Migrate to embassy (removes static-executor and async-flash)

14 files changed, 95 insertions, 231 deletions

diff --git a/Cargo.toml b/Cargo.toml
index 3fe1af8..4706707 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -10,8 +10,6 @@ members = [
     "nrf-softdevice-s140",
     "nrf-softdevice-macro",
 
-    "async-flash",
-
     "examples",
 ]
 
@@ -23,8 +21,9 @@ exclude = [
 panic-probe = { git = "https://github.com/knurling-rs/probe-run", branch="main" }
 defmt-rtt = { git = "https://github.com/knurling-rs/defmt", branch="main" }
 defmt = { git = "https://github.com/knurling-rs/defmt", branch="main" }
-static-executor = { git = "https://github.com/Dirbaio/static-executor" }
-static-executor-cortex-m = { git = "https://github.com/Dirbaio/static-executor" }
+embassy = { git = "https://github.com/akiles/embassy" }
+embassy-nrf = { git = "https://github.com/akiles/embassy" }
+embassy-macros = { git = "https://github.com/akiles/embassy" }
 
 [profile.dev]
 codegen-units = 1
diff --git a/async-flash/Cargo.toml b/async-flash/Cargo.toml
deleted file mode 100644
index bd5f45e..0000000
--- a/async-flash/Cargo.toml
+++ /dev/null
@@ -1,10 +0,0 @@
-[package]
-name = "async-flash"
-version = "0.1.0"
-authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
-edition = "2018"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-defmt = "0.1.0"
\ No newline at end of file
diff --git a/async-flash/src/lib.rs b/async-flash/src/lib.rs
deleted file mode 100644
index beedaec..0000000
--- a/async-flash/src/lib.rs
+++ /dev/null
@@ -1,56 +0,0 @@
-#![no_std]
-#![feature(slice_fill)]
-#![feature(generic_associated_types)]
-
-use core::future::Future;
-
-#[derive(defmt::Format, Copy, Clone, Debug, Eq, PartialEq)]
-pub enum Error {
-    Failed,
-    AddressMisaligned,
-    BufferMisaligned,
-
-    _NonExhaustive,
-}
-
-pub trait Flash {
-    type ReadFuture<'a>: Future<Output = Result<(), Error>>;
-    type WriteFuture<'a>: Future<Output = Result<(), Error>>;
-    type ErasePageFuture<'a>: Future<Output = Result<(), Error>>;
-
-    /// Reads data from the flash device.
-    ///
-    /// address must be a multiple of self.read_size().
-    /// buf.len() must be a multiple of self.read_size().
-    fn read<'a>(&'a mut self, address: usize, buf: &'a mut [u8]) -> Self::ReadFuture<'a>;
-
-    /// Writes data to the flash device.
-    ///
-    /// address must be a multiple of self.write_size().
-    /// buf.len() must be a multiple of self.write_size().
-    fn write<'a>(&'a mut self, address: usize, buf: &'a [u8]) -> Self::WriteFuture<'a>;
-
-    /// Erases a single page from the flash device.
-    ///
-    /// address must be a multiple of self.erase_size().
-    fn erase<'a>(&'a mut self, address: usize) -> Self::ErasePageFuture<'a>;
-
-    /// Returns the total size, in bytes.
-    /// This is not guaranteed to be a power of 2.
-    fn size(&self) -> usize;
-
-    /// Returns the read size in bytes.
-    /// This is guaranteed to be a power of 2.
-    fn read_size(&self) -> usize;
-
-    /// Returns the write size in bytes.
-    /// This is guaranteed to be a power of 2.
-    fn write_size(&self) -> usize;
-
-    /// Returns the erase size in bytes.
-    /// This is guaranteed to be a power of 2.
-    fn erase_size(&self) -> usize;
-}
-
-mod writer;
-pub use writer::{Writer, WriterError};
diff --git a/async-flash/src/writer.rs b/async-flash/src/writer.rs
deleted file mode 100644
index 86a02b3..0000000
--- a/async-flash/src/writer.rs
+++ /dev/null
@@ -1,107 +0,0 @@
-use crate::{Error, Flash};
-
-#[derive(Copy, Clone, Debug)]
-pub enum WriterError {
-    Flash(Error),
-    OutOfBounds,
-}
-
-impl From<Error> for WriterError {
-    fn from(e: Error) -> Self {
-        Self::Flash(e)
-    }
-}
-
-#[repr(align(4))]
-struct AlignedBuf([u8; 256]);
-
-pub struct Writer<'a, F: Flash> {
-    flash: &'a mut F,
-    address: usize,
-    length: usize,
-
-    write_cur: usize,
-    erase_cur: usize,
-
-    buf: AlignedBuf,
-    buf_have: usize,
-}
-
-impl<'a, F: Flash> Writer<'a, F> {
-    pub fn new(flash: &'a mut F, address: usize, length: usize) -> Self {
-        assert_eq!(256 & (flash.write_size() - 1), 0);
-        assert_eq!(address & (flash.erase_size() - 1), 0);
-        assert_eq!(length & (flash.erase_size() - 1), 0);
-
-        Self {
-            flash,
-            address,
-            length,
-
-            write_cur: address,
-            erase_cur: address,
-
-            buf: AlignedBuf([0; 256]),
-            buf_have: 0,
-        }
-    }
-
-    async fn do_write(&mut self, len: usize) -> Result<(), WriterError> {
-        if self.write_cur + len > self.address + self.length {
-            return Err(WriterError::OutOfBounds);
-        }
-
-        while self.write_cur + len > self.erase_cur {
-            self.flash.erase(self.erase_cur).await?;
-            self.erase_cur += self.flash.erase_size();
-        }
-
-        self.flash.write(self.write_cur, &self.buf.0[..len]).await?;
-        self.write_cur += len;
-
-        Ok(())
-    }
-
-    pub async fn write(&mut self, mut data: &[u8]) -> Result<(), WriterError> {
-        // This code is HORRIBLE.
-        //
-        // Calls to flash write must have data aligned to 4 bytes.
-        // We can't guarantee `data` is, so we're forced to buffer it
-        // somewhere we can make aligned.
-
-        while data.len() != 0 {
-            let left = self.buf.0.len() - self.buf_have;
-            let n = core::cmp::min(left, data.len());
-
-            self.buf.0[self.buf_have..][..n].copy_from_slice(&data[..n]);
-            self.buf_have += n;
-            data = &data[n..];
-
-            // When buffer is full, write it out
-            if self.buf_have == self.buf.0.len() {
-                self.do_write(self.buf.0.len()).await?;
-                self.buf_have = 0;
-            }
-        }
-
-        // Whatever's left in the buffer stays there.
-        // It will be written in subsequent calls, or in flush.
-
-        Ok(())
-    }
-
-    pub async fn flush(mut self) -> Result<(), WriterError> {
-        if self.buf_have != 0 {
-            let write_size = self.flash.write_size();
-
-            // round up amount
-            let have = (self.buf_have + write_size - 1) & (!(write_size - 1));
-
-            // fill the leftover bytes (if any) with 0xFF
-            self.buf.0[self.buf_have..have].fill(0xFF);
-
-            self.do_write(have).await?;
-        }
-        Ok(())
-    }
-}
diff --git a/examples/Cargo.toml b/examples/Cargo.toml
index 8a46c73..a9eedc5 100644
--- a/examples/Cargo.toml
+++ b/examples/Cargo.toml
@@ -23,7 +23,8 @@ ble-gatt-server = ["nrf-softdevice/ble-gatt-server"]
 ble-gatt-client = ["nrf-softdevice/ble-gatt-client"]
 
