", path = "../../../embassy-time", features = ["defmt"] }
embassy-nrf = { version = "0.1.0", path = "../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote"] }
defmt = "0.3"
defmt-rtt = "0.3"
cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"
panic-probe = { version = "0.3", features = ["print-defmt"] }

0
docs/modules/ROOT/examples/basic/build.rs → docs/examples/basic/build.rs
View File

0
docs/modules/ROOT/examples/basic/memory.x → docs/examples/basic/memory.x
View File

0
docs/modules/ROOT/examples/basic/src/main.rs → docs/examples/basic/src/main.rs
View File

1
docs/examples/examples Symbolic link
View File

@ -0,0 +1 @@
../../examples

0
docs/modules/ROOT/examples/layer-by-layer/.cargo/config.toml → docs/examples/layer-by-layer/.cargo/config.toml
View File

4
docs/modules/ROOT/examples/layer-by-layer/Cargo.toml → docs/examples/layer-by-layer/Cargo.toml
View File

@ -8,8 +8,8 @@ members = [
]
[patch.crates-io]
embassy-executor = { path = "../../../../../embassy-executor" }
embassy-stm32 = { path = "../../../../../embassy-stm32" }
embassy-executor = { path = "../../../embassy-executor" }
embassy-stm32 = { path = "../../../embassy-stm32" }
[profile.release]
codegen-units = 1

0
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:description: Embassy Book
:sectanchors:
:doctype: book
:toc:
:toc-placement: left
:toclevels: 2
:imagesdir: images
# Embassy Book
Welcome to the Embassy Book. The Embassy Book is for everyone who wants to use Embassy and understand how Embassy works.
include::pages/overview.adoc[leveloffset = 1]
include::pages/beginners.adoc[leveloffset = 1]
include::pages/system.adoc[leveloffset = 1]
include::pages/faq.adoc[leveloffset = 1]

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@ -1,18 +0,0 @@
[package]
authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
edition = "2018"
name = "embassy-basic-example"
version = "0.1.0"
license = "MIT OR Apache-2.0"
[dependencies]
embassy-executor = { version = "0.5.0", path = "../../../../../embassy-executor", features = ["defmt", "integrated-timers", "arch-cortex-m", "executor-thread"] }
embassy-time = { version = "0.3.0", path = "../../../../../embassy-time", features = ["defmt"] }
embassy-nrf = { version = "0.1.0", path = "../../../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote"] }
defmt = "0.3"
defmt-rtt = "0.3"
cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"
panic-probe = { version = "0.3", features = ["print-defmt"] }

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../../../../examples

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* xref:getting_started.adoc[Getting started]
** xref:basic_application.adoc[Basic application]
** xref:project_structure.adoc[Project Structure]
** xref:new_project.adoc[Starting a new Embassy project]
** xref:best_practices.adoc[Best Practices]
* xref:runtime.adoc[Executor]
* xref::time_keeping.adoc[Time-keeping]
* xref:sharing_peripherals.adoc[Sharing peripherals]
* xref:hal.adoc[HAL]
** xref:layer_by_layer.adoc[Anatomy of an async HAL]
** xref:nrf.adoc[nRF]
** xref:stm32.adoc[STM32]
* xref:bootloader.adoc[Bootloader]
* xref:examples.adoc[Examples]
* xref:developer.adoc[Developer Docs]
** xref:developer_stm32.adoc[Developer Docs: STM32]
* xref:embassy_in_the_wild.adoc[Embassy in the wild]
* xref:faq.adoc[Frequently Asked Questions]

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= Embassy in the wild!
Here are known examples of real-world projects which make use of Embassy. Feel free to link:https://github.com/embassy-rs/embassy/blob/main/docs/modules/ROOT/pages/embassy_in_the_wild.adoc[add more]!
* link:https://github.com/cbruiz/printhor/[Printhor: The highly reliable but not necessarily functional 3D printer firmware]
** Targets some STM32 MCUs
* link:https://github.com/card-io-ecg/card-io-fw[Card/IO firmware] - firmware for an open source ECG device
** Targets the ESP32-S3 or ESP32-C6 MCU
* The link:https://github.com/lora-rs/lora-rs[lora-rs] project includes link:https://github.com/lora-rs/lora-rs/tree/main/examples/stm32l0/src/bin[various standalone examples] for NRF52840, RP2040, STM32L0 and STM32WL
** link:https://github.com/matoushybl/air-force-one[Air force one: A simple air quality monitoring system]
*** Targets nRF52 and uses nrf-softdevice

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= Frequently Asked Questions
These are a list of unsorted, commonly asked questions and answers.
Please feel free to add items to link:https://github.com/embassy-rs/embassy/edit/main/docs/modules/ROOT/pages/faq.adoc[this page], especially if someone in the chat answered a question for you!
== How to deploy to RP2040 without a debugging probe.
Install link:https://github.com/JoNil/elf2uf2-rs[elf2uf2-rs] for converting the generated elf binary into a uf2 file.
Configure the runner to use this tool, add this to `.cargo/config.toml`:
[source,toml]
----
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
runner = "elf2uf2-rs --deploy --serial --verbose"
----
The command-line parameters `--deploy` will detect your device and upload the binary, `--serial` starts a serial connection. See the documentation for more info.
== Missing main macro
If you see an error like this:
[source,rust]
----
#[embassy_executor::main]
| ^^^^ could not find `main` in `embassy_executor`
----
You are likely missing some features of the `embassy-executor` crate.
For Cortex-M targets, check whether ALL of the following features are enabled in your `Cargo.toml` for the `embassy-executor` crate:
* `arch-cortex-m`
* `executor-thread`
For ESP32, consider using the executors and `#[main]` macro provided by your appropriate link:https://crates.io/crates/esp-hal-common[HAL crate].
== Why is my binary so big?
The first step to managing your binary size is to set up your link:https://doc.rust-lang.org/cargo/reference/profiles.html[profiles].
[source,toml]
----
[profile.release]
lto = true
opt-level = "s"
incremental = false
codegen-units = 1
# note: debug = true is okay - debuginfo isn't flashed to the device!
debug = true
----
All of these flags are elaborated on in the Rust Book page linked above.
=== My binary is still big... filled with `std::fmt` stuff!
This means your code is sufficiently complex that `panic!` invocation's formatting requirements could not be optimized out, despite your usage of `panic-halt` or `panic-reset`.
You can remedy this by adding the following to your `.cargo/config.toml`:
[source,toml]
----
[unstable]
build-std = ["core"]
build-std-features = ["panic_immediate_abort"]
----
This replaces all panics with a `UDF` (undefined) instruction.
Depending on your chipset, this will exhibit different behavior.
Refer to the spec for your chipset, but for `thumbv6m`, it results in a hardfault. Which can be configured like so:
[source,rust]
----
#[exception]
unsafe fn HardFault(_frame: &ExceptionFrame) -> ! {
SCB::sys_reset() // <- you could do something other than reset
}
----
Refer to cortex-m's link:https://docs.rs/cortex-m-rt/latest/cortex_m_rt/attr.exception.html[exception handling] for more info.
== `embassy-time` throws linker errors
If you see linker error like this:
[source,text]
----
= note: rust-lld: error: undefined symbol: _embassy_time_now
>>> referenced by driver.rs:127 (src/driver.rs:127)
>>> embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::now::hefb1f99d6e069842) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
rust-lld: error: undefined symbol: _embassy_time_allocate_alarm
>>> referenced by driver.rs:134 (src/driver.rs:134)
>>> embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::allocate_alarm::hf5145b6bd46706b2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
rust-lld: error: undefined symbol: _embassy_time_set_alarm_callback
>>> referenced by driver.rs:139 (src/driver.rs:139)
>>> embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm_callback::h24f92388d96eafd2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
rust-lld: error: undefined symbol: _embassy_time_set_alarm
>>> referenced by driver.rs:144 (src/driver.rs:144)
>>> embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm::h530a5b1f444a6d5b) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
----
You probably need to enable a time driver for your HAL (not in `embassy-time`!). For example with `embassy-stm32`, you might need to enable `time-driver-any`:
[source,toml]
----
[dependencies.embassy-stm32]
version = "0.1.0"
features = [
# ...
"time-driver-any", # Add this line!
# ...
]
----
If you are in the early project setup phase and not using anything from the HAL, make sure the HAL is explicitly used to prevent the linker removing it as dead code by adding this line to your source:
[source,rust]
----
use embassy_stm32 as _;
----
== Error: `Only one package in the dependency graph may specify the same links value.`
You have multiple versions of the same crate in your dependency tree. This means that some of your
embassy crates are coming from crates.io, and some from git, each of them pulling in a different set
of dependencies.
To resolve this issue, make sure to only use a single source for all your embassy crates!
To do this, you should patch your dependencies to use git sources using `[patch.crates.io]`
and maybe `[patch.'https://github.com/embassy-rs/embassy.git']`.
Example:
[source,toml]
----
[patch.crates-io]
embassy-time-queue-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
embassy-time-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
# embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
----
Note that the git revision should match any other embassy patches or git dependencies that you are using!
== How can I optimize the speed of my embassy-stm32 program?
* Make sure RCC is set up to go as fast as possible
* Make sure link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html[flash cache] is enabled
* build with `--release`
* Set the following keys for the release profile in your `Cargo.toml`:
** `opt-level = "s"`
** `lto = "fat"`
* Set the following keys in the `[unstable]` section of your `.cargo/config.toml`
** `build-std = ["core"]`
** `build-std-features = ["panic_immediate_abort"]`
* Enable feature `embassy-time/generic-queue`, disable feature `embassy-executor/integrated-timers`
* When using `InterruptExecutor`:
** disable `executor-thread`
** make `main`` spawn everything, then enable link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html#method.set_sleeponexit[SCB.SLEEPONEXIT] and `loop { cortex_m::asm::wfi() }`
** *Note:* If you need 2 priority levels, using 2 interrupt executors is better than 1 thread executor + 1 interrupt executor.
== How do I set up the task arenas on stable?
When you aren't using the `nightly` feature of `embassy-executor`, the executor uses a bump allocator, which may require configuration.
Something like this error will occur at **compile time** if the task arena is *too large* for the target's RAM:
[source,plain]
----
rust-lld: error: section '.bss' will not fit in region 'RAM': overflowed by _ bytes
rust-lld: error: section '.uninit' will not fit in region 'RAM': overflowed by _ bytes
----
And this message will appear at **runtime** if the task arena is *too small* for the tasks running:
[source,plain]
----
ERROR panicked at 'embassy-executor: task arena is full. You must increase the arena size, see the documentation for details: https://docs.embassy.dev/embassy-executor/'
----
NOTE: If all tasks are spawned at startup, this panic will occur immediately.
Check out link:https://docs.embassy.dev/embassy-executor/git/cortex-m/index.html#task-arena[Task Arena Documentation] for more details.
== Can I use manual ISRs alongside Embassy?
Yes! This can be useful if you need to respond to an event as fast as possible, and the latency caused by the usual “ISR, wake, return from ISR, context switch to woken task” flow is too much for your application. Simply define a `#[interrupt] fn INTERRUPT_NAME() {}` handler as you would link:https://docs.rust-embedded.org/book/start/interrupts.html[in any other embedded rust project].
== How can I measure resource usage (CPU, RAM, etc.)?
=== For CPU Usage:
There are a couple techniques that have been documented, generally you want to measure how long you are spending in the idle or low priority loop.
We need to document specifically how to do this in embassy, but link:https://blog.japaric.io/cpu-monitor/[this older post] describes the general process.
If you end up doing this, please update this section with more specific examples!
=== For Static Memory Usage
Tools like `cargo size` and `cargo nm` can tell you the size of any globals or other static usage. Specifically you will want to see the size of the `.data` and `.bss` sections, which together make up the total global/static memory usage.
=== For Max Stack Usage
Check out link:https://github.com/Dirbaio/cargo-call-stack/[`cargo-call-stack`] for statically calculating worst-case stack usage. There are some caveats and inaccuracies possible with this, but this is a good way to get the general idea. See link:https://github.com/dirbaio/cargo-call-stack#known-limitations[the README] for more details.

