arch: Xtensa

- Adds a executor for the Xtensa arch based on the riscv32
  implementation
- Light sleep implemented with assembly, so we don't pull in the
  xtensa_lx crates (yet)
- lock behind a nightly feature

embassy/Cargo.toml

@@ -27,7 +27,7 @@ std = ["futures/std", "time", "time-tick-1mhz", "embassy-macros/std"]
 wasm = ["wasm-bindgen", "js-sys", "embassy-macros/wasm", "wasm-timer", "time", "time-tick-1mhz"]
 
 # Enable nightly-only features
-nightly = ["embedded-hal-async"]
+nightly = ["embedded-hal-async", "xtensa"]
 
 # Implement embedded-hal 1.0 alpha and embedded-hal-async traits.
 # Implement embedded-hal-async traits if `nightly` is set as well.
@@ -42,6 +42,9 @@ defmt-timestamp-uptime = ["defmt"]
 # Enabling it directly without supplying a time driver will fail to link.
 time = []
 
+# enable the Xtensa executor
+xtensa = []
+
 # Set the `embassy::time` tick rate.
 # NOTE: This feature is only intended to be enabled by crates providing the time driver implementation.
 # If you're not writing your own driver, check the driver documentation to customize the tick rate.

embassy/src/executor/arch/xtensa.rs

@@ -0,0 +1,153 @@
+use super::{raw, Spawner};
+use crate::interrupt::{Interrupt, InterruptExt};
+use atomic_polyfill::{AtomicBool, Ordering};
+use core::marker::PhantomData;
+use core::ptr;
+
+/// global atomic used to keep track of whether there is work to do since sev() is not available on Xtensa
+///
+static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+
+/// Xtensa Executor
+pub struct Executor {
+    inner: raw::Executor,
+    not_send: PhantomData<*mut ()>,
+}
+
+impl Executor {
+    /// Create a new Executor.
+    pub fn new() -> Self {
+        Self {
+            // use Signal_Work_Thread_Mode as substitute for local interrupt register
+            inner: raw::Executor::new(
+                |_| {
+                    SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
+                },
+                ptr::null_mut(),
+            ),
+            not_send: PhantomData,
+        }
+    }
+
+    /// Run the executor.
+    ///
+    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+    /// this executor. Use it to spawn the initial task(s). After `init` returns,
+    /// the executor starts running the tasks.
+    ///
+    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+    /// for example by passing it as an argument to the initial tasks.
+    ///
+    /// This function requires `&'static mut self`. This means you have to store the
+    /// Executor instance in a place where it'll live forever and grants you mutable
+    /// access. There's a few ways to do this:
+    ///
+    /// - a [Forever](crate::util::Forever) (safe)
+    /// - a `static mut` (unsafe)
+    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+    ///
+    /// This function never returns.
+    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+        init(self.inner.spawner());
+
+        loop {
+            unsafe {
+                self.inner.poll();
+                // we do not care about race conditions between the load and store operations, interrupts
+                // will only set this value to true.
+                // if there is work to do, loop back to polling
+                // TODO can we relax this?
+                if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
+                    SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
+                }
+                // if not, wait for interrupt
+                else {
+                    // waiti sets the PS.INTLEVEL therefore no critical section is needed
+                    core::arch::asm!("waiti 0"); /* wait for any prio interrupt */
+                }
+            }
+        }
+    }
+}
+
+/// Interrupt mode executor.
+///
+/// This executor runs tasks in interrupt mode. The interrupt handler is set up
+/// to poll tasks, and when a task is woken the interrupt is pended from software.
+///
+/// This allows running async tasks at a priority higher than thread mode. One
+/// use case is to leave thread mode free for non-async tasks. Another use case is
+/// to run multiple executors: one in thread mode for low priority tasks and another in
+/// interrupt mode for higher priority tasks. Higher priority tasks will preempt lower
+/// priority ones.
+///
+/// It is even possible to run multiple interrupt mode executors at different priorities,
+/// by assigning different priorities to the interrupts. For an example on how to do this,
+/// See the 'multiprio' example for 'embassy-nrf'.
+///
+/// To use it, you have to pick an interrupt that won't be used by the hardware.
+/// Some chips reserve some interrupts for this purpose, sometimes named "software interrupts" (SWI).
+/// If this is not the case, you may use an interrupt from any unused peripheral.
+///
+/// It is somewhat more complex to use, it's recommended to use the thread-mode
+/// [`Executor`] instead, if it works for your use case.
+pub struct InterruptExecutor<I: Interrupt> {
+    irq: I,
+    inner: raw::Executor,
+    not_send: PhantomData<*mut ()>,
+}
+
+impl<I: InterruptExt + 'static> InterruptExecutor<I> {
+    /// Create a new Executor.
+    pub fn new(mut irq: I) -> Self {
+        let ctx = &mut irq as *mut I as *mut ();
+        Self {
+            irq,
+            // takes the irq as an argument and pends it
+            inner: raw::Executor::new(
+                |ctx| unsafe {
+                    let i = &*(ctx as *mut I);
+                    // trigger the interrupt to indirectly call start()
+                    // when the interrupt is serviced
+                    i.pend();
+                },
+                ctx,
+            ),
+            not_send: PhantomData,
+        }
+    }
+
+    /// Start the executor.
+    ///
+    /// The `init` closure is called from interrupt mode, with a [`Spawner`] that spawns tasks on
+    /// this executor. Use it to spawn the initial task(s). After `init` returns,
+    /// the interrupt is configured so that the executor starts running the tasks.
+    /// Once the executor is started, `start` returns.
+    ///
+    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+    /// for example by passing it as an argument to the initial tasks.
+    ///
+    /// This function requires `&'static mut self`. This means you have to store the
+    /// Executor instance in a place where it'll live forever and grants you mutable
+    /// access. There's a few ways to do this:
+    ///
+    /// - a [Forever](crate::util::Forever) (safe)
+    /// - a `static mut` (unsafe)
+    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+    pub fn start(&'static mut self, init: impl FnOnce(Spawner) + Send) {
+        self.irq.disable();
+
+        init(self.inner.spawner());
+        // set interrupt handler to call poll() using this executor, then disable interrupt
+        self.irq.set_handler(|ctx| unsafe {
+            // unpend interrupt first, so it may re-trigger if it is signalled again
+
+            let executor = &*(ctx as *const Self);
+            executor.irq.unpend();
+            executor.inner.poll();
+        });
+        self.irq.set_handler_context(self as *const _ as _);
+
+        self.irq.enable();
+    }
+}

embassy/src/executor/mod.rs

@@ -23,6 +23,11 @@ cfg_if::cfg_if! {
         mod arch;
         pub use arch::*;
     }
+    else if #[cfg(target_arch="xtensa")] {
+        #[path="arch/xtensa.rs"]
+        mod arch;
+        pub use arch::*;
+    }
     else if #[cfg(feature="wasm")] {
         #[path="arch/wasm.rs"]
         mod arch;

embassy/src/lib.rs

@@ -1,7 +1,7 @@
 #![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)]
 #![cfg_attr(
     feature = "nightly",
-    feature(generic_associated_types, type_alias_impl_trait)
+    feature(generic_associated_types, type_alias_impl_trait, asm_experimental_arch)
 )]
 #![allow(clippy::new_without_default)]