 [dependencies]
-async-flash = { version = "0.1.0", path = "../async-flash" }
+embassy = { version = "0.1.0" }
+embassy-nrf = { version = "0.1.0", features = [ "52840" ]}
 cortex-m        = { version = "0.6.3" }
 cortex-m-rt = "0.6.12"
 cortex-m-rtic = { version = "0.5.5", optional = true }
@@ -33,8 +34,6 @@ panic-probe = "0.1.0"
 nrf52840-hal    = { version = "0.11.0" }
 nrf-softdevice = { version = "0.1.0", path = "../nrf-softdevice", features = ["defmt-trace", "nrf52840", "s140", "ble-peripheral", "ble-central"] }
 nrf-softdevice-s140 = { version = "0.1.1", path = "../nrf-softdevice-s140" }
-static-executor  = { version = "0.1.0", features=["defmt"]}
-static-executor-cortex-m  = { version = "0.1.0" }
 futures = { version = "0.3.5", default-features = false }
 fixed = "1.2.0"
 
diff --git a/examples/src/bin/ble_bas_central.rs b/examples/src/bin/ble_bas_central.rs
index 184dda3..a1cb0d9 100644
--- a/examples/src/bin/ble_bas_central.rs
+++ b/examples/src/bin/ble_bas_central.rs
@@ -9,12 +9,16 @@ use example_common::*;
 use core::mem;
 use cortex_m_rt::entry;
 use defmt::info;
+use embassy::executor::{task, Executor};
+use embassy::util::Forever;
 
 use nrf_softdevice::ble::{central, gatt_client, Address, Connection, Uuid};
 use nrf_softdevice::raw;
 use nrf_softdevice::Softdevice;
 