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= A basic Embassy application
So you've got one of the xref:examples.adoc[examples] running, but what now? Let's go through a simple Embassy application for the nRF52 DK to understand it better.
So you've got one of the examples running, but what now? Let's go through a simple Embassy application for the nRF52 DK to understand it better.
== Main
The full example can be found link:https://github.com/embassy-rs/embassy/tree/master/docs/modules/ROOT/examples/basic[here].
The full example can be found link:https://github.com/embassy-rs/embassy/tree/master/docs/examples/basic[here].
NOTE: If you’re using VS Code and rust-analyzer to view and edit the examples, you may need to make some changes to `.vscode/settings.json` to tell it which project we’re working on. Follow the instructions commented in that file to get rust-analyzer working correctly.
@ -14,7 +14,7 @@ The first thing you’ll notice are two attributes at the top of the file. These
[source,rust]
----
include::example$basic/src/main.rs[lines="1..2"]
include::../examples/basic/src/main.rs[lines="1..2"]
----
=== Dealing with errors
@ -23,7 +23,7 @@ Then, what follows are some declarations on how to deal with panics and faults.
[source,rust]
----
include::example$basic/src/main.rs[lines="8"]
include::../examples/basic/src/main.rs[lines="8"]
----
=== Task declaration
@ -32,7 +32,7 @@ After a bit of import declaration, the tasks run by the application should be de
[source,rust]
----
include::example$basic/src/main.rs[lines="10..18"]
include::../examples/basic/src/main.rs[lines="10..18"]
----
An embassy task must be declared `async`, and may NOT take generic arguments. In this case, we are handed the LED that should be blinked and the interval of the blinking.
@ -47,7 +47,7 @@ We then initialize the HAL with a default config, which gives us a `Peripherals`
[source,rust]
----
include::example$basic/src/main.rs[lines="20..-1"]
include::../examples/basic/src/main.rs[lines="20..-1"]
----
What happens when the `blinker` task has been spawned and main returns? Well, the main entry point is actually just like any other task, except that you can only have one and it takes some specific type arguments. The magic lies within the `#[embassy_executor::main]` macro. The macro does the following:
@ -64,7 +64,7 @@ The project definition needs to contain the embassy dependencies:
[source,toml]
----
include::example$basic/Cargo.toml[lines="9..11"]
include::../examples/basic/Cargo.toml[lines="9..11"]
----
Depending on your microcontroller, you may need to replace `embassy-nrf` with something else (`embassy-stm32` for STM32. Remember to update feature flags as well).

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= For beginners
The articles in this section are primarily aimed at users new to Embassy,
showing how to get started, how to structure your project and other best practices.
include::getting_started.adoc[leveloffset = 2]
include::basic_application.adoc[leveloffset = 2]
include::project_structure.adoc[leveloffset = 2]
include::new_project.adoc[leveloffset = 2]
include::best_practices.adoc[leveloffset = 2]
include::layer_by_layer.adoc[leveloffset = 2]

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= Embassy in the wild!
Here are known examples of real-world projects which make use of Embassy. Feel free to link:https://github.com/embassy-rs/embassy/blob/main/docs/pages/embassy_in_the_wild.adoc[add more]!
* link:https://github.com/haobogu/rmk/[RMK: A feature-rich Rust keyboard firmware]
** RMK has built-in layer support, wireless(BLE) support, real-time key editing support using vial, and more!
** Targets STM32, RP2040, nRF52 and ESP32 MCUs
* link:https://github.com/cbruiz/printhor/[Printhor: The highly reliable but not necessarily functional 3D printer firmware]
** Targets some STM32 MCUs
* link:https://github.com/card-io-ecg/card-io-fw[Card/IO firmware] - firmware for an open source ECG device
** Targets the ESP32-S3 or ESP32-C6 MCU
* The link:https://github.com/lora-rs/lora-rs[lora-rs] project includes link:https://github.com/lora-rs/lora-rs/tree/main/examples/stm32l0/src/bin[various standalone examples] for NRF52840, RP2040, STM32L0 and STM32WL
* link:https://github.com/matoushybl/air-force-one[Air force one: A simple air quality monitoring system]
** Targets nRF52 and uses nrf-softdevice
* link:https://github.com/schmettow/ylab-edge-go[YLab Edge Go] and link:https://github.com/schmettow/ylab-edge-pro[YLab Edge Pro] projects develop
firmware (RP2040, STM32) for capturing physiological data in behavioural science research. Included so far are:
** biopotentials (analog ports)
** motion capture (6-axis accelerometers)
** air quality (CO2, Temp, Humidity)
** comes with an app for capturing and visualizing data [link:https://github.com/schmettow/ystudio-zero[Ystudio]]

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@ -7,5 +7,5 @@ Main loop example
[source,rust]
----
include::example$examples/std/src/bin/tick.rs[]
include::../examples/examples/std/src/bin/tick.rs[]
----

