diff --git a/.vscode/settings.json b/.vscode/settings.json
index ed01f7557..a5a656637 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -6,11 +6,12 @@
"rust-analyzer.checkOnSave.allTargets": false,
"rust-analyzer.cargo.noDefaultFeatures": true,
"rust-analyzer.checkOnSave.noDefaultFeatures": true,
- //"rust-analyzer.cargo.target": "thumbv7em-none-eabi",
+ "rust-analyzer.cargo.target": "thumbv7em-none-eabi",
"rust-analyzer.cargo.features": [
// These are needed to prevent embassy-net from failing to build
"embassy-net/medium-ethernet",
"embassy-net/tcp",
+ "embassy-net/pool-16",
],
"rust-analyzer.procMacro.enable": true,
"rust-analyzer.cargo.runBuildScripts": true,
diff --git a/embassy/src/util/drop_bomb.rs b/embassy-hal-common/src/drop.rs
similarity index 61%
rename from embassy/src/util/drop_bomb.rs
rename to embassy-hal-common/src/drop.rs
index efb36a97d..74a484de7 100644
--- a/embassy/src/util/drop_bomb.rs
+++ b/embassy-hal-common/src/drop.rs
@@ -1,4 +1,27 @@
use core::mem;
+use core::mem::MaybeUninit;
+
+pub struct OnDrop<F: FnOnce()> {
+ f: MaybeUninit<F>,
+}
+
+impl<F: FnOnce()> OnDrop<F> {
+ pub fn new(f: F) -> Self {
+ Self {
+ f: MaybeUninit::new(f),
+ }
+ }
+
+ pub fn defuse(self) {
+ mem::forget(self)
+ }
+}
+
+impl<F: FnOnce()> Drop for OnDrop<F> {
+ fn drop(&mut self) {
+ unsafe { self.f.as_ptr().read()() }
+ }
+}
/// An explosive ordinance that panics if it is improperly disposed of.
///
diff --git a/embassy-hal-common/src/lib.rs b/embassy-hal-common/src/lib.rs
index ea20747eb..01e2d3aee 100644
--- a/embassy-hal-common/src/lib.rs
+++ b/embassy-hal-common/src/lib.rs
@@ -3,6 +3,7 @@
// This mod MUST go first, so that the others see its macros.
pub(crate) mod fmt;
+pub mod drop;
pub mod interrupt;
mod macros;
pub mod peripheral;
diff --git a/embassy-hal-common/src/usb/usb_serial.rs b/embassy-hal-common/src/usb/usb_serial.rs
index 8b27152b5..ca43a4d73 100644
--- a/embassy-hal-common/src/usb/usb_serial.rs
+++ b/embassy-hal-common/src/usb/usb_serial.rs
@@ -4,7 +4,7 @@ use core::pin::Pin;
use core::task::{Context, Poll};
use embassy::io::{self, AsyncBufRead, AsyncWrite};
-use embassy::util::WakerRegistration;
+use embassy::waitqueue::WakerRegistration;
use usb_device::bus::UsbBus;
use usb_device::class_prelude::*;
use usb_device::UsbError;
diff --git a/embassy-net/src/stack.rs b/embassy-net/src/stack.rs
index 5f871bd1f..f26808cd0 100644
--- a/embassy-net/src/stack.rs
+++ b/embassy-net/src/stack.rs
@@ -2,9 +2,9 @@ use core::cell::RefCell;
use core::future::Future;
use core::task::Context;
use core::task::Poll;
+use embassy::blocking_mutex::ThreadModeMutex;
use embassy::time::{Instant, Timer};
-use embassy::util::ThreadModeMutex;
-use embassy::util::WakerRegistration;
+use embassy::waitqueue::WakerRegistration;
use futures::pin_mut;
use smoltcp::iface::InterfaceBuilder;
#[cfg(feature = "medium-ethernet")]
diff --git a/embassy-nrf/src/buffered_uarte.rs b/embassy-nrf/src/buffered_uarte.rs
index 90ce49582..cd08875cd 100644
--- a/embassy-nrf/src/buffered_uarte.rs
+++ b/embassy-nrf/src/buffered_uarte.rs
@@ -6,7 +6,8 @@ use core::sync::atomic::{compiler_fence, Ordering};
use core::task::{Context, Poll};
use embassy::interrupt::InterruptExt;
use embassy::io::{AsyncBufRead, AsyncWrite, Result};
-use embassy::util::{Unborrow, WakerRegistration};
+use embassy::util::Unborrow;
+use embassy::waitqueue::WakerRegistration;
use embassy_hal_common::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
use embassy_hal_common::ring_buffer::RingBuffer;
use embassy_hal_common::{low_power_wait_until, unborrow};
diff --git a/embassy-nrf/src/gpiote.rs b/embassy-nrf/src/gpiote.rs
index 847b2fbf3..001ee7fb8 100644
--- a/embassy-nrf/src/gpiote.rs
+++ b/embassy-nrf/src/gpiote.rs
@@ -4,7 +4,7 @@ use core::marker::PhantomData;
use core::task::{Context, Poll};