-#[static_executor::task]
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[task]
 async fn softdevice_task(sd: &'static Softdevice) {
     sd.run().await;
 }
@@ -72,7 +76,7 @@ impl gatt_client::Client for BatteryServiceClient {
     }
 }
 
-#[static_executor::task]
+#[task]
 async fn ble_central_task(sd: &'static Softdevice) {
     let addrs = &[Address::new_random_static([
         0x59, 0xf9, 0xb1, 0x9c, 0x01, 0xf5,
@@ -154,10 +158,12 @@ fn main() -> ! {
 
     let sd = Softdevice::enable(&config);
 
-    unsafe {
-        softdevice_task.spawn(sd).dewrap();
-        ble_central_task.spawn(sd).dewrap();
+    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::wfi));
+    executor.spawn(softdevice_task(sd)).dewrap();
+    executor.spawn(ble_central_task(sd)).dewrap();
 
-        static_executor::run();
+    loop {
+        executor.run();
+        cortex_m::asm::wfe();
     }
 }
diff --git a/examples/src/bin/ble_bas_peripheral.rs b/examples/src/bin/ble_bas_peripheral.rs
index 131f9c1..ac87c46 100644
--- a/examples/src/bin/ble_bas_peripheral.rs
+++ b/examples/src/bin/ble_bas_peripheral.rs
@@ -14,7 +14,11 @@ use nrf_softdevice::ble::gatt_server::{Characteristic, CharacteristicHandles, Re
 use nrf_softdevice::ble::{gatt_server, peripheral, Connection, Uuid};
 use nrf_softdevice::{raw, RawError, Softdevice};
 
-#[static_executor::task]
+use embassy::executor::{task, Executor};
+use embassy::util::Forever;
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[task]
 async fn softdevice_task(sd: &'static Softdevice) {
     sd.run().await;
 }
@@ -28,7 +32,7 @@ struct BatteryService {
     battery_level: u8,
 }
 
-#[static_executor::task]
+#[task]
 async fn bluetooth_task(sd: &'static Softdevice) {
     let server: BatteryService = gatt_server::register(sd).dewrap();
 
@@ -119,10 +123,12 @@ fn main() -> ! {
 
     let sd = Softdevice::enable(&config);
 
-    unsafe {
-        softdevice_task.spawn(sd).dewrap();
-        bluetooth_task.spawn(sd).dewrap();
+    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::wfi));
+    executor.spawn(softdevice_task(sd)).dewrap();
+    executor.spawn(bluetooth_task(sd)).dewrap();
 
-        static_executor::run();
+    loop {
+        executor.run();
+        cortex_m::asm::wfe();
     }
 }
diff --git a/examples/src/bin/ble_peripheral_gattspam.rs b/examples/src/bin/ble_peripheral_gattspam.rs
index 0f6b75b..c67dc84 100644
--- a/examples/src/bin/ble_peripheral_gattspam.rs
+++ b/examples/src/bin/ble_peripheral_gattspam.rs
@@ -9,16 +9,20 @@ use example_common::*;
 use core::mem;
 use cortex_m_rt::entry;
 use defmt::info;
+use embassy::executor::{task, Executor};
+use embassy::util::Forever;
 
 use nrf_softdevice::ble::{peripheral, Uuid};
 use nrf_softdevice::{raw, RawError, Softdevice};
 
-#[static_executor::task]
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[task]
 async fn softdevice_task(sd: &'static Softdevice) {
     sd.run().await;
 }
 
-#[static_executor::task]
+#[task]
 async fn bluetooth_task(sd: &'static Softdevice) {
     for i in 0..24 {
         let service_uuid = Uuid::new_16(0x4200 + i);
@@ -153,10 +157,12 @@ fn main() -> ! {
 
     let sd = Softdevice::enable(&config);
 
-    unsafe {
-        softdevice_task.spawn(sd).dewrap();
-        bluetooth_task.spawn(sd).dewrap();
+    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::wfi));
+    executor.spawn(softdevice_task(sd)).dewrap();
+    executor.spawn(bluetooth_task(sd)).dewrap();
 
