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arch: Xtensa
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- Adds a executor for the Xtensa arch
- Light sleep implemented with assembly, so we don't pull in the
  xtensa_lx crates (yet)
- lock behind a nightly feature due to Xtensa asm support not upstream
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MabezDev committed Jun 20, 2022
1 parent e4fbfaf commit 9ad3411
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72 changes: 72 additions & 0 deletions embassy/src/executor/arch/xtensa.rs
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use core::marker::PhantomData;
use core::ptr;

use atomic_polyfill::{AtomicBool, Ordering};

use super::{raw, Spawner};

/// 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?
critical_section::with(|_| {
if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
} else {
// waiti sets the PS.INTLEVEL when slipping into sleep
core::arch::asm!("waiti 0"); /* wait for any prio interrupt */
}
});
}
}
}
}
5 changes: 5 additions & 0 deletions embassy/src/executor/mod.rs
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Expand Up @@ -23,6 +23,11 @@ cfg_if::cfg_if! {
mod arch;
pub use arch::*;
}
else if #[cfg(all(target_arch="xtensa", feature = "nightly"))] {
#[path="arch/xtensa.rs"]
mod arch;
pub use arch::*;
}
else if #[cfg(feature="wasm")] {
#[path="arch/wasm.rs"]
mod arch;
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1 change: 1 addition & 0 deletions embassy/src/lib.rs
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@@ -1,5 +1,6 @@
#![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)]
#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))]
#![cfg_attr(all(feature = "nightly", target_arch = "xtensa"), feature(asm_experimental_arch))]
#![allow(clippy::new_without_default)]
#![doc = include_str!("../../README.md")]

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