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::traits::gpio::{WaitForAnyEdge, WaitForHigh, WaitForLow};
-use embassy::util::AtomicWaker;
+use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unsafe_impl_unborrow;
use embedded_hal::digital::v2::{InputPin, StatefulOutputPin};
use futures::future::poll_fn;
diff --git a/embassy-nrf/src/qspi.rs b/embassy-nrf/src/qspi.rs
index 28becfd56..e87094250 100644
--- a/embassy-nrf/src/qspi.rs
+++ b/embassy-nrf/src/qspi.rs
@@ -6,7 +6,8 @@ use core::ptr;
use core::task::Poll;
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::traits::flash::{Error, Flash};
-use embassy::util::{AtomicWaker, DropBomb, Unborrow};
+use embassy::util::Unborrow;
+use embassy_hal_common::drop::DropBomb;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
@@ -397,6 +398,8 @@ impl<'d, T: Instance> Flash for Qspi<'d, T> {
}
pub(crate) mod sealed {
+ use embassy::waitqueue::AtomicWaker;
+
use super::*;
pub struct State {
diff --git a/embassy-nrf/src/rng.rs b/embassy-nrf/src/rng.rs
index 6cdcccf3b..20d033a12 100644
--- a/embassy-nrf/src/rng.rs
+++ b/embassy-nrf/src/rng.rs
@@ -8,9 +8,9 @@ use core::task::Poll;
use embassy::interrupt::InterruptExt;
use embassy::traits;
-use embassy::util::AtomicWaker;
-use embassy::util::OnDrop;
use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
+use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
use rand_core::RngCore;
diff --git a/embassy-nrf/src/saadc.rs b/embassy-nrf/src/saadc.rs
index bc7f34716..e909e7d5a 100644
--- a/embassy-nrf/src/saadc.rs
+++ b/embassy-nrf/src/saadc.rs
@@ -3,7 +3,8 @@ use core::marker::PhantomData;
use core::sync::atomic::{compiler_fence, Ordering};
use core::task::Poll;
use embassy::interrupt::InterruptExt;
-use embassy::util::{AtomicWaker, Unborrow};
+use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
diff --git a/embassy-nrf/src/spim.rs b/embassy-nrf/src/spim.rs
index 9a7fb4f67..e88fb460c 100644
--- a/embassy-nrf/src/spim.rs
+++ b/embassy-nrf/src/spim.rs
@@ -6,7 +6,7 @@ use core::sync::atomic::{compiler_fence, Ordering};
use core::task::Poll;
use embassy::interrupt::InterruptExt;
use embassy::traits;
-use embassy::util::{AtomicWaker, Unborrow};
+use embassy::util::Unborrow;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
use traits::spi::{FullDuplex, Read, Spi, Write};
@@ -359,6 +359,8 @@ impl<'d, T: Instance> embedded_hal::blocking::spi::Write<u8> for Spim<'d, T> {
}
pub(crate) mod sealed {
+ use embassy::waitqueue::AtomicWaker;
+
use super::*;
pub struct State {
diff --git a/embassy-nrf/src/time_driver.rs b/embassy-nrf/src/time_driver.rs
index f93ebb54a..19356c2d2 100644
--- a/embassy-nrf/src/time_driver.rs
+++ b/embassy-nrf/src/time_driver.rs
@@ -2,9 +2,9 @@ use core::cell::Cell;
use core::sync::atomic::{compiler_fence, AtomicU32, AtomicU8, Ordering};
use core::{mem, ptr};
use critical_section::CriticalSection;
+use embassy::blocking_mutex::CriticalSectionMutex as Mutex;
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::time::driver::{AlarmHandle, Driver};
-use embassy::util::CriticalSectionMutex as Mutex;
use crate::interrupt;
use crate::pac;
diff --git a/embassy-nrf/src/timer.rs b/embassy-nrf/src/timer.rs
index 638fd8229..5690ff0d8 100644
--- a/embassy-nrf/src/timer.rs
+++ b/embassy-nrf/src/timer.rs
@@ -5,8 +5,9 @@ use core::task::Poll;
use embassy::interrupt::Interrupt;
use embassy::interrupt::InterruptExt;
-use embassy::util::OnDrop;
use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
+use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
@@ -15,7 +16,6 @@ use crate::ppi::Event;
use crate::ppi::Task;
pub(crate) mod sealed {
- use embassy::util::AtomicWaker;
use super::*;
@@ -43,8 +43,8 @@ macro_rules! impl_timer {
fn regs() -> &'static pac::timer0::RegisterBlock {
unsafe { &*(pac::$pac_type::ptr() as *const pac::timer0::RegisterBlock) }
}