-        static_executor::run();
+    loop {
+        executor.run();
+        cortex_m::asm::wfe();
     }
 }
diff --git a/examples/src/bin/flash.rs b/examples/src/bin/flash.rs
index e4570c2..54bde9a 100644
--- a/examples/src/bin/flash.rs
+++ b/examples/src/bin/flash.rs
@@ -6,16 +6,21 @@
 mod example_common;
 use example_common::*;
 
-use async_flash::Flash as _;
 use cortex_m_rt::entry;
+use embassy::executor::{task, Executor};
+use embassy::flash::Flash as _;
+use embassy::util::Forever;
+
 use nrf_softdevice::{Flash, Softdevice};
 
-#[static_executor::task]
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[task]
 async fn softdevice_task(sd: &'static Softdevice) {
     sd.run().await;
 }
 
-#[static_executor::task]
+#[task]
 async fn flash_task(sd: &'static Softdevice) {
     let mut f = Flash::take(sd);
 
@@ -38,10 +43,12 @@ fn main() -> ! {
 
     let sd = Softdevice::enable(&Default::default());
 
-    unsafe {
-        softdevice_task.spawn(sd).dewrap();
-        flash_task.spawn(sd).dewrap();
+    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::wfi));
+    executor.spawn(softdevice_task(sd)).dewrap();
+    executor.spawn(flash_task(sd)).dewrap();
 
-        static_executor::run();
+    loop {
+        executor.run();
+        cortex_m::asm::wfe();
     }
 }
diff --git a/examples/src/bin/interrupts.rs b/examples/src/bin/interrupts.rs
index de9feae..574ecf2 100644
--- a/examples/src/bin/interrupts.rs
+++ b/examples/src/bin/interrupts.rs
@@ -7,15 +7,20 @@ mod example_common;
 use example_common::*;
 
 use cortex_m_rt::entry;
+use embassy::executor::{task, Executor};
+use embassy::util::Forever;
+
 use nrf_softdevice::interrupt;
 use nrf_softdevice::Softdevice;
 
-#[static_executor::task]
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[task]
 async fn softdevice_task(sd: &'static Softdevice) {
     sd.run().await;
 }
 
-#[static_executor::task]
+#[task]
 async fn interrupt_task(sd: &'static Softdevice) {
     let enabled = interrupt::is_enabled(interrupt::SWI0_EGU0);
     info!("enabled: {:?}", enabled);
@@ -84,10 +89,12 @@ fn main() -> ! {
 
     let sd = Softdevice::enable(&Default::default());
 
-    unsafe {
-        softdevice_task.spawn(sd).dewrap();
-        interrupt_task.spawn(sd).dewrap();
+    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::wfi));
+    executor.spawn(softdevice_task(sd)).dewrap();
+    executor.spawn(interrupt_task(sd)).dewrap();
 
-        static_executor::run();
+    loop {
+        executor.run();
+        cortex_m::asm::wfe();
     }
 }
diff --git a/examples/src/bin/rtic.rs b/examples/src/bin/rtic.rs
index eb3bd4b..8e3de03 100644
--- a/examples/src/bin/rtic.rs
+++ b/examples/src/bin/rtic.rs
@@ -18,19 +18,24 @@ mod example_common;
 use example_common::*;
 
 use core::mem;
+use embassy::executor::{task, Executor};
+use embassy::util::Forever;
 use nrf52840_hal::pac::TIMER1;
 use nrf52840_hal::prelude::*;
 use nrf52840_hal::timer::{Periodic, Timer};
+use rtic::app;
+
 use nrf_softdevice::ble::peripheral;
 use nrf_softdevice::{raw, temperature_celsius, Softdevice};
-use rtic::app;
 
-#[static_executor::task]
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[task]
 async fn softdevice_task(sd: &'static Softdevice) {
     sd.run().await;
 }
 
-#[static_executor::task]
+#[task]
 async fn bluetooth_task(sd: &'static Softdevice) {
     #[rustfmt::skip]
     let adv_data = &[
@@ -123,11 +128,13 @@ const APP: () = {
         let temp = temperature_celsius(&sd).dewrap();
         info!("{:i32}°C", temp.to_num::<i32>());
 
-        unsafe {
-            softdevice_task.spawn(sd).dewrap();
-            bluetooth_task.spawn(sd).dewrap();
+        let executor = EXECUTOR.put(Executor::new(cortex_m::asm::wfi));
+        executor.spawn(softdevice_task(sd)).dewrap();
+        executor.spawn(bluetooth_task(sd)).dewrap();
 
