= Sharing peripherals between tasks

Often times, more than one task needs access to the same resource (pin, communication interface, etc.). Embassy provides many different synchronization primitives in the link:https://crates.io/crates/embassy-sync[embassy-sync] crate.

The following examples shows different ways to use the on-board LED on a Raspberry Pi Pico board by two tasks simultaneously.

== Sharing using a Mutex

Using mutual exclusion is the simplest way to share a peripheral.

[,rust]
----
use defmt::*;
use embassy_executor::Spawner;
use embassy_rp::gpio;
use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_sync::mutex::Mutex;
use embassy_time::{Duration, Ticker};
use gpio::{AnyPin, Level, Output};
use {defmt_rtt as _, panic_probe as _};

type LedType = Mutex<ThreadModeRawMutex, Option<Output<'static, AnyPin>>>;
static LED: LedType = Mutex::new(None);

#[embassy_executor::main]
async fn main(spawner: Spawner) {
    let p = embassy_rp::init(Default::default());
    // set the content of the global LED reference to the real LED pin
    let led = Output::new(AnyPin::from(p.PIN_25), Level::High);
    // inner scope is so that once the mutex is written to, the MutexGuard is dropped, thus the
    // Mutex is released
    {
        *(LED.lock().await) = Some(led);
    }
    let dt = 100 * 1_000_000;
    let k = 1.003;

    unwrap!(spawner.spawn(toggle_led(&LED, Duration::from_nanos(dt))));
    unwrap!(spawner.spawn(toggle_led(&LED, Duration::from_nanos((dt as f64 * k) as u64))));
}

// A pool size of 2 means you can spawn two instances of this task.
#[embassy_executor::task(pool_size = 2)]
async fn toggle_led(led: &'static LedType, delay: Duration) {
    let mut ticker = Ticker::every(delay);
    loop {
        {
            let mut led_unlocked = led.lock().await;
            if let Some(pin_ref) = led_unlocked.as_mut() {
                pin_ref.toggle();
            }
        }
        ticker.next().await;
    }
}
----

The structure facilitating access to the resource is the defined `LedType`.

=== Why so complicated

Unwrapping the layers gives insight into why each one is needed.

==== `Mutex<RawMutexType, T>`

The mutex is there so if one task gets the resource first and begins modifying it, all other tasks wanting to write will have to wait (the `led.lock().await` will return immediately if no task has locked the mutex, and will block if it is accessed somewhere else). 

==== `Option<T>`

The `LED` variable needs to be defined outside the main task as references accepted by tasks need to be `'static`. However, if it is outside the main task, it cannot be initialised to point to any pin, as the pins themselves are not initialised. Thus, it is set to `None`. 

==== `Output<AnyPin>`

To indicate that the pin will be set to an Output. The `AnyPin` could have been `embassy_rp::peripherals::PIN_25`, however this option lets the `toggle_led` function be more generic. 

== Sharing using a Channel

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.

[,rust]
----
use defmt::*;
use embassy_executor::Spawner;
use embassy_rp::gpio;
use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_sync::channel::{Channel, Sender};
use embassy_time::{Duration, Ticker};
use gpio::{AnyPin, Level, Output};
use {defmt_rtt as _, panic_probe as _};

enum LedState {
     Toggle,
}
static CHANNEL: Channel<ThreadModeRawMutex, LedState, 64> = Channel::new();

#[embassy_executor::main]
async fn main(spawner: Spawner) {
    let p = embassy_rp::init(Default::default());
    let mut led = Output::new(AnyPin::from(p.PIN_25), Level::High);

    let dt = 100 * 1_000_000;
    let k = 1.003;

    unwrap!(spawner.spawn(toggle_led(CHANNEL.sender(), Duration::from_nanos(dt))));
    unwrap!(spawner.spawn(toggle_led(CHANNEL.sender(), Duration::from_nanos((dt as f64 * k) as u64))));

    loop {
        match CHANNEL.receive().await {
            LedState::Toggle => led.toggle(),
        }
    }
}

// A pool size of 2 means you can spawn two instances of this task.
#[embassy_executor::task(pool_size = 2)]
async fn toggle_led(control: Sender<'static, ThreadModeRawMutex, LedState, 64>, delay: Duration) {
    let mut ticker = Ticker::every(delay);
    loop {
        control.send(LedState::Toggle).await;
        ticker.next().await;
    }
}
----

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.