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= Frequently Asked Questions
These are a list of unsorted, commonly asked questions and answers.
Please feel free to add items to link:https://github.com/embassy-rs/embassy/edit/main/docs/pages/faq.adoc[this page], especially if someone in the chat answered a question for you!
== How to deploy to RP2040 without a debugging probe.
Install link:https://github.com/JoNil/elf2uf2-rs[elf2uf2-rs] for converting the generated elf binary into a uf2 file.
Configure the runner to use this tool, add this to `.cargo/config.toml`:
[source,toml]
----
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
runner = "elf2uf2-rs --deploy --serial --verbose"
----
The command-line parameters `--deploy` will detect your device and upload the binary, `--serial` starts a serial connection. See the documentation for more info.
== Missing main macro
If you see an error like this:
[source,rust]
----
#[embassy_executor::main]
| ^^^^ could not find `main` in `embassy_executor`
----
You are likely missing some features of the `embassy-executor` crate.
For Cortex-M targets, check whether ALL of the following features are enabled in your `Cargo.toml` for the `embassy-executor` crate:
* `arch-cortex-m`
* `executor-thread`
For ESP32, consider using the executors and `#[main]` macro provided by your appropriate link:https://crates.io/crates/esp-hal-common[HAL crate].
== Why is my binary so big?
The first step to managing your binary size is to set up your link:https://doc.rust-lang.org/cargo/reference/profiles.html[profiles].
[source,toml]
----
[profile.release]
lto = true
opt-level = "s"
incremental = false
codegen-units = 1
# note: debug = true is okay - debuginfo isn't flashed to the device!
debug = true
----
All of these flags are elaborated on in the Rust Book page linked above.
=== My binary is still big... filled with `std::fmt` stuff!
This means your code is sufficiently complex that `panic!` invocation's formatting requirements could not be optimized out, despite your usage of `panic-halt` or `panic-reset`.
You can remedy this by adding the following to your `.cargo/config.toml`:
[source,toml]
----
[unstable]
build-std = ["core"]
build-std-features = ["panic_immediate_abort"]
----
This replaces all panics with a `UDF` (undefined) instruction.
Depending on your chipset, this will exhibit different behavior.
Refer to the spec for your chipset, but for `thumbv6m`, it results in a hardfault. Which can be configured like so:
[source,rust]
----
#[exception]
unsafe fn HardFault(_frame: &ExceptionFrame) -> ! {
SCB::sys_reset() // <- you could do something other than reset
}
----
Refer to cortex-m's link:https://docs.rs/cortex-m-rt/latest/cortex_m_rt/attr.exception.html[exception handling] for more info.
== `embassy-time` throws linker errors
If you see linker error like this:
[source,text]
----
= note: rust-lld: error: undefined symbol: _embassy_time_now
>>> referenced by driver.rs:127 (src/driver.rs:127)
>>> embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::now::hefb1f99d6e069842) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
rust-lld: error: undefined symbol: _embassy_time_allocate_alarm
>>> referenced by driver.rs:134 (src/driver.rs:134)
>>> embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::allocate_alarm::hf5145b6bd46706b2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
rust-lld: error: undefined symbol: _embassy_time_set_alarm_callback
>>> referenced by driver.rs:139 (src/driver.rs:139)
>>> embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm_callback::h24f92388d96eafd2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
rust-lld: error: undefined symbol: _embassy_time_set_alarm
>>> referenced by driver.rs:144 (src/driver.rs:144)
>>> embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm::h530a5b1f444a6d5b) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
----
You probably need to enable a time driver for your HAL (not in `embassy-time`!). For example with `embassy-stm32`, you might need to enable `time-driver-any`:
[source,toml]
----
[dependencies.embassy-stm32]
version = "0.1.0"
features = [
# ...
"time-driver-any", # Add this line!
# ...
]
----
If you are in the early project setup phase and not using anything from the HAL, make sure the HAL is explicitly used to prevent the linker removing it as dead code by adding this line to your source:
[source,rust]
----
use embassy_stm32 as _;
----
== Error: `Only one package in the dependency graph may specify the same links value.`
You have multiple versions of the same crate in your dependency tree. This means that some of your
embassy crates are coming from crates.io, and some from git, each of them pulling in a different set
of dependencies.
To resolve this issue, make sure to only use a single source for all your embassy crates!
To do this, you should patch your dependencies to use git sources using `[patch.crates.io]`
and maybe `[patch.'https://github.com/embassy-rs/embassy.git']`.
Example:
[source,toml]
----
[patch.crates-io]
embassy-time-queue-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
embassy-time-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
# embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
----
Note that the git revision should match any other embassy patches or git dependencies that you are using!
== How can I optimize the speed of my embassy-stm32 program?
* Make sure RCC is set up to go as fast as possible
* Make sure link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html[flash cache] is enabled
* build with `--release`
* Set the following keys for the release profile in your `Cargo.toml`:
** `opt-level = "s"`
** `lto = "fat"`
* Set the following keys in the `[unstable]` section of your `.cargo/config.toml`
** `build-std = ["core"]`
** `build-std-features = ["panic_immediate_abort"]`
* Enable feature `embassy-time/generic-queue`, disable feature `embassy-executor/integrated-timers`
* When using `InterruptExecutor`:
** disable `executor-thread`
** make `main`` spawn everything, then enable link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html#method.set_sleeponexit[SCB.SLEEPONEXIT] and `loop { cortex_m::asm::wfi() }`
** *Note:* If you need 2 priority levels, using 2 interrupt executors is better than 1 thread executor + 1 interrupt executor.
== How do I set up the task arenas on stable?
When you aren't using the `nightly` feature of `embassy-executor`, the executor uses a bump allocator, which may require configuration.
Something like this error will occur at **compile time** if the task arena is *too large* for the target's RAM:
[source,plain]
----
rust-lld: error: section '.bss' will not fit in region 'RAM': overflowed by _ bytes
rust-lld: error: section '.uninit' will not fit in region 'RAM': overflowed by _ bytes
----
And this message will appear at **runtime** if the task arena is *too small* for the tasks running:
[source,plain]
----
ERROR panicked at 'embassy-executor: task arena is full. You must increase the arena size, see the documentation for details: https://docs.embassy.dev/embassy-executor/'
----
NOTE: If all tasks are spawned at startup, this panic will occur immediately.
Check out link:https://docs.embassy.dev/embassy-executor/git/cortex-m/index.html#task-arena[Task Arena Documentation] for more details.
== Can I use manual ISRs alongside Embassy?
Yes! This can be useful if you need to respond to an event as fast as possible, and the latency caused by the usual “ISR, wake, return from ISR, context switch to woken task” flow is too much for your application. Simply define a `#[interrupt] fn INTERRUPT_NAME() {}` handler as you would link:https://docs.rust-embedded.org/book/start/interrupts.html[in any other embedded rust project].
== How can I measure resource usage (CPU, RAM, etc.)?
=== For CPU Usage:
There are a couple techniques that have been documented, generally you want to measure how long you are spending in the idle or low priority loop.
We need to document specifically how to do this in embassy, but link:https://blog.japaric.io/cpu-monitor/[this older post] describes the general process.
If you end up doing this, please update this section with more specific examples!
=== For Static Memory Usage
Tools like `cargo size` and `cargo nm` can tell you the size of any globals or other static usage. Specifically you will want to see the size of the `.data` and `.bss` sections, which together make up the total global/static memory usage.
=== For Max Stack Usage
Check out link:https://github.com/Dirbaio/cargo-call-stack/[`cargo-call-stack`] for statically calculating worst-case stack usage. There are some caveats and inaccuracies possible with this, but this is a good way to get the general idea. See link:https://github.com/dirbaio/cargo-call-stack#known-limitations[the README] for more details.
== The memory definition for my STM chip seems wrong, how do I define a `memory.x` file?
It could happen that your project compiles, flashes but fails to run. The following situation can be true for your setup:
The `memory.x` is generated automatically when enabling the `memory-x` feature on the `embassy-stm32` crate in the `Cargo.toml` file.
This, in turn, uses `stm32-metapac` to generate the `memory.x` file for you. Unfortunately, more often than not this memory definition is not correct.
You can override this by adding your own `memory.x` file. Such a file could look like this:
```
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 320K
}
_stack_start = ORIGIN(RAM) + LENGTH(RAM);
```
Please refer to the STM32 documentation for the specific values suitable for your board and setup. The STM32 Cube examples often contain a linker script `.ld` file.
Look for the `MEMORY` section and try to determine the FLASH and RAM sizes and section start.
If you find a case where the memory.x is wrong, please report it on [this Github issue](https://github.com/embassy-rs/stm32-data/issues/301) so other users are not caught by surprise.
== The USB examples are not working on my board, is there anything else I need to configure?
If you are trying out the USB examples and your device doesn not connect, the most common issues are listed below.
=== Incorrect RCC config
Check your board and crystal/oscillator, in particular make sure that `HSE` is set to the correct value, e.g. `8_000_000` Hertz if your board does indeed run on a 8 MHz oscillator.
=== VBUS detection on STM32 platform
The USB specification requires that all USB devices monitor the bus for detection of plugging/unplugging actions. The devices must pull-up the D+ or D- lane as soon as the host supplies VBUS.
See the docs, for example at link:https://docs.embassy.dev/embassy-stm32/git/stm32f401vc/usb/struct.Config.html[`usb/struct.Config.html`] for information on how to enable/disable `vbus_detection`.
When the device is powered only from the USB bus that simultaneously serves as the data connection, this is optional. (If there's no power in VBUS the device would be off anyway, so it's safe to always assume there's power in VBUS, i.e. the USB cable is always plugged in). If your device doesn't have the required connections in place to allow VBUS sensing (see below), then this option needs to be set to `false` to work.
When the device is powered from another power source and therefore can stay powered through USB cable plug/unplug events, then this must be implemented and `vbus_detection` MUST be set to `true`.
If your board is powered from the USB and you are unsure whether it supports `vbus_detection`, consult the schematics of your board to see if VBUS is connected to PA9 for USB Full Speed or PB13 for USB High Speed, vice versa, possibly with a voltage divider. When designing your own hardware, see ST application note AN4879 (in particular section 2.6) and the reference manual of your specific chip for more details.
== Known issues (details and/or mitigations)
These are issues that are commonly reported. Help wanted fixing them, or improving the UX when possible!
=== STM32H5 and STM32H7 power issues
STM32 chips with built-in power management (SMPS and LDO) settings often cause user problems when the configuration does not match how the board was designed.
Settings from the examples, or even from other working boards, may not work on YOUR board, because they are wired differently.
Additionally, some PWR settings require a full device reboot (and enough time to discharge any power capacitors!), making this hard to troubleshoot. Also, some
"wrong" power settings will ALMOST work, meaning it will sometimes work on some boots, or for a while, but crash unexpectedly.
There is not a fix for this yet, as it is board/hardware dependant. See link:https://github.com/embassy-rs/embassy/issues/2806[this tracking issue] for more details
=== STM32 BDMA only working out of some RAM regions
The STM32 BDMA controller included in some STM32H7 chips has to be configured to use only certain regions of RAM,
otherwise the transfer will fail.
If you see errors that look like this:
[source,plain]
----
DMA: error on BDMA@1234ABCD channel 4
----
You need to set up your linker script to define a special region for this area and copy data to that region before using with BDMA.
General steps:
1. Find out which memory region BDMA has access to. You can get this information from the bus matrix and the memory mapping table in the STM32 datasheet.
2. Add the memory region to `memory.x`, you can modify the generated one from https://github.com/embassy-rs/stm32-data-generated/tree/main/data/chips.
3. You might need to modify `build.rs` to make cargo pick up the modified `memory.x`.
4. In your code, access the defined memory region using `#[link_section = ".xxx"]`
5. Copy data to that region before using BDMA.
See link:https://github.com/embassy-rs/embassy/blob/main/examples/stm32h7/src/bin/spi_bdma.rs[SMT32H7 SPI BDMA example] for more details.
== How do I switch to the `main` branch?
Sometimes to test new changes or fixes, you'll want to switch your project to using a version from GitHub.
You can add a section to your `Cargo.toml` file like this, you'll need to patch ALL embassy crates to the same revision:
Using `patch` will replace all direct AND indirect dependencies.
See the link:https://embassy.dev/book/#_starting_a_new_project[new project docs] for more details on this approach.
[source,toml]
----
[patch.crates-io]
# make sure to get the latest git rev from github, you can see the latest one here:
# https://github.com/embassy-rs/embassy/commits/main/
embassy-embedded-hal = { git = "https://github.com/embassy-rs/embassy", rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
embassy-usb = { git = "https://github.com/embassy-rs/embassy", rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
embassy-usb-driver = { git = "https://github.com/embassy-rs/embassy", rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
----
== How do I add support for a new microcontroller to embassy?
This is particularly for cortex-m, and potentially risc-v, where there is already support for basics like interrupt handling, or even already embassy-executor support for your architecture.
This is a *much harder path* than just using Embassy on an already supported chip. If you are a beginner, consider using embassy on an existing, well supported chip for a while, before you decide to write drivers from scratch. It's also worth reading the existing source of supported Embassy HALs, to get a feel for how drivers are implemented for various chips. You should already be comfortable reading and writing unsafe code, and understanding the responsibilities of writing safe abstractions for users of your HAL.
This is not the only possible approach, but if you are looking for where to start, this is a reasonable way to tackle the task:
1. First, drop by the Matrix room or search around to see if someone has already started writing drivers, either in Embassy or otherwise in Rust. You might not have to start from scratch!
2. Make sure the target is supported in probe-rs, it likely is, and if not, there is likely a cmsis-pack you can use to add support so that flashing and debugging is possible. You will definitely appreciate being able to debug with SWD or JTAG when writing drivers!
3. See if there is an SVD (or SVDs, if it's a family) available, if it is, run it through chiptool to create a PAC for low level register access. If not, there are other ways (like scraping the PDF datasheets or existing C header files), but these are more work than starting from the SVD file to define peripheral memory locations necessary for writing drivers.
4. Either make a fork of embassy repo, and add your target there, or make a repo that just contains the PAC and an empty HAL. It doesn't necessarily have to live in the embassy repo at first.
5. Get a hello world binary working on your chip, either with minimal HAL or just PAC access, use delays and blink a light or send some raw data on some interface, make sure it works and you can flash, debug with defmt + RTT, write a proper linker script, etc.
6. Get basic timer operations and timer interrupts working, upgrade your blinking application to use hardware timers and interrupts, and ensure they are accurate (with a logic analyzer or oscilloscope, if possible).
7. Implement the embassy-time driver API with your timer and timer interrupt code, so that you can use embassy-time operations in your drivers and applications.
8. Then start implementing whatever peripherals you need, like GPIOs, UART, SPI, I2C, etc. This is the largest part of the work, and will likely continue for a while! Don't feel like you need 100% coverage of all peripherals at first, this is likely to be an ongoing process over time.
9. Start implementing the embedded-hal, embedded-io, and embedded-hal-async traits on top of your HAL drivers, once you start having more features completed. This will allow users to use standard external device drivers (e.g. sensors, actuators, displays, etc.) with your HAL.
10. Discuss upstreaming the PAC/HAL for embassy support, or make sure your drivers are added to the awesome-embedded-rust list so that people can find it.
== Multiple Tasks, or one task with multiple futures?
Some examples end like this in main:
[source,rust]
----
// Run everything concurrently.
// If we had made everything `'static` above instead, we could do this using separate tasks instead.
join(usb_fut, join(echo_fut, log_fut)).await;
----
There are two main ways to handle concurrency in Embassy:
1. Spawn multiple tasks, e.g. with `#[embassy_executor::task]`
2. Manage multiple futures inside ONE task using `join()` or `select()` (as shown above)
In general, either of these approaches will work. The main differences of these approaches are:
When using **separate tasks**, each task needs its own RAM allocation, so there's a little overhead for each task, so one task that does three things will likely be a little bit smaller than three tasks that do one thing (not a lot, probably a couple dozen bytes). In contrast, with **multiple futures in one task**, you don't need multiple task allocations, and it will generally be easier to share data, or use borrowed resources, inside of a single task.
An example showcasing some methods for sharing things between tasks link:https://github.com/embassy-rs/embassy/blob/main/examples/rp/src/bin/sharing.rs[can be found here].
But when it comes to "waking" tasks, for example when a data transfer is complete or a button is pressed, it's faster to wake a dedicated task, because that task does not need to check which future is actually ready. `join` and `select` must check ALL of the futures they are managing to see which one (or which ones) are ready to do more work. This is because all Rust executors (like Embassy or Tokio) only have the ability to wake tasks, not specific futures. This means you will use slightly less CPU time juggling futures when using dedicated tasks.
Practically, there's not a LOT of difference either way - so go with what makes it easier for you and your code first, but there will be some details that are slightly different in each case.