- fn waker(n: usize) -> &'static ::embassy::util::AtomicWaker {
- use ::embassy::util::AtomicWaker;
+ fn waker(n: usize) -> &'static ::embassy::waitqueue::AtomicWaker {
+ use ::embassy::waitqueue::AtomicWaker;
const NEW_AW: AtomicWaker = AtomicWaker::new();
static WAKERS: [AtomicWaker; $ccs] = [NEW_AW; $ccs];
&WAKERS[n]
diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs
index ac263bad7..8173f66b0 100644
--- a/embassy-nrf/src/twim.rs
+++ b/embassy-nrf/src/twim.rs
@@ -12,7 +12,8 @@ use core::sync::atomic::{compiler_fence, Ordering::SeqCst};
use core::task::Poll;
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::traits;
-use embassy::util::{AtomicWaker, Unborrow};
+use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
use traits::i2c::I2c;
diff --git a/embassy-nrf/src/uarte.rs b/embassy-nrf/src/uarte.rs
index a6909be68..320426060 100644
--- a/embassy-nrf/src/uarte.rs
+++ b/embassy-nrf/src/uarte.rs
@@ -8,7 +8,8 @@ use core::sync::atomic::{compiler_fence, Ordering};
use core::task::Poll;
use embassy::interrupt::InterruptExt;
use embassy::traits::uart::{Error, Read, ReadUntilIdle, Write};
-use embassy::util::{AtomicWaker, OnDrop, Unborrow};
+use embassy::util::Unborrow;
+use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
@@ -439,6 +440,8 @@ impl<'d, U: Instance, T: TimerInstance> Write for UarteWithIdle<'d, U, T> {
}
pub(crate) mod sealed {
+ use embassy::waitqueue::AtomicWaker;
+
use super::*;
pub struct State {
diff --git a/embassy-rp/src/timer.rs b/embassy-rp/src/timer.rs
index ed265c47f..b3c047ca4 100644
--- a/embassy-rp/src/timer.rs
+++ b/embassy-rp/src/timer.rs
@@ -1,9 +1,9 @@
use atomic_polyfill::{AtomicU8, Ordering};
use core::cell::Cell;
use critical_section::CriticalSection;
+use embassy::blocking_mutex::CriticalSectionMutex as Mutex;
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::time::driver::{AlarmHandle, Driver};
-use embassy::util::CriticalSectionMutex as Mutex;
use crate::{interrupt, pac};
diff --git a/embassy-stm32/src/dma/bdma.rs b/embassy-stm32/src/dma/bdma.rs
index fbd753a71..35c0b3ee7 100644
--- a/embassy-stm32/src/dma/bdma.rs
+++ b/embassy-stm32/src/dma/bdma.rs
@@ -5,7 +5,8 @@ use core::sync::atomic::{fence, Ordering};
use core::task::Poll;
use embassy::interrupt::{Interrupt, InterruptExt};
-use embassy::util::{AtomicWaker, OnDrop};
+use embassy::waitqueue::AtomicWaker;
+use embassy_hal_common::drop::OnDrop;
use futures::future::poll_fn;
use crate::dma::{Channel, Request};
diff --git a/embassy-stm32/src/dma/dma.rs b/embassy-stm32/src/dma/dma.rs
index bce9656d1..ec5ac98a0 100644
--- a/embassy-stm32/src/dma/dma.rs
+++ b/embassy-stm32/src/dma/dma.rs
@@ -3,7 +3,8 @@ use core::sync::atomic::{fence, Ordering};
use core::task::Poll;
use embassy::interrupt::{Interrupt, InterruptExt};
-use embassy::util::{AtomicWaker, OnDrop};
+use embassy::waitqueue::AtomicWaker;
+use embassy_hal_common::drop::OnDrop;
use futures::future::poll_fn;
use crate::interrupt;
diff --git a/embassy-stm32/src/eth/v2/mod.rs b/embassy-stm32/src/eth/v2/mod.rs
index 42eb0680c..ff734f78c 100644
--- a/embassy-stm32/src/eth/v2/mod.rs
+++ b/embassy-stm32/src/eth/v2/mod.rs
@@ -2,7 +2,8 @@ use core::marker::PhantomData;
use core::sync::atomic::{fence, Ordering};
use core::task::Waker;
-use embassy::util::{AtomicWaker, Unborrow};
+use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
use embassy_hal_common::unborrow;
use embassy_net::{Device, DeviceCapabilities, LinkState, PacketBuf, MTU};
diff --git a/embassy-stm32/src/exti.rs b/embassy-stm32/src/exti.rs
index 8e4989a3e..6d3de3a15 100644
--- a/embassy-stm32/src/exti.rs
+++ b/embassy-stm32/src/exti.rs
@@ -4,7 +4,8 @@ use core::marker::PhantomData;
use core::pin::Pin;
use core::task::{Context, Poll};
use embassy::traits::gpio::{WaitForAnyEdge, WaitForFallingEdge, WaitForRisingEdge};
-use embassy::util::{AtomicWaker, Unborrow};