-            static_executor::run();
+        loop {
+            executor.run();
+            cortex_m::asm::wfe();
         }
     }
 
diff --git a/examples/src/example_common.rs b/examples/src/example_common.rs
index e991915..65bfe6b 100644
--- a/examples/src/example_common.rs
+++ b/examples/src/example_common.rs
@@ -3,7 +3,6 @@
 use defmt_rtt as _; // global logger
 use nrf52840_hal as _;
 use panic_probe as _;
-use static_executor_cortex_m as _;
 
 pub use defmt::{info, intern};
 
diff --git a/nrf-softdevice/Cargo.toml b/nrf-softdevice/Cargo.toml
index e0d96a6..c01a816 100644
--- a/nrf-softdevice/Cargo.toml
+++ b/nrf-softdevice/Cargo.toml
@@ -32,7 +32,7 @@ ble-gatt-client = []
 
 [dependencies]
 num_enum = { version = "0.5.1", default-features = false }
-async-flash = { version = "0.1.0", path = "../async-flash" }
+embassy = { version = "0.1.0" }
 cortex-m = "0.6.2"
 cortex-m-rt = "0.6.12"
 bare-metal = { version = "0.2.0", features = ["const-fn"] }
diff --git a/nrf-softdevice/src/flash.rs b/nrf-softdevice/src/flash.rs
index d7af2cb..1d6cc1e 100644
--- a/nrf-softdevice/src/flash.rs
+++ b/nrf-softdevice/src/flash.rs
@@ -1,6 +1,7 @@
 use core::future::Future;
 use core::marker::PhantomData;
 use core::sync::atomic::{AtomicBool, Ordering};
+use embassy::flash::Error as FlashError;
 
 use crate::raw;
 use crate::util::*;
@@ -33,20 +34,20 @@ impl Flash {
     }
 }
 
-static SIGNAL: Signal<Result<(), async_flash::Error>> = Signal::new();
+static SIGNAL: Signal<Result<(), FlashError>> = Signal::new();
 
 pub(crate) fn on_flash_success() {
     SIGNAL.signal(Ok(()))
 }
 
 pub(crate) fn on_flash_error() {
-    SIGNAL.signal(Err(async_flash::Error::Failed))
+    SIGNAL.signal(Err(FlashError::Failed))
 }
 
-impl async_flash::Flash for Flash {
-    type ReadFuture<'a> = impl Future<Output = Result<(), async_flash::Error>> + 'a;
-    type WriteFuture<'a> = impl Future<Output = Result<(), async_flash::Error>> + 'a;
-    type ErasePageFuture<'a> = impl Future<Output = Result<(), async_flash::Error>> + 'a;
+impl embassy::flash::Flash for Flash {
+    type ReadFuture<'a> = impl Future<Output = Result<(), FlashError>> + 'a;
+    type WriteFuture<'a> = impl Future<Output = Result<(), FlashError>> + 'a;
+    type ErasePageFuture<'a> = impl Future<Output = Result<(), FlashError>> + 'a;
 
     fn read<'a>(&'a mut self, address: usize, data: &'a mut [u8]) -> Self::ReadFuture<'a> {
         async move {
@@ -67,10 +68,10 @@ impl async_flash::Flash for Flash {
             let data_len = data.len() as u32;
 
             if address % 4 != 0 {
-                return Err(async_flash::Error::AddressMisaligned);
+                return Err(FlashError::AddressMisaligned);
             }
             if (data_ptr as u32) % 4 != 0 || data_len % 4 != 0 {
-                return Err(async_flash::Error::BufferMisaligned);
+                return Err(FlashError::BufferMisaligned);
             }
 
             // This is safe because we've checked ptr and len is aligned above
@@ -83,7 +84,7 @@ impl async_flash::Flash for Flash {
                 Ok(()) => SIGNAL.wait().await,
                 Err(e) => {
                     warn!("sd_flash_write err {:?}", e);
-                    Err(async_flash::Error::Failed)
+                    Err(FlashError::Failed)
                 }
             };
 
@@ -95,7 +96,7 @@ impl async_flash::Flash for Flash {
     fn erase<'a>(&'a mut self, address: usize) -> Self::ErasePageFuture<'a> {
         async move {
             if address % Self::PAGE_SIZE != 0 {
-                return Err(async_flash::Error::AddressMisaligned);
+                return Err(FlashError::AddressMisaligned);
             }
 
             let page_number = address / Self::PAGE_SIZE;
@@ -106,7 +107,7 @@ impl async_flash::Flash for Flash {
                 Ok(()) => SIGNAL.wait().await,
                 Err(e) => {
                     warn!("sd_flash_page_erase err {:?}", e);
-                    Err(async_flash::Error::Failed)
+                    Err(FlashError::Failed)
                 }
             };