13
docs/modules/ROOT/pages/getting_started.adoc → docs/pages/getting_started.adoc
View File

@ -131,13 +131,16 @@ If you’re using a raspberry pi pico-w, make sure you’re running `+cargo run
If you’re using an rp2040 debug probe (e.g. the pico probe) and are having issues after running `probe-rs info`, unplug and reconnect the probe, letting it power cycle. Running `probe-rs info` is link:https://github.com/probe-rs/probe-rs/issues/1849[known to put the pico probe into an unusable state].
If you’re still having problems, check the link:https://embassy.dev/book/dev/faq.html[FAQ], or ask for help in the link:https://matrix.to/#/#embassy-rs:matrix.org[Embassy Chat Room].
:embassy-dev-faq-link-with-hash: https://embassy.dev/book/#_frequently_asked_questions
:embassy-matrix-channel: https://matrix.to/#/#embassy-rs:matrix.org
If you’re still having problems, check the {embassy-dev-faq-link-with-hash}[FAQ], or ask for help in the {embassy-matrix-channel}[Embassy Chat Room].
== What's next?
Congratulations, you have your first Embassy application running! Here are some suggestions for where to go from here:
* Read more about the xref:runtime.adoc[executor].
* Read more about the xref:hal.adoc[HAL].
* Start xref:basic_application.adoc[writing your application].
* Learn how to xref:new_project.adoc[start a new embassy project by adapting an example].
* Read more about the xref:_embassy_executor[executor].
* Read more about the xref:_hardware_abstraction_layer_hal[HAL].
* Start xref:_a_basic_embassy_application[writing your application].
* Learn how to xref:_starting_a_new_project[start a new embassy project by adapting an example].

2
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View File

@ -10,3 +10,5 @@ These HALs implement async/await functionality for most peripherals while also i
async traits in `embedded-hal` and `embedded-hal-async`. You can also use these HALs with another executor.
For the ESP32 series, there is an link:https://github.com/esp-rs/esp-hal[esp-hal] which you can use.
For the WCH 32-bit RISC-V series, there is an link:https://github.com/ch32-rs/ch32-hal[ch32-hal], which you can use.

12
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View File

@ -16,7 +16,7 @@ The blinky app using PAC is shown below:
[source,rust]
----
include::example$layer-by-layer/blinky-pac/src/main.rs[]
include::../examples/layer-by-layer/blinky-pac/src/main.rs[]
----
As you can see, a lot of code is needed to enable the peripheral clocks and to configure the input pins and the output pins of the application.
@ -35,7 +35,7 @@ The HAL example is shown below:
[source,rust]
----
include::example$layer-by-layer/blinky-hal/src/main.rs[]
include::../examples/layer-by-layer/blinky-hal/src/main.rs[]
----
As you can see, the application becomes a lot simpler, even without using any async code. The `Input` and `Output` types hide all the details of accessing the GPIO registers and allow you to use a much simpler API for querying the state of the button and toggling the LED output.
@ -52,7 +52,7 @@ Given Embassy focus on async Rust (which we'll come back to after this example),
[source,rust]
----
include::example$layer-by-layer/blinky-irq/src/main.rs[lines="1..57"]
include::../examples/layer-by-layer/blinky-irq/src/main.rs[lines="1..57"]
----
The simple application is now more complex again, primarily because of the need to keep the button and LED states in the global scope where it is accessible by the main application loop, as well as the interrupt handler.
@ -63,11 +63,11 @@ Luckily, there is an elegant solution to this problem when using Embassy.
== Async version
It's time to use the Embassy capabilities to its fullest. At the core, Embassy has an async excecutor, or a runtime for async tasks if you will. The executor polls a set of tasks (defined at compile time), and whenever a task `blocks`, the executor will run another task, or put the microcontroller to sleep.
It's time to use the Embassy capabilities to its fullest. At the core, Embassy has an async executor, or a runtime for async tasks if you will. The executor polls a set of tasks (defined at compile time), and whenever a task `blocks`, the executor will run another task, or put the microcontroller to sleep.
[source,rust]
----
include::example$layer-by-layer/blinky-async/src/main.rs[]
include::../examples/layer-by-layer/blinky-async/src/main.rs[]
----
The async version looks very similar to the HAL version, apart from a few minor details:
@ -76,7 +76,7 @@ The async version looks very similar to the HAL version, apart from a few minor
* The peripheral initialization is done by the main macro, and is handed to the main task.
* Before checking the button state, the application is awaiting a transition in the pin state (low -> high or high -> low).
When `button.await_for_any_edge().await` is called, the executor will pause the main task and put the microcontroller in sleep mode, unless there are other tasks that can run. Internally, the Embassy HAL has configured the interrupt handler for the button (in `ExtiButton`), so that whenever an interrupt is raised, the task awaiting the button will be woken up.
When `button.await_for_any_edge().await` is called, the executor will pause the main task and put the microcontroller in sleep mode, unless there are other tasks that can run. Internally, the Embassy HAL has configured the interrupt handler for the button (in `ExtiInput`), so that whenever an interrupt is raised, the task awaiting the button will be woken up.
The minimal overhead of the executor and the ability to run multiple tasks "concurrently" combined with the enormous simplification of the application, makes `async` a great fit for embedded.