+use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unsafe_impl_unborrow;
use embedded_hal::digital::v2::InputPin;
diff --git a/embassy-stm32/src/i2c/v2.rs b/embassy-stm32/src/i2c/v2.rs
index fc4f52cf3..5e9e24392 100644
--- a/embassy-stm32/src/i2c/v2.rs
+++ b/embassy-stm32/src/i2c/v2.rs
@@ -4,7 +4,9 @@ use core::task::Poll;
use atomic_polyfill::{AtomicUsize, Ordering};
use embassy::interrupt::InterruptExt;
-use embassy::util::{AtomicWaker, OnDrop, Unborrow};
+use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
+use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::unborrow;
use embedded_hal::blocking::i2c::Read;
use embedded_hal::blocking::i2c::Write;
diff --git a/embassy-stm32/src/rng.rs b/embassy-stm32/src/rng.rs
index 0afba3ba7..5655ed967 100644
--- a/embassy-stm32/src/rng.rs
+++ b/embassy-stm32/src/rng.rs
@@ -3,7 +3,8 @@
use core::future::Future;
use core::task::Poll;
use embassy::traits;
-use embassy::util::{AtomicWaker, Unborrow};
+use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
use rand_core::{CryptoRng, RngCore};
diff --git a/embassy-stm32/src/sdmmc/v2.rs b/embassy-stm32/src/sdmmc/v2.rs
index aa1d68ae7..6032c2bb1 100644
--- a/embassy-stm32/src/sdmmc/v2.rs
+++ b/embassy-stm32/src/sdmmc/v2.rs
@@ -5,7 +5,9 @@ use core::marker::PhantomData;
use core::task::Poll;
use embassy::interrupt::InterruptExt;
-use embassy::util::{AtomicWaker, OnDrop, Unborrow};
+use embassy::util::Unborrow;
+use embassy::waitqueue::AtomicWaker;
+use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
use sdio_host::{BusWidth, CardCapacity, CardStatus, CurrentState, SDStatus, CID, CSD, OCR, SCR};
@@ -1479,8 +1481,8 @@ crate::pac::peripherals!(
INNER
}
- fn state() -> &'static ::embassy::util::AtomicWaker {
- static WAKER: ::embassy::util::AtomicWaker = ::embassy::util::AtomicWaker::new();
+ fn state() -> &'static ::embassy::waitqueue::AtomicWaker {
+ static WAKER: ::embassy::waitqueue::AtomicWaker = ::embassy::waitqueue::AtomicWaker::new();
&WAKER
}
}
diff --git a/embassy-stm32/src/usart/v2.rs b/embassy-stm32/src/usart/v2.rs
index 92c0cbc2e..fc3036404 100644
--- a/embassy-stm32/src/usart/v2.rs
+++ b/embassy-stm32/src/usart/v2.rs
@@ -4,7 +4,8 @@ use core::marker::PhantomData;
use core::pin::Pin;
use core::task::Context;
use core::task::Poll;
-use embassy::util::{Unborrow, WakerRegistration};
+use embassy::util::Unborrow;
+use embassy::waitqueue::WakerRegistration;
use embassy_hal_common::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
use embassy_hal_common::ring_buffer::RingBuffer;
use embassy_hal_common::unborrow;
diff --git a/embassy/src/util/mutex.rs b/embassy/src/blocking_mutex/mod.rs
similarity index 99%
rename from embassy/src/util/mutex.rs
rename to embassy/src/blocking_mutex/mod.rs
index 9a00a409e..d112d2ede 100644
--- a/embassy/src/util/mutex.rs
+++ b/embassy/src/blocking_mutex/mod.rs
@@ -1,3 +1,5 @@
+//! Blocking mutex (not async)
+
use core::cell::UnsafeCell;
use critical_section::CriticalSection;
diff --git a/embassy/src/channel/mod.rs b/embassy/src/channel/mod.rs
new file mode 100644
index 000000000..9e8c67ee9
--- /dev/null
+++ b/embassy/src/channel/mod.rs
@@ -0,0 +1,4 @@
+//! Async channels
+
+pub mod mpsc;
+pub mod signal;
diff --git a/embassy/src/util/mpsc.rs b/embassy/src/channel/mpsc.rs
similarity index 98%
rename from embassy/src/util/mpsc.rs
rename to embassy/src/channel/mpsc.rs
index a0f884ec6..b20d48a95 100644
--- a/embassy/src/util/mpsc.rs
+++ b/embassy/src/channel/mpsc.rs
@@ -49,11 +49,8 @@ use core::task::Waker;
use futures::Future;
-use super::CriticalSectionMutex;
-use super::Mutex;
-use super::NoopMutex;
-use super::ThreadModeMutex;
-use super::WakerRegistration;
+use crate::blocking_mutex::{CriticalSectionMutex, Mutex, NoopMutex, ThreadModeMutex};
+use crate::waitqueue::WakerRegistration;
/// Send values to the associated `Receiver`.
