Modern embedded framework, using Rust and async.
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bors[bot] 1125d57842
Merge #924
924: Ensure interrupt::take works without embassy-executor r=lulf a=lulf

Add "rtos-trace-interrupt" feature flag on embassy-macros and enable it
for embassy-executor, to ensure that the interrupt::take! macro can be
used without depending on embassy-executor.

Co-authored-by: Ulf Lilleengen <lulf@redhat.com>
2022-08-25 10:46:56 +00:00
.github split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
.vscode split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
docs Split embassy-time from embassy-executor. 2022-08-18 01:22:30 +02:00
embassy-boot split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-cortex-m split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-embedded-hal split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-executor Ensure interrupt::take works without embassy-executor 2022-08-25 12:46:24 +02:00
embassy-futures Add README for embassy-futures 2022-08-23 14:05:17 +02:00
embassy-hal-common hal-common: Remove unused dep 2022-08-18 11:10:51 +02:00
embassy-lora sync: flatten module structure. 2022-08-22 22:18:13 +02:00
embassy-macros Ensure interrupt::take works without embassy-executor 2022-08-25 12:46:24 +02:00
embassy-net split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-nrf nrf/ppi: fix unsoundness due to task/event ptrs being public. 2022-08-24 01:54:27 +02:00
embassy-rp split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-stm32 split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-sync Add README for embassy-sync 2022-08-23 13:54:40 +02:00
embassy-time Enable 'std' feature on critical-section for WASM 2022-08-23 20:00:34 +02:00
embassy-usb split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-usb-hid split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-usb-ncm split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
embassy-usb-serial split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
examples Enable 'std' feature on critical-section for WASM 2022-08-23 20:00:34 +02:00
stm32-data@14a448c318 update stm32-data 2022-08-19 15:31:26 +02:00
stm32-gen-features Remove the authors field from Cargo.tomls 2022-06-18 02:16:40 +02:00
stm32-metapac Update to critical-section 1.0, atomic-polyfill 1.0 2022-08-17 19:01:56 +02:00
stm32-metapac-gen Update stm32-data 2022-06-27 02:10:01 +02:00
tests split embassy-util into embassy-futures, embassy-sync. 2022-08-22 22:18:13 +02:00
xtask Merge pull request #822 from embassy-rs/remove-authors 2022-06-18 17:33:29 +02:00
.gitignore ci: add build with stable. 2022-02-12 01:16:31 +01:00
.gitmodules Add stm32-metapac crate, with codegen in rust 2021-05-31 02:40:58 +02:00
ci.sh Remove cargo doc from CI 2022-08-23 13:55:21 +02:00
ci_stable.sh Split embassy-time from embassy-executor. 2022-08-18 01:22:30 +02:00
LICENSE-APACHE Update copyright holder names and add notice file (#790) 2022-06-02 13:09:37 +02:00
LICENSE-MIT Update copyright holder names and add notice file (#790) 2022-06-02 13:09:37 +02:00
NOTICE.md Update copyright holder names and add notice file (#790) 2022-06-02 13:09:37 +02:00
README.md Split embassy-time from embassy-executor. 2022-08-18 01:22:30 +02:00
rust-toolchain.toml Update nightly. 2022-08-17 13:44:24 +02:00
rustfmt.toml Add rustfmt.toml with some nice settings. 2022-06-12 22:15:28 +02:00

Embassy

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.

Documentation - API reference - Website - Chat

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 async/await 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 faster and smaller than one!

Batteries included

  • Hardware Abstraction Layers - HALs implement safe, idiomatic Rust APIs to use the hardware capabilities, so raw register manipulation is not needed. The Embassy project maintains HALs for select hardware, but you can still use HALs from other projects with Embassy.

    • embassy-stm32, for all STM32 microcontroller families.
    • embassy-nrf, for the Nordic Semiconductor nRF52, nRF53, nRF91 series.
  • Time that Just Works - No more messing with hardware timers. embassy_time provides Instant, Duration and Timer types that are globally available and never overflow.