21
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View File

@ -1,17 +1,18 @@
= Starting a new Embassy project
= Starting a new project
Once you’ve successfully xref:getting_started.adoc[run some example projects], the next step is to make a standalone Embassy project.
There are some tools for generating Embassy projects: (WIP)
== Tools for generating Embassy projects
==== CLI
=== CLI
- link:https://github.com/adinack/cargo-embassy[cargo-embassy] (STM32 and NRF)
==== cargo-generate
=== cargo-generate
- link:https://github.com/lulf/embassy-template[embassy-template] (STM32, NRF, and RP)
- link:https://github.com/bentwire/embassy-rp2040-template[embassy-rp2040-template] (RP)
But if you want to start from scratch:
== Starting a project from scratch
As an example, let’s create a new embassy project from scratch for a STM32G474. The same instructions are applicable for any supported chip with some minor changes.
@ -35,7 +36,7 @@ stm32g474-example
Looking in link:https://github.com/embassy-rs/embassy/tree/main/examples[the Embassy examples], we can see there’s a `stm32g4` folder. Find `src/blinky.rs` and copy its contents into our `src/main.rs`.
== .cargo/config.toml
=== The .cargo/config.toml
Currently, we’d need to provide cargo with a target triple every time we run `cargo build` or `cargo run`. Let’s spare ourselves that work by copying `.cargo/config.toml` from `examples/stm32g4` into our project.
@ -66,7 +67,7 @@ and copying `STM32G474RETx` into `.cargo/config.toml` as so:
runner = "probe-rs run --chip STM32G474RETx"
----
== Cargo.toml
=== Cargo.toml
Now that cargo knows what target to compile for (and probe-rs knows what chip to run it on), we’re ready to add some dependencies.
@ -117,7 +118,7 @@ Finally, copy the `[profile.release]` section from the example `Cargo.toml` into
debug = 2
----
== rust-toolchain.toml
=== rust-toolchain.toml
Before we can build our project, we need to add an additional file to tell cargo to use the nightly toolchain. Copy the `rust-toolchain.toml` from the embassy repo to ours, and trim the list of targets down to only the target triple relevent for our project — in this case, `thumbv7em-none-eabi`:
@ -142,7 +143,7 @@ components = [ "rust-src", "rustfmt", "llvm-tools", "miri" ]
targets = ["thumbv7em-none-eabi"]
----
== build.rs
=== build.rs
In order to produce a working binary for our target, cargo requires a custom build script. Copy `build.rs` from the example to our project:
@ -158,7 +159,7 @@ stm32g474-example
└── main.rs
----
== Building and running
=== Building and running
At this point, we‘re finally ready to build and run our project! Connect your board via a debug probe and run:

0
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17
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@ -1,4 +1,4 @@
= Embassy
= Introduction
Embassy is a project to make async/await a first-class option for embedded development.
@ -30,6 +30,7 @@ The Embassy project maintains HALs for select hardware, but you can still use HA
* link:https://docs.embassy.dev/embassy-nrf/[embassy-nrf], for the Nordic Semiconductor nRF52, nRF53, nRF91 series.
* link:https://docs.embassy.dev/embassy-rp/[embassy-rp], for the Raspberry Pi RP2040 microcontroller.
* link:https://github.com/esp-rs[esp-rs], for the Espressif Systems ESP32 series of chips.
* link:https://github.com/ch32-rs/ch32-hal[ch32-hal], for the WCH 32-bit RISC-V(CH32V) series of chips.
NOTE: A common question is if one can use the Embassy HALs standalone. Yes, it is possible! There are no dependency on the executor within the HALs. You can even use them without async,
as they implement both the link:https://github.com/rust-embedded/embedded-hal[Embedded HAL] blocking and async traits.
@ -55,6 +56,20 @@ For most I/O in embedded devices, the peripheral doesn't directly support the tr
The Direct Memory Access controller (DMA) is a controller that is present in MCUs that Embassy supports, including stm32 and nrf. The DMA allows the MCU to set up a transfer, either send or receive, and then wait for the transfer to complete. With DMA, once started, no MCU intervention is required until the transfer is complete, meaning that the MCU can perform other computation, or set up other I/O while the transfer is in progress. For high I/O rates, DMA can cut the time that the MCU spends handling I/O by over half. However, because DMA is more complex to set-up, it is less widely used in the embedded community. Embassy aims to change that by making DMA the first choice rather than the last. Using Embassy, there's no additional tuning required once I/O rates increase because your application is already set-up to handle them.
== Examples
Embassy provides examples for all HALs supported. You can find them in the `examples/` folder.
Main loop example
[source,rust]
----
include::../examples/examples/std/src/bin/tick.rs[]
----
include::embassy_in_the_wild.adoc[leveloffset = 2]
== Resources
For more reading material on async Rust and Embassy:

12
docs/modules/ROOT/pages/project_structure.adoc → docs/pages/project_structure.adoc
View File

@ -18,6 +18,7 @@ my-project
|- rust-toolchain.toml
----
[discrete]
== .cargo/config.toml
This directory/file describes what platform you're on, and configures link:https://github.com/probe-rs/probe-rs[probe-rs] to deploy to your device.
@ -36,21 +37,27 @@ target = "thumbv6m-none-eabi" # <-change for your platform
DEFMT_LOG = "trace" # <- can change to info, warn, or error
----
[discrete]
== build.rs
This is the build script for your project. It links defmt (what is link:https://defmt.ferrous-systems.com[defmt]?) and the `memory.x` file if needed. This file is pretty specific for each chipset, just copy and paste from the corresponding link:https://github.com/embassy-rs/embassy/tree/main/examples[example].
[discrete]
== Cargo.toml
This is your manifest file, where you can configure all of the embassy components to use the features you need.
==== Features
===== Time
[discrete]
=== Features
[discrete]
==== Time
- tick-hz-x: Configures the tick rate of `embassy-time`. Higher tick rate means higher precision, and higher CPU wakes.
- defmt-timestamp-uptime: defmt log entries will display the uptime in seconds.
...more to come
[discrete]
== memory.x
This file outlines the flash/ram usage of your program. It is especially useful when using link:https://github.com/embassy-rs/nrf-softdevice[nrf-softdevice] on an nRF5x.
@ -68,6 +75,7 @@ MEMORY
}
----
[discrete]
== rust-toolchain.toml
This file configures the rust version and configuration to use.

0
docs/modules/ROOT/pages/runtime.adoc → docs/pages/runtime.adoc
View File

6
docs/modules/ROOT/pages/sharing_peripherals.adoc → docs/pages/sharing_peripherals.adoc
View File

@ -8,6 +8,7 @@ The following examples shows different ways to use the on-board LED on a Raspber
Using mutual exclusion is the simplest way to share a peripheral.
TIP: Dependencies needed to run this example link:/book/dev/basic_application.html#_the_cargo_toml[can be found here].
[,rust]
----
use defmt::*;
@ -77,6 +78,7 @@ To indicate that the pin will be set to an Output. The `AnyPin` could have been
A channel is another way to ensure exclusive access to a resource. Using a channel is great in the cases where the access can happen at a later point in time, allowing you to enqueue operations and do other things.
TIP: Dependencies needed to run this example link:/book/dev/basic_application.html#_the_cargo_toml[can be found here].
[,rust]
----
use defmt::*;
@ -123,4 +125,6 @@ async fn toggle_led(control: Sender<'static, ThreadModeRawMutex, LedState, 64>,
----
This example replaces the Mutex with a Channel, and uses another task (the main loop) to drive the LED. The advantage of this approach is that only a single task references the peripheral, separating concerns. However, using a Mutex has a lower overhead and might be necessary if you need to ensure
that the operation is ecompleted before continuing to do other work in your task.
that the operation is completed before continuing to do other work in your task.
An example showcasing more methods for sharing link:https://github.com/embassy-rs/embassy/blob/main/examples/rp/src/bin/sharing.rs[can be found here].

0
docs/modules/ROOT/pages/stm32.adoc → docs/pages/stm32.adoc
View File

13
docs/pages/system.adoc Normal file
View File

@ -0,0 +1,13 @@
= System description
This section describes different parts of Embassy in more detail.
include::runtime.adoc[leveloffset = 2]
include::bootloader.adoc[leveloffset = 2]
include::time_keeping.adoc[leveloffset = 2]
include::hal.adoc[leveloffset = 2]
include::nrf.adoc[leveloffset = 2]
include::stm32.adoc[leveloffset = 2]
include::sharing_peripherals.adoc[leveloffset = 2]
include::developer.adoc[leveloffset = 2]
include::developer_stm32.adoc[leveloffset = 2]

2
docs/modules/ROOT/pages/time_keeping.adoc → docs/pages/time_keeping.adoc
View File

@ -16,6 +16,7 @@ The `embassy::time::Timer` type provides two timing methods.
An example of a delay is provided as follows:
TIP: Dependencies needed to run this example link:/book/dev/basic_application.html#_the_cargo_toml[can be found here].
[,rust]
----
use embassy::executor::{task, Executor};
@ -40,6 +41,7 @@ that expect a generic delay implementation to be provided.
An example of how this can be used:
TIP: Dependencies needed to run this example link:/book/dev/basic_application.html#_the_cargo_toml[can be found here].
[,rust]
----
use embassy::executor::{task, Executor};

3
embassy-boot-nrf/Cargo.toml
View File

@ -22,8 +22,9 @@ target = "thumbv7em-none-eabi"
[dependencies]
defmt = { version = "0.3", optional = true }
log = { version = "0.4.17", optional = true }
embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
embassy-nrf = { version = "0.1.0", path = "../embassy-nrf", default-features = false }
embassy-boot = { version = "0.2.0", path = "../embassy-boot" }
cortex-m = { version = "0.7.6" }

17
embassy-boot-nrf/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

8
embassy-boot-nrf/src/lib.rs
View File

@ -20,7 +20,13 @@ impl<const BUFFER_SIZE: usize> BootLoader<BUFFER_SIZE> {
pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash>(
config: BootLoaderConfig<ACTIVE, DFU, STATE>,
) -> Self {
Self::try_prepare::<ACTIVE, DFU, STATE>(config).expect("Boot prepare error")
if let Ok(loader) = Self::try_prepare::<ACTIVE, DFU, STATE>(config) {
loader
} else {
// Use explicit panic instead of .expect() to ensure this gets routed via defmt/etc.
// properly
panic!("Boot prepare error")
}
}
/// Inspect the bootloader state and perform actions required before booting, such as swapping firmware