///
@@ -108,8 +105,8 @@ unsafe impl<'ch, M, T, const N: usize> Sync for Receiver<'ch, M, T, N> where
/// their channel. The following will therefore fail compilation:
////
/// ```compile_fail
-/// use embassy::util::mpsc;
-/// use embassy::util::mpsc::{Channel, WithThreadModeOnly};
+/// use embassy::channel::mpsc;
+/// use embassy::channel::mpsc::{Channel, WithThreadModeOnly};
///
/// let (sender, receiver) = {
/// let mut channel = Channel::<WithThreadModeOnly, u32, 3>::with_thread_mode_only();
@@ -635,8 +632,8 @@ where
/// Establish a new bounded channel. For example, to create one with a NoopMutex:
///
/// ```
- /// use embassy::util::mpsc;
- /// use embassy::util::mpsc::{Channel, WithNoThreads};
+ /// use embassy::channel::mpsc;
+ /// use embassy::channel::mpsc::{Channel, WithNoThreads};
///
/// // Declare a bounded channel of 3 u32s.
/// let mut channel = Channel::<WithNoThreads, u32, 3>::new();
diff --git a/embassy/src/channel/signal.rs b/embassy/src/channel/signal.rs
new file mode 100644
index 000000000..d5698732c
--- /dev/null
+++ b/embassy/src/channel/signal.rs
@@ -0,0 +1,73 @@
+use core::cell::UnsafeCell;
+use core::future::Future;
+use core::mem;
+use core::task::{Context, Poll, Waker};
+
+/// Synchronization primitive. Allows creating awaitable signals that may be passed between tasks.
+///
+/// For more advanced use cases, please consider [futures-intrusive](https://crates.io/crates/futures-intrusive) channels or mutexes.
+pub struct Signal<T> {
+ state: UnsafeCell<State<T>>,
+}
+
+enum State<T> {
+ None,
+ Waiting(Waker),
+ Signaled(T),
+}
+
+unsafe impl<T: Send> Send for Signal<T> {}
+unsafe impl<T: Send> Sync for Signal<T> {}
+
+impl<T: Send> Signal<T> {
+ pub const fn new() -> Self {
+ Self {
+ state: UnsafeCell::new(State::None),
+ }
+ }
+
+ /// Mark this Signal as completed.
+ pub fn signal(&self, val: T) {
+ critical_section::with(|_| unsafe {
+ let state = &mut *self.state.get();
+ if let State::Waiting(waker) = mem::replace(state, State::Signaled(val)) {
+ waker.wake();
+ }
+ })
+ }
+
+ pub fn reset(&self) {
+ critical_section::with(|_| unsafe {
+ let state = &mut *self.state.get();
+ *state = State::None
+ })
+ }
+
+ pub fn poll_wait(&self, cx: &mut Context<'_>) -> Poll<T> {
+ critical_section::with(|_| unsafe {
+ let state = &mut *self.state.get();
+ match state {
+ State::None => {
+ *state = State::Waiting(cx.waker().clone());
+ Poll::Pending
+ }
+ State::Waiting(w) if w.will_wake(cx.waker()) => Poll::Pending,
+ State::Waiting(_) => panic!("waker overflow"),
+ State::Signaled(_) => match mem::replace(state, State::None) {
+ State::Signaled(res) => Poll::Ready(res),
+ _ => unreachable!(),
+ },
+ }
+ })
+ }
+
+ /// Future that completes when this Signal has been signaled.
+ pub fn wait(&self) -> impl Future<Output = T> + '_ {
+ futures::future::poll_fn(move |cx| self.poll_wait(cx))
+ }
+
+ /// non-blocking method to check whether this signal has been signaled.