  • Real-time ready - Tasks on the same async executor run cooperatively, but you can create multiple executors with different priorities, so that higher priority tasks preempt lower priority ones. See the example.

  • Low-power ready - Easily build devices with years of battery life. The async executor automatically puts the core to sleep when there's no work to do. Tasks are woken by interrupts, there is no busy-loop polling while waiting.

  • Networking - The embassy-net network stack implements extensive networking functionality, including Ethernet, IP, TCP, UDP, ICMP and DHCP. Async drastically simplifies managing timeouts and serving multiple connections concurrently.

  • Bluetooth - The nrf-softdevice crate provides Bluetooth Low Energy 4.x and 5.x support for nRF52 microcontrollers.

  • LoRa - embassy-lora supports LoRa networking on STM32WL wireless microcontrollers and Semtech SX127x transceivers.

  • USB - embassy-usb implements a device-side USB stack. Implementations for common classes such as USB serial (CDC ACM) and USB HID are available, and a rich builder API allows building your own.

  • Bootloader and DFU - embassy-boot is a lightweight bootloader supporting firmware application upgrades in a power-fail-safe way, with trial boots and rollbacks.

Sneak peek

use defmt::info;
use embassy_executor::Spawner;
use embassy_time::{Duration, Timer};
use embassy_nrf::gpio::{AnyPin, Input, Level, Output, OutputDrive, Pin, Pull};
use embassy_nrf::Peripherals;

// Declare async tasks
#[embassy_executor::task]
async fn blink(pin: AnyPin) {
    let mut led = Output::new(pin, Level::Low, OutputDrive::Standard);

    loop {
        // Timekeeping is globally available, no need to mess with hardware timers.
        led.set_high();
        Timer::after(Duration::from_millis(150)).await;
        led.set_low();
        Timer::after(Duration::from_millis(150)).await;
    }
}

// Main is itself an async task as well.
#[embassy_executor::main]
async fn main(spawner: Spawner) {
    let p = embassy_nrf::init(Default::default());

    // Spawned tasks run in the background, concurrently.
    spawner.spawn(blink(p.P0_13.degrade())).unwrap();

    let mut button = Input::new(p.P0_11, Pull::Up);
    loop {
        // Asynchronously wait for GPIO events, allowing other tasks
        // to run, or the core to sleep.
        button.wait_for_low().await;
        info!("Button pressed!");
        button.wait_for_high().await;
        info!("Button released!");
    }
}

Examples

Examples are found in the examples/ folder seperated by the chip manufacturer they are designed to run on. For example:

  • examples/nrf run on the nrf52840-dk board (PCA10056) but should be easily adaptable to other nRF52 chips and boards.
  • examples/stm32xx for the various STM32 families.
  • examples/rp are for the RP2040 chip.
  • examples/std are designed to run locally on your PC.

Running examples

  • Setup git submodules (needed for STM32 examples)
git submodule init
git submodule update
  • Install probe-run with defmt support.
cargo install probe-run
  • Change directory to the sample's base directory. For example:
cd examples/nrf
  • Run the example

For example:

cargo run --bin blinky

Developing Embassy with Rust Analyzer based editors

The Rust Analyzer is used by Visual Studio Code and others. Given the multiple targets that Embassy serves, there is no Cargo workspace file. Instead, the Rust Analyzer must be told of the target project to work with. In the case of Visual Studio Code, please refer to the .vscode/settings.json file's rust-analyzer.linkedProjectssetting.

Minimum supported Rust version (MSRV)

Embassy is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.

Several features require nightly:

  • The #[embassy_executor::main] and #[embassy_executor::task] attribute macros.
  • Async traits

These are enabled by activating the nightly Cargo feature. If you do so, Embassy is guaranteed to compile on the exact nightly version specified in rust-toolchain.toml. It might compile with older or newer nightly versions, but that may change in any new patch release.

Why the name?

EMBedded ASYnc! :)

License

This work is licensed under either of

at your option.