6
embassy-boot-rp/Cargo.toml
View File

@ -21,13 +21,12 @@ target = "thumbv6m-none-eabi"
[dependencies]
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.4", optional = true }
log = { version = "0.4", optional = true }
embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
embassy-rp = { version = "0.1.0", path = "../embassy-rp", default-features = false }
embassy-boot = { version = "0.2.0", path = "../embassy-boot" }
embassy-time = { version = "0.3.0", path = "../embassy-time" }
embassy-time = { version = "0.3.1", path = "../embassy-time" }
cortex-m = { version = "0.7.6" }
cortex-m-rt = { version = "0.7" }
@ -46,7 +45,6 @@ log = [
"embassy-boot/log",
"embassy-rp/log",
]
debug = ["defmt-rtt"]
[profile.dev]
debug = 2

1
embassy-boot-rp/build.rs
View File

@ -5,4 +5,5 @@ fn main() {
if target.starts_with("thumbv6m-") {
println!("cargo:rustc-cfg=armv6m");
}
println!("cargo:rustc-check-cfg=cfg(armv6m)");
}

17
embassy-boot-rp/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

8
embassy-boot-rp/src/lib.rs
View File

@ -21,7 +21,13 @@ impl<const BUFFER_SIZE: usize> BootLoader<BUFFER_SIZE> {
pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash>(
config: BootLoaderConfig<ACTIVE, DFU, STATE>,
) -> Self {
Self::try_prepare::<ACTIVE, DFU, STATE>(config).expect("Boot prepare error")
if let Ok(loader) = Self::try_prepare::<ACTIVE, DFU, STATE>(config) {
loader
} else {
// Use explicit panic instead of .expect() to ensure this gets routed via defmt/etc.
// properly
panic!("Boot prepare error")
}
}
/// Inspect the bootloader state and perform actions required before booting, such as swapping firmware

6
embassy-boot-stm32/Cargo.toml
View File

@ -13,7 +13,7 @@ categories = [
]
[package.metadata.embassy_docs]
src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-nrf-v$VERSION/embassy-boot-stm32/src/"
src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-stm32-v$VERSION/embassy-boot-stm32/src/"
src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-boot-stm32/src/"
features = ["embassy-stm32/stm32f429zi"]
target = "thumbv7em-none-eabi"
@ -22,10 +22,9 @@ target = "thumbv7em-none-eabi"
[dependencies]
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.4", optional = true }
log = { version = "0.4", optional = true }
embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32", default-features = false }
embassy-boot = { version = "0.2.0", path = "../embassy-boot" }
cortex-m = { version = "0.7.6" }
@ -37,7 +36,6 @@ cfg-if = "1.0.0"
[features]
defmt = ["dep:defmt", "embassy-boot/defmt", "embassy-stm32/defmt"]
log = ["dep:log", "embassy-boot/log", "embassy-stm32/log"]
debug = ["defmt-rtt"]
[profile.dev]
debug = 2

1
embassy-boot-stm32/build.rs
View File

@ -5,4 +5,5 @@ fn main() {
if target.starts_with("thumbv6m-") {
println!("cargo:rustc-cfg=armv6m");
}
println!("cargo:rustc-check-cfg=cfg(armv6m)");
}

17
embassy-boot-stm32/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

8
embassy-boot-stm32/src/lib.rs
View File

@ -20,7 +20,13 @@ impl BootLoader {
pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>(
config: BootLoaderConfig<ACTIVE, DFU, STATE>,
) -> Self {
Self::try_prepare::<ACTIVE, DFU, STATE, BUFFER_SIZE>(config).expect("Boot prepare error")
if let Ok(loader) = Self::try_prepare::<ACTIVE, DFU, STATE, BUFFER_SIZE>(config) {
loader
} else {
// Use explicit panic instead of .expect() to ensure this gets routed via defmt/etc.
// properly
panic!("Boot prepare error")
}
}
/// Inspect the bootloader state and perform actions required before booting, such as swapping firmware

2
embassy-boot/Cargo.toml
View File

@ -29,7 +29,7 @@ digest = "0.10"
log = { version = "0.4", optional = true }
ed25519-dalek = { version = "2", default_features = false, features = ["digest"], optional = true }
embassy-embedded-hal = { version = "0.1.0", path = "../embassy-embedded-hal" }
embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
embedded-storage = "0.3.1"
embedded-storage-async = { version = "0.4.1" }
salty = { version = "0.3", optional = true }

2
embassy-boot/README.md
View File

@ -24,7 +24,7 @@ For any partition, the following preconditions are required:
The linker scripts for the application and bootloader look similar, but the FLASH region must point to the BOOTLOADER partition for the bootloader, and the ACTIVE partition for the application.
For more details on the bootloader, see [the documentation](https://embassy.dev/book/dev/bootloader.html).
For more details on the bootloader, see [the documentation](https://embassy.dev/book/#_bootloader).
## Hardware support

11
embassy-boot/src/boot_loader.rs
View File

@ -235,12 +235,15 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, S
/// | DFU | 3 | 4 | 5 | 6 | 3 |
///
pub fn prepare_boot(&mut self, aligned_buf: &mut [u8]) -> Result<State, BootError> {
const {
assert!(Self::PAGE_SIZE % ACTIVE::WRITE_SIZE as u32 == 0);
assert!(Self::PAGE_SIZE % ACTIVE::ERASE_SIZE as u32 == 0);
assert!(Self::PAGE_SIZE % DFU::WRITE_SIZE as u32 == 0);
assert!(Self::PAGE_SIZE % DFU::ERASE_SIZE as u32 == 0);
}
// Ensure we have enough progress pages to store copy progress
assert_eq!(0, Self::PAGE_SIZE % aligned_buf.len() as u32);
assert_eq!(0, Self::PAGE_SIZE % ACTIVE::WRITE_SIZE as u32);
assert_eq!(0, Self::PAGE_SIZE % ACTIVE::ERASE_SIZE as u32);
assert_eq!(0, Self::PAGE_SIZE % DFU::WRITE_SIZE as u32);
assert_eq!(0, Self::PAGE_SIZE % DFU::ERASE_SIZE as u32);
assert!(aligned_buf.len() >= STATE::WRITE_SIZE);
assert_eq!(0, aligned_buf.len() % ACTIVE::WRITE_SIZE);
assert_eq!(0, aligned_buf.len() % DFU::WRITE_SIZE);

17
embassy-boot/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

2
embassy-boot/src/test_flash/asynch.rs
View File

@ -43,7 +43,7 @@ where
}
fn create_partition<T: NorFlash>(mutex: &Mutex<NoopRawMutex, T>) -> Partition<NoopRawMutex, T> {
Partition::new(mutex, 0, mutex.try_lock().unwrap().capacity() as u32)
Partition::new(mutex, 0, unwrap!(mutex.try_lock()).capacity() as u32)
}
}

4
embassy-embedded-hal/Cargo.toml
View File

@ -28,8 +28,8 @@ default = ["time"]
[dependencies]
embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
embassy-time = { version = "0.3.0", path = "../embassy-time", optional = true }
embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
embassy-time = { version = "0.3.1", path = "../embassy-time", optional = true }
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
"unproven",
] }

14
embassy-embedded-hal/src/shared_bus/asynch/spi.rs
View File

@ -55,13 +55,14 @@ where
type Error = SpiDeviceError<BUS::Error, CS::Error>;
}
impl<M, BUS, CS> spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
impl<M, BUS, CS, Word> spi::SpiDevice<Word> for SpiDevice<'_, M, BUS, CS>
where
M: RawMutex,
BUS: spi::SpiBus,
BUS: spi::SpiBus<Word>,
CS: OutputPin,
Word: Copy + 'static,
{
async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
async fn transaction(&mut self, operations: &mut [spi::Operation<'_, Word>]) -> Result<(), Self::Error> {
if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
return Err(SpiDeviceError::DelayNotSupported);
}
@ -138,13 +139,14 @@ where
type Error = SpiDeviceError<BUS::Error, CS::Error>;
}
impl<M, BUS, CS> spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
impl<M, BUS, CS, Word> spi::SpiDevice<Word> for SpiDeviceWithConfig<'_, M, BUS, CS>
where
M: RawMutex,
BUS: spi::SpiBus + SetConfig,
BUS: spi::SpiBus<Word> + SetConfig,
CS: OutputPin,
Word: Copy + 'static,
{
async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
async fn transaction(&mut self, operations: &mut [spi::Operation<'_, Word>]) -> Result<(), Self::Error> {
if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
return Err(SpiDeviceError::DelayNotSupported);
}