+ pub fn signaled(&self) -> bool {
+ critical_section::with(|_| matches!(unsafe { &*self.state.get() }, State::Signaled(_)))
+ }
+}
diff --git a/embassy/src/lib.rs b/embassy/src/lib.rs
index 9e050a57a..847142285 100644
--- a/embassy/src/lib.rs
+++ b/embassy/src/lib.rs
@@ -7,6 +7,10 @@
// This mod MUST go first, so that the others see its macros.
pub(crate) mod fmt;
+pub mod blocking_mutex;
+pub mod channel;
+pub mod waitqueue;
+
pub mod executor;
pub mod interrupt;
pub mod io;
diff --git a/embassy/src/util/mod.rs b/embassy/src/util/mod.rs
index e66576b33..f832fa2f6 100644
--- a/embassy/src/util/mod.rs
+++ b/embassy/src/util/mod.rs
@@ -1,21 +1,7 @@
-//! Async utilities
-mod drop_bomb;
+//! Misc utilities
mod forever;
-mod mutex;
-mod on_drop;
-mod signal;
-#[cfg_attr(feature = "executor-agnostic", path = "waker_agnostic.rs")]
-mod waker;
-
-pub use drop_bomb::*;
pub use forever::*;
-pub mod mpsc;
-pub use mutex::*;
-pub use on_drop::*;
-pub use signal::*;
-pub use waker::*;
-
/// Unsafely unborrow an owned singleton out of a `&mut`.
///
/// It is intended to be implemented for owned peripheral singletons, such as `USART3` or `AnyPin`.
diff --git a/embassy/src/util/on_drop.rs b/embassy/src/util/on_drop.rs
deleted file mode 100644
index 10f3407f4..000000000
--- a/embassy/src/util/on_drop.rs
+++ /dev/null
@@ -1,24 +0,0 @@
-use core::mem;
-use core::mem::MaybeUninit;
-
-pub struct OnDrop<F: FnOnce()> {
- f: MaybeUninit<F>,
-}
-
-impl<F: FnOnce()> OnDrop<F> {
- pub fn new(f: F) -> Self {
- Self {
- f: MaybeUninit::new(f),
- }
- }
-
- pub fn defuse(self) {
- mem::forget(self)
- }
-}
-
-impl<F: FnOnce()> Drop for OnDrop<F> {
- fn drop(&mut self) {
- unsafe { self.f.as_ptr().read()() }
- }
-}
diff --git a/embassy/src/util/signal.rs b/embassy/src/util/signal.rs
deleted file mode 100644
index bb832533c..000000000
--- a/embassy/src/util/signal.rs
+++ /dev/null
@@ -1,171 +0,0 @@
-use core::cell::UnsafeCell;
-use core::future::Future;
-use core::mem;
-use core::ptr;
-use core::task::{Context, Poll, Waker};
-use cortex_m::peripheral::NVIC;
-use cortex_m::peripheral::{scb, SCB};
-use executor::raw::TaskHeader;
-use ptr::NonNull;
-
-use crate::executor;
-use crate::interrupt::{Interrupt, InterruptExt};
-
-/// Synchronization primitive. Allows creating awaitable signals that may be passed between tasks.
-///
-/// For more advanced use cases, please consider [futures-intrusive](https://crates.io/crates/futures-intrusive) channels or mutexes.
-pub struct Signal<T> {
- state: UnsafeCell<State<T>>,
-}
-
-enum State<T> {
- None,
- Waiting(Waker),
- Signaled(T),
-}
-
-unsafe impl<T: Send> Send for Signal<T> {}
-unsafe impl<T: Send> Sync for Signal<T> {}
-
-impl<T: Send> Signal<T> {
- pub const fn new() -> Self {
- Self {
- state: UnsafeCell::new(State::None),
- }
- }
-
- /// Mark this Signal as completed.
- pub fn signal(&self, val: T) {
- critical_section::with(|_| unsafe {
- let state = &mut *self.state.get();
- if let State::Waiting(waker) = mem::replace(state, State::Signaled(val)) {
- waker.wake();
- }
- })
- }
-
- pub fn reset(&self) {
- critical_section::with(|_| unsafe {
- let state = &mut *self.state.get();
- *state = State::None
- })
- }
-
- pub fn poll_wait(&self, cx: &mut Context<'_>) -> Poll<T> {
- critical_section::with(|_| unsafe {
- let state = &mut *self.state.get();
- match state {
- State::None => {
- *state = State::Waiting(cx.waker().clone());
- Poll::Pending
- }
- State::Waiting(w) if w.will_wake(cx.waker()) => Poll::Pending,
- State::Waiting(_) => panic!("waker overflow"),
- State::Signaled(_) => match mem::replace(state, State::None) {
- State::Signaled(res) => Poll::Ready(res),
- _ => unreachable!(),
- },
- }
- })
- }
-
- /// Future that completes when this Signal has been signaled.
- pub fn wait(&self) -> impl Future<Output = T> + '_ {
- futures::future::poll_fn(move |cx| self.poll_wait(cx))
- }
-
- /// non-blocking method to check whether this signal has been signaled.
- pub fn signaled(&self) -> bool {
- critical_section::with(|_| matches!(unsafe { &*self.state.get() }, State::Signaled(_)))
- }
-}
-
-// ==========
-
-pub fn wake_on_interrupt(interrupt: &mut impl Interrupt, waker: &Waker) {
- interrupt.disable();
- interrupt.set_handler(irq_wake_handler);
- interrupt.set_handler_context(unsafe { executor::raw::task_from_waker(waker) }.as_ptr() as _);
- interrupt.enable();
-}
-
-unsafe fn irq_wake_handler(ctx: *mut ()) {
- if let Some(task) = NonNull::new(ctx as *mut TaskHeader) {
- executor::raw::wake_task(task);
- }
-
- let irq = match SCB::vect_active() {
- scb::VectActive::Interrupt { irqn } => irqn,
- _ => unreachable!(),
- };
-
- NVIC::mask(crate::interrupt::NrWrap(irq as u16));
-}
-
-// ==========
-
-struct NrWrap(u8);
-unsafe impl cortex_m::interrupt::Nr for NrWrap {
- fn nr(&self) -> u8 {
- self.0
- }
-}
-
-/// Creates a future that completes when the specified Interrupt is triggered.
-///
-/// The input handler is unregistered when this Future is dropped.
-///
-/// Example:
-/// ``` no_compile
-/// use embassy::traits::*;
-/// use embassy::util::InterruptFuture;
-/// use embassy_stm32::interrupt; // Adjust this to your MCU's embassy HAL.
-/// #[embassy::task]
-/// async fn demo_interrupt_future() {
-/// // Using STM32f446 interrupt names, adjust this to your application as necessary.
-/// // Wait for TIM2 to tick.
-/// let mut tim2_interrupt = interrupt::take!(TIM2);
-/// InterruptFuture::new(&mut tim2_interrupt).await;
-/// // TIM2 interrupt went off, do something...
-/// }
-/// ```
-pub struct InterruptFuture<'a, I: Interrupt> {
- interrupt: &'a mut I,
-}
-
-impl<'a, I: Interrupt> Drop for InterruptFuture<'a, I> {
- fn drop(&mut self) {
- self.interrupt.disable();
- self.interrupt.remove_handler();
- }
-}
-
-impl<'a, I: Interrupt> InterruptFuture<'a, I> {
- pub fn new(interrupt: &'a mut I) -> Self {
- interrupt.disable();
- interrupt.set_handler(irq_wake_handler);
- interrupt.set_handler_context(ptr::null_mut());
- interrupt.unpend();
- interrupt.enable();
-
- Self { interrupt }
- }
-}
-
-impl<'a, I: Interrupt> Unpin for InterruptFuture<'a, I> {}
-
-impl<'a, I: Interrupt> Future for InterruptFuture<'a, I> {
- type Output = ();
-
- fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<()> {
- let s = unsafe { self.get_unchecked_mut() };
- s.interrupt.set_handler_context(unsafe {
- executor::raw::task_from_waker(&cx.waker()).cast().as_ptr()
- });
- if s.interrupt.is_enabled() {
- Poll::Pending
- } else {
- Poll::Ready(())
- }
- }
-}
diff --git a/embassy/src/waitqueue/mod.rs b/embassy/src/waitqueue/mod.rs
new file mode 100644
index 000000000..a2bafad99
--- /dev/null
+++ b/embassy/src/waitqueue/mod.rs
@@ -0,0 +1,5 @@
+//! Async low-level wait queues
+
+#[cfg_attr(feature = "executor-agnostic", path = "waker_agnostic.rs")]
+mod waker;
+pub use waker::*;
diff --git a/embassy/src/util/waker.rs b/embassy/src/waitqueue/waker.rs
similarity index 99%
rename from embassy/src/util/waker.rs
rename to embassy/src/waitqueue/waker.rs
index 1ac6054f9..9eddbdaa1 100644
--- a/embassy/src/util/waker.rs
+++ b/embassy/src/waitqueue/waker.rs
@@ -1,8 +1,7 @@
+use atomic_polyfill::{compiler_fence, AtomicPtr, Ordering};
use core::ptr::{self, NonNull};
use core::task::Waker;
-use atomic_polyfill::{compiler_fence, AtomicPtr, Ordering};
-
use crate::executor::raw::{task_from_waker, wake_task, TaskHeader};
/// Utility struct to register and wake a waker.