55
embassy-embedded-hal/src/shared_bus/blocking/spi.rs
View File

@ -48,13 +48,14 @@ where
type Error = SpiDeviceError<BUS::Error, CS::Error>;
}
impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
impl<BUS, M, CS, Word> embedded_hal_1::spi::SpiDevice<Word> for SpiDevice<'_, M, BUS, CS>
where
M: RawMutex,
BUS: SpiBus,
BUS: SpiBus<Word>,
CS: OutputPin,
Word: Copy + 'static,
{
fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
fn transaction(&mut self, operations: &mut [embedded_hal_1::spi::Operation<'_, Word>]) -> Result<(), Self::Error> {
if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
return Err(SpiDeviceError::DelayNotSupported);
}
@ -90,47 +91,6 @@ where
}
}
impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Transfer<u8> for SpiDevice<'_, M, BUS, CS>
where
M: RawMutex,
BUS: embedded_hal_02::blocking::spi::Transfer<u8, Error = BusErr>,
CS: OutputPin<Error = CsErr>,
{
type Error = SpiDeviceError<BusErr, CsErr>;
fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], Self::Error> {
self.bus.lock(|bus| {
let mut bus = bus.borrow_mut();
self.cs.set_low().map_err(SpiDeviceError::Cs)?;
let op_res = bus.transfer(words);
let cs_res = self.cs.set_high();
let op_res = op_res.map_err(SpiDeviceError::Spi)?;
cs_res.map_err(SpiDeviceError::Cs)?;
Ok(op_res)
})
}
}
impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Write<u8> for SpiDevice<'_, M, BUS, CS>
where
M: RawMutex,
BUS: embedded_hal_02::blocking::spi::Write<u8, Error = BusErr>,
CS: OutputPin<Error = CsErr>,
{
type Error = SpiDeviceError<BusErr, CsErr>;
fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
self.bus.lock(|bus| {
let mut bus = bus.borrow_mut();
self.cs.set_low().map_err(SpiDeviceError::Cs)?;
let op_res = bus.write(words);
let cs_res = self.cs.set_high();
let op_res = op_res.map_err(SpiDeviceError::Spi)?;
cs_res.map_err(SpiDeviceError::Cs)?;
Ok(op_res)
})
}
}
/// SPI device on a shared bus, with its own configuration.
///
/// This is like [`SpiDevice`], with an additional bus configuration that's applied
@ -163,13 +123,14 @@ where
type Error = SpiDeviceError<BUS::Error, CS::Error>;
}
impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
impl<BUS, M, CS, Word> embedded_hal_1::spi::SpiDevice<Word> for SpiDeviceWithConfig<'_, M, BUS, CS>
where
M: RawMutex,
BUS: SpiBus + SetConfig,
BUS: SpiBus<Word> + SetConfig,
CS: OutputPin,
Word: Copy + 'static,
{
fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
fn transaction(&mut self, operations: &mut [embedded_hal_1::spi::Operation<'_, Word>]) -> Result<(), Self::Error> {
if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
return Err(SpiDeviceError::DelayNotSupported);
}

31
embassy-executor/build.rs
View File

@ -3,6 +3,9 @@ use std::fmt::Write;
use std::path::PathBuf;
use std::{env, fs};
#[path = "./build_common.rs"]
mod common;
static CONFIGS: &[(&str, usize)] = &[
// BEGIN AUTOGENERATED CONFIG FEATURES
// Generated by gen_config.py. DO NOT EDIT.
@ -91,30 +94,6 @@ fn main() {
let out_file = out_dir.join("config.rs").to_string_lossy().to_string();
fs::write(out_file, data).unwrap();
// cortex-m targets
let target = env::var("TARGET").unwrap();
if target.starts_with("thumbv6m-") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv6m");
} else if target.starts_with("thumbv7m-") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv7m");
} else if target.starts_with("thumbv7em-") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv7m");
println!("cargo:rustc-cfg=armv7em"); // (not currently used)
} else if target.starts_with("thumbv8m.base") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv8m");
println!("cargo:rustc-cfg=armv8m_base");
} else if target.starts_with("thumbv8m.main") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv8m");
println!("cargo:rustc-cfg=armv8m_main");
}
if target.ends_with("-eabihf") {
println!("cargo:rustc-cfg=has_fpu");
}
let mut rustc_cfgs = common::CfgSet::new();
common::set_target_cfgs(&mut rustc_cfgs);
}

113
embassy-executor/build_common.rs Normal file
View File

@ -0,0 +1,113 @@
// NOTE: this file is copy-pasted between several Embassy crates, because there is no
// straightforward way to share this code:
// - it cannot be placed into the root of the repo and linked from each build.rs using `#[path =
// "../build_common.rs"]`, because `cargo publish` requires that all files published with a crate
// reside in the crate's directory,
// - it cannot be symlinked from `embassy-xxx/build_common.rs` to `../build_common.rs`, because
// symlinks don't work on Windows.
use std::collections::HashSet;
use std::env;
use std::ffi::OsString;
use std::process::Command;
/// Helper for emitting cargo instruction for enabling configs (`cargo:rustc-cfg=X`) and declaring
/// them (`cargo:rust-check-cfg=cfg(X)`).
#[derive(Debug)]
pub struct CfgSet {
enabled: HashSet<String>,
declared: HashSet<String>,
emit_declared: bool,
}
impl CfgSet {
pub fn new() -> Self {
Self {
enabled: HashSet::new(),
declared: HashSet::new(),
emit_declared: is_rustc_nightly(),
}
}
/// Enable a config, which can then be used in `#[cfg(...)]` for conditional compilation.
///
/// All configs that can potentially be enabled should be unconditionally declared using
/// [`Self::declare()`].
pub fn enable(&mut self, cfg: impl AsRef<str>) {
if self.enabled.insert(cfg.as_ref().to_owned()) {
println!("cargo:rustc-cfg={}", cfg.as_ref());
}
}
pub fn enable_all(&mut self, cfgs: &[impl AsRef<str>]) {
for cfg in cfgs.iter() {
self.enable(cfg.as_ref());
}
}
/// Declare a valid config for conditional compilation, without enabling it.
///
/// This enables rustc to check that the configs in `#[cfg(...)]` attributes are valid.
pub fn declare(&mut self, cfg: impl AsRef<str>) {
if self.declared.insert(cfg.as_ref().to_owned()) && self.emit_declared {
println!("cargo:rustc-check-cfg=cfg({})", cfg.as_ref());
}
}
pub fn declare_all(&mut self, cfgs: &[impl AsRef<str>]) {
for cfg in cfgs.iter() {
self.declare(cfg.as_ref());
}
}
pub fn set(&mut self, cfg: impl Into<String>, enable: bool) {
let cfg = cfg.into();
if enable {
self.enable(cfg.clone());
}
self.declare(cfg);
}
}
fn is_rustc_nightly() -> bool {
if env::var_os("EMBASSY_FORCE_CHECK_CFG").is_some() {
return true;
}
let rustc = env::var_os("RUSTC").unwrap_or_else(|| OsString::from("rustc"));
let output = Command::new(rustc)
.arg("--version")
.output()
.expect("failed to run `rustc --version`");
String::from_utf8_lossy(&output.stdout).contains("nightly")
}
/// Sets configs that describe the target platform.
pub fn set_target_cfgs(cfgs: &mut CfgSet) {
let target = env::var("TARGET").unwrap();
if target.starts_with("thumbv6m-") {
cfgs.enable_all(&["cortex_m", "armv6m"]);
} else if target.starts_with("thumbv7m-") {
cfgs.enable_all(&["cortex_m", "armv7m"]);
} else if target.starts_with("thumbv7em-") {
cfgs.enable_all(&["cortex_m", "armv7m", "armv7em"]);
} else if target.starts_with("thumbv8m.base") {
cfgs.enable_all(&["cortex_m", "armv8m", "armv8m_base"]);
} else if target.starts_with("thumbv8m.main") {
cfgs.enable_all(&["cortex_m", "armv8m", "armv8m_main"]);
}
cfgs.declare_all(&[
"cortex_m",
"armv6m",
"armv7m",
"armv7em",
"armv8m",
"armv8m_base",
"armv8m_main",
]);
cfgs.set("has_fpu", target.ends_with("-eabihf"));
}

17
embassy-executor/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

1
embassy-executor/src/lib.rs
View File

@ -1,4 +1,5 @@
#![cfg_attr(not(any(feature = "arch-std", feature = "arch-wasm")), no_std)]
#![cfg_attr(feature = "nightly", feature(waker_getters))]
#![allow(clippy::new_without_default)]
#![doc = include_str!("../README.md")]
#![warn(missing_docs)]

39
embassy-executor/src/raw/waker.rs
View File

@ -1,4 +1,3 @@
use core::mem;
use core::task::{RawWaker, RawWakerVTable, Waker};
use super::{wake_task, TaskHeader, TaskRef};
@ -33,20 +32,32 @@ pub(crate) unsafe fn from_task(p: TaskRef) -> Waker {
///
/// Panics if the waker is not created by the Embassy executor.
pub fn task_from_waker(waker: &Waker) -> TaskRef {
// safety: OK because WakerHack has the same layout as Waker.
// This is not really guaranteed because the structs are `repr(Rust)`, it is
// indeed the case in the current implementation.
// TODO use waker_getters when stable. https://github.com/rust-lang/rust/issues/96992
let hack: &WakerHack = unsafe { mem::transmute(waker) };
if hack.vtable != &VTABLE {
let (vtable, data) = {
#[cfg(not(feature = "nightly"))]
{
struct WakerHack {
data: *const (),
vtable: &'static RawWakerVTable,
}
// safety: OK because WakerHack has the same layout as Waker.
// This is not really guaranteed because the structs are `repr(Rust)`, it is
// indeed the case in the current implementation.
// TODO use waker_getters when stable. https://github.com/rust-lang/rust/issues/96992
let hack: &WakerHack = unsafe { core::mem::transmute(waker) };
(hack.vtable, hack.data)
}
#[cfg(feature = "nightly")]
{
let raw_waker = waker.as_raw();
(raw_waker.vtable(), raw_waker.data())
}
};
if vtable != &VTABLE {
panic!("Found waker not created by the Embassy executor. `embassy_time::Timer` only works with the Embassy executor.")
}
// safety: our wakers are always created with `TaskRef::as_ptr`
unsafe { TaskRef::from_ptr(hack.data as *const TaskHeader) }
}
struct WakerHack {
data: *const (),
vtable: &'static RawWakerVTable,
unsafe { TaskRef::from_ptr(data as *const TaskHeader) }
}

17
embassy-futures/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

8
embassy-futures/src/yield_now.rs
View File

@ -9,10 +9,16 @@ use core::task::{Context, Poll};
/// hold, while still allowing other tasks to run concurrently (not monopolizing
/// the executor thread).
///
/// ```rust,no_run
/// ```rust
/// # use embassy_futures::{block_on, yield_now};
/// # async fn test_fn() {
/// # let mut iter_count: u32 = 0;
/// # let mut some_condition = || { iter_count += 1; iter_count > 10 };
/// while !some_condition() {
/// yield_now().await;
/// }
/// # }
/// # block_on(test_fn());
/// ```
///
/// The downside is this will spin in a busy loop, using 100% of the CPU, while

30
embassy-hal-internal/build.rs
View File

@ -1,29 +1,7 @@
use std::env;
#[path = "./build_common.rs"]
mod common;
fn main() {
let target = env::var("TARGET").unwrap();
if target.starts_with("thumbv6m-") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv6m");
} else if target.starts_with("thumbv7m-") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv7m");
} else if target.starts_with("thumbv7em-") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv7m");
println!("cargo:rustc-cfg=armv7em"); // (not currently used)
} else if target.starts_with("thumbv8m.base") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv8m");
println!("cargo:rustc-cfg=armv8m_base");
} else if target.starts_with("thumbv8m.main") {
println!("cargo:rustc-cfg=cortex_m");
println!("cargo:rustc-cfg=armv8m");
println!("cargo:rustc-cfg=armv8m_main");
}
if target.ends_with("-eabihf") {
println!("cargo:rustc-cfg=has_fpu");
}
let mut cfgs = common::CfgSet::new();
common::set_target_cfgs(&mut cfgs);
}

113
embassy-hal-internal/build_common.rs Normal file
View File

@ -0,0 +1,113 @@
// NOTE: this file is copy-pasted between several Embassy crates, because there is no
// straightforward way to share this code:
// - it cannot be placed into the root of the repo and linked from each build.rs using `#[path =
// "../build_common.rs"]`, because `cargo publish` requires that all files published with a crate
// reside in the crate's directory,
// - it cannot be symlinked from `embassy-xxx/build_common.rs` to `../build_common.rs`, because
// symlinks don't work on Windows.
use std::collections::HashSet;
use std::env;
use std::ffi::OsString;
use std::process::Command;
/// Helper for emitting cargo instruction for enabling configs (`cargo:rustc-cfg=X`) and declaring
/// them (`cargo:rust-check-cfg=cfg(X)`).
#[derive(Debug)]
pub struct CfgSet {
enabled: HashSet<String>,
declared: HashSet<String>,
emit_declared: bool,
}
impl CfgSet {
pub fn new() -> Self {
Self {
enabled: HashSet::new(),
declared: HashSet::new(),
emit_declared: is_rustc_nightly(),
}
}
/// Enable a config, which can then be used in `#[cfg(...)]` for conditional compilation.
///
/// All configs that can potentially be enabled should be unconditionally declared using
/// [`Self::declare()`].
pub fn enable(&mut self, cfg: impl AsRef<str>) {
if self.enabled.insert(cfg.as_ref().to_owned()) {
println!("cargo:rustc-cfg={}", cfg.as_ref());
}
}
pub fn enable_all(&mut self, cfgs: &[impl AsRef<str>]) {
for cfg in cfgs.iter() {
self.enable(cfg.as_ref());
}
}
/// Declare a valid config for conditional compilation, without enabling it.
///
/// This enables rustc to check that the configs in `#[cfg(...)]` attributes are valid.
pub fn declare(&mut self, cfg: impl AsRef<str>) {
if self.declared.insert(cfg.as_ref().to_owned()) && self.emit_declared {
println!("cargo:rustc-check-cfg=cfg({})", cfg.as_ref());
}
}
pub fn declare_all(&mut self, cfgs: &[impl AsRef<str>]) {
for cfg in cfgs.iter() {
self.declare(cfg.as_ref());
}
}
pub fn set(&mut self, cfg: impl Into<String>, enable: bool) {
let cfg = cfg.into();
if enable {
self.enable(cfg.clone());
}
self.declare(cfg);
}
}
fn is_rustc_nightly() -> bool {
if env::var_os("EMBASSY_FORCE_CHECK_CFG").is_some() {
return true;
}
let rustc = env::var_os("RUSTC").unwrap_or_else(|| OsString::from("rustc"));
let output = Command::new(rustc)
.arg("--version")
.output()
.expect("failed to run `rustc --version`");
String::from_utf8_lossy(&output.stdout).contains("nightly")
}
/// Sets configs that describe the target platform.
pub fn set_target_cfgs(cfgs: &mut CfgSet) {
let target = env::var("TARGET").unwrap();
if target.starts_with("thumbv6m-") {
cfgs.enable_all(&["cortex_m", "armv6m"]);
} else if target.starts_with("thumbv7m-") {
cfgs.enable_all(&["cortex_m", "armv7m"]);
} else if target.starts_with("thumbv7em-") {
cfgs.enable_all(&["cortex_m", "armv7m", "armv7em"]);
} else if target.starts_with("thumbv8m.base") {
cfgs.enable_all(&["cortex_m", "armv8m", "armv8m_base"]);
} else if target.starts_with("thumbv8m.main") {
cfgs.enable_all(&["cortex_m", "armv8m", "armv8m_main"]);
}
cfgs.declare_all(&[
"cortex_m",
"armv6m",
"armv7m",
"armv7em",
"armv8m",
"armv8m_base",
"armv8m_main",
]);
cfgs.set("has_fpu", target.ends_with("-eabihf"));
}

9
embassy-hal-internal/src/atomic_ring_buffer.rs
View File

@ -123,6 +123,11 @@ impl RingBuffer {
Some(Writer(self))
}
/// Return if buffer is available.
pub fn is_available(&self) -> bool {
!self.buf.load(Ordering::Relaxed).is_null() && self.len.load(Ordering::Relaxed) != 0
}
/// Return length of buffer.
pub fn len(&self) -> usize {
self.len.load(Ordering::Relaxed)
@ -478,8 +483,12 @@ mod tests {
#[test]
fn zero_len() {
let mut b = [0; 0];
let rb = RingBuffer::new();
unsafe {
rb.init(b.as_mut_ptr(), b.len());
assert_eq!(rb.is_empty(), true);
assert_eq!(rb.is_full(), true);

17
embassy-hal-internal/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

15
embassy-hal-internal/src/peripheral.rs
View File

@ -1,5 +1,5 @@
use core::marker::PhantomData;
use core::ops::Deref;
use core::ops::{Deref, DerefMut};
/// An exclusive reference to a peripheral.
///
@ -155,7 +155,7 @@ pub trait Peripheral: Sized {
}
}
impl<'b, T: Deref> Peripheral for T
impl<'b, T: DerefMut> Peripheral for T
where
T::Target: Peripheral,
{
@ -163,6 +163,15 @@ where
#[inline]
unsafe fn clone_unchecked(&self) -> Self::P {
self.deref().clone_unchecked()
T::Target::clone_unchecked(self)
}
}
impl<'b, T: Peripheral> Peripheral for PeripheralRef<'_, T> {
type P = T::P;
#[inline]
unsafe fn clone_unchecked(&self) -> Self::P {
T::clone_unchecked(self)
}
}

3
embassy-net-adin1110/Cargo.toml
View File

@ -17,7 +17,7 @@ embedded-hal-1 = { package = "embedded-hal", version = "1.0" }
embedded-hal-async = { version = "1.0" }
embedded-hal-bus = { version = "0.1", features = ["async"] }
embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel" }
embassy-time = { version = "0.3.0", path = "../embassy-time" }
embassy-time = { version = "0.3.1", path = "../embassy-time" }
embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
bitfield = "0.14.0"
@ -29,7 +29,6 @@ critical-section = { version = "1.1.2", features = ["std"] }
futures-test = "0.3.28"
[features]
default = [ ]
defmt = [ "dep:defmt", "embedded-hal-1/defmt-03" ]
log = ["dep:log"]

17
embassy-net-adin1110/src/fmt.rs
View File

@ -6,6 +6,7 @@ use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
#[collapse_debuginfo(yes)]
macro_rules! assert {
($($x:tt)*) => {
{
@ -17,6 +18,7 @@ macro_rules! assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_eq {
($($x:tt)*) => {
{
@ -28,6 +30,7 @@ macro_rules! assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! assert_ne {
($($x:tt)*) => {
{
@ -39,6 +42,7 @@ macro_rules! assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert {
($($x:tt)*) => {
{
@ -50,6 +54,7 @@ macro_rules! debug_assert {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
};
}
#[collapse_debuginfo(yes)]
macro_rules! todo {
($($x:tt)*) => {
{
@ -84,6 +91,7 @@ macro_rules! todo {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::core::unreachable!($($x)*)
@ -91,12 +99,14 @@ macro_rules! unreachable {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unreachable {
($($x:tt)*) => {
::defmt::unreachable!($($x)*)
};
}
#[collapse_debuginfo(yes)]
macro_rules! panic {
($($x:tt)*) => {
{
@ -108,6 +118,7 @@ macro_rules! panic {
};
}
#[collapse_debuginfo(yes)]
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -121,6 +132,7 @@ macro_rules! trace {
};
}
#[collapse_debuginfo(yes)]
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -134,6 +146,7 @@ macro_rules! debug {
};
}
#[collapse_debuginfo(yes)]
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -147,6 +160,7 @@ macro_rules! info {
};
}
#[collapse_debuginfo(yes)]
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -160,6 +174,7 @@ macro_rules! warn {
};
}
#[collapse_debuginfo(yes)]
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
@ -174,6 +189,7 @@ macro_rules! error {
}
#[cfg(feature = "defmt")]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
@ -181,6 +197,7 @@ macro_rules! unwrap {
}
#[cfg(not(feature = "defmt"))]
#[collapse_debuginfo(yes)]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {

2
embassy-net-adin1110/src/lib.rs
View File

@ -1,6 +1,6 @@
#![cfg_attr(not(test), no_std)]
#![deny(clippy::pedantic)]
#![allow(async_fn_in_trait)]
#![cfg_attr(not(any(test, feature = "std")), no_std)]
#![allow(clippy::module_name_repetitions)]
#![allow(clippy::missing_errors_doc)]
#![allow(clippy::missing_panics_doc)]

2
embassy-net-driver-channel/Cargo.toml
View File

@ -25,6 +25,6 @@ features = ["defmt"]
defmt = { version = "0.3", optional = true }
log = { version = "0.4.14", optional = true }
embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
embassy-net-driver = { version = "0.2.0", path = "../embassy-net-driver" }

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