diff --git a/embassy/src/util/waker_agnostic.rs b/embassy/src/waitqueue/waker_agnostic.rs
similarity index 97%
rename from embassy/src/util/waker_agnostic.rs
rename to embassy/src/waitqueue/waker_agnostic.rs
index 1675c53a0..f583fa6f4 100644
--- a/embassy/src/util/waker_agnostic.rs
+++ b/embassy/src/waitqueue/waker_agnostic.rs
@@ -2,7 +2,7 @@ use core::cell::Cell;
use core::mem;
use core::task::Waker;
-use crate::util::CriticalSectionMutex as Mutex;
+use crate::blocking_mutex::CriticalSectionMutex as Mutex;
/// Utility struct to register and wake a waker.
#[derive(Debug)]
diff --git a/examples/nrf/src/bin/mpsc.rs b/examples/nrf/src/bin/mpsc.rs
index c8cc67d77..79fa3dfb9 100644
--- a/examples/nrf/src/bin/mpsc.rs
+++ b/examples/nrf/src/bin/mpsc.rs
@@ -6,14 +6,13 @@
mod example_common;
use defmt::unwrap;
+use embassy::channel::mpsc::{self, Channel, Sender, TryRecvError, WithNoThreads};
use embassy::executor::Spawner;
use embassy::time::{Duration, Timer};
-use embassy::util::mpsc::TryRecvError;
-use embassy::util::{mpsc, Forever};
+use embassy::util::Forever;
use embassy_nrf::gpio::{Level, Output, OutputDrive};
use embassy_nrf::Peripherals;
use embedded_hal::digital::v2::OutputPin;
-use mpsc::{Channel, Sender, WithNoThreads};
enum LedState {
On,
diff --git a/examples/stm32wl55/src/bin/subghz.rs b/examples/stm32wl55/src/bin/subghz.rs
index 1e406886a..89549c766 100644
--- a/examples/stm32wl55/src/bin/subghz.rs
+++ b/examples/stm32wl55/src/bin/subghz.rs
@@ -8,16 +8,16 @@
#[path = "../example_common.rs"]
mod example_common;
-use embassy::{traits::gpio::WaitForRisingEdge, util::InterruptFuture};
-use embassy_stm32::{
- dbgmcu::Dbgmcu,
- dma::NoDma,
- exti::ExtiInput,
- gpio::{Input, Level, Output, Pull, Speed},
- interrupt,
- subghz::*,
- Peripherals,
-};
+use embassy::channel::signal::Signal;
+use embassy::interrupt::{Interrupt, InterruptExt};
+use embassy::traits::gpio::WaitForRisingEdge;
+use embassy_stm32::dbgmcu::Dbgmcu;
+use embassy_stm32::dma::NoDma;
+use embassy_stm32::exti::ExtiInput;
+use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
+use embassy_stm32::interrupt;
+use embassy_stm32::subghz::*;
+use embassy_stm32::Peripherals;
use embedded_hal::digital::v2::OutputPin;
use example_common::unwrap;
@@ -83,7 +83,13 @@ async fn main(_spawner: embassy::executor::Spawner, p: Peripherals) {
let button = Input::new(p.PA0, Pull::Up);
let mut pin = ExtiInput::new(button, p.EXTI0);
- let mut radio_irq = interrupt::take!(SUBGHZ_RADIO);
+ static IRQ_SIGNAL: Signal<()> = Signal::new();
+ let radio_irq = interrupt::take!(SUBGHZ_RADIO);
+ radio_irq.set_handler(|_| {
+ IRQ_SIGNAL.signal(());
+ unsafe { interrupt::SUBGHZ_RADIO::steal() }.disable();
+ });
+
let mut radio = SubGhz::new(p.SUBGHZSPI, p.PA5, p.PA7, p.PA6, NoDma, NoDma);
defmt::info!("Radio ready for use");
@@ -118,7 +124,9 @@ async fn main(_spawner: embassy::executor::Spawner, p: Peripherals) {
unwrap!(radio.write_buffer(TX_BUF_OFFSET, PING_DATA_BYTES));
unwrap!(radio.set_tx(Timeout::DISABLED));
- InterruptFuture::new(&mut radio_irq).await;
+ radio_irq.enable();
+ IRQ_SIGNAL.wait().await;
+
let (_, irq_status) = unwrap!(radio.irq_status());
if irq_status & Irq::TxDone.mask() != 0 {
defmt::info